Sowing wall of grabbing and sorting vehicle

Abstract

The utility model discloses a seeding wall of a grabbing and sorting vehicle, the seeding wall comprises a conveying bracket, the conveying bracket is provided with a longitudinal transmission shaft, an upper guide rod, a lower guide rod and a first driving motor, and the upper guide rod and the lower guide rod are in sliding connection with a movable bracket; the first driving motor drives the longitudinal transmission shaft to rotate, and the upper end and the lower end of the longitudinal transmission shaft drive the movable support to transversely move through a chain or a synchronous belt. A second driving motor is installed on the movable support, a material conveying belt is slidably installed on the movable support, and the second driving motor drives the material conveying belt to move up and down; the conveying support is provided with at least two mechanical grippers, the mechanical grippers are used for clamping the sorting vehicle, the mechanical grippers or the conveying support is provided with a detection assembly, and the detection assembly is used for judging whether the sorting vehicle is in place or not. The sorting vehicle can be quickly, accurately and firmly grabbed, and the situation that the material sorting efficiency becomes low and the sorting quality becomes poor due to the fact that the sorting vehicle is not in place is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of seeding walls, and particularly to a seeding wall of a grasping and sorting vehicle. Background Art

[0002] For existing manual and automatic seeding walls, corresponding sorting vehicles are required to receive sorted objects. Among them, in order to facilitate the movement of the sorting vehicle, rollers are equipped. Due to factors such as uneven ground of the site, differences in the formation of the vehicle, and deviation of the fixed position of the vehicle by personnel, it is easy to cause the vehicle not to be placed in the best position or to displace during the sorting process, resulting in the sorted objects not being accurately put into the vehicle and affecting the sorting effect.

[0003] Furthermore, the grasping range of conventional fixed fixtures or mechanical grippers is small, resulting in low grasping efficiency and poor grasping effect.

[0004] Therefore, there is an urgent need for a seeding wall of a grasping and sorting vehicle that can solve one or more of the above problems. Summary of the Utility Model

[0005] To solve one or more problems existing in the prior art, the utility model provides a seeding wall of a grasping and sorting vehicle. The technical solution adopted by the utility model to solve the above problems is: a seeding wall of a grasping and sorting vehicle, which includes: the seeding wall includes a conveying support, the conveying support is provided with a longitudinal transmission shaft, an upper guide rod, a lower guide rod and a first driving motor, and the upper guide rod and the lower guide rod are slidably connected with a moving support;

[0006] The first driving motor drives the longitudinal transmission shaft to rotate, and the upper and lower ends of the longitudinal transmission shaft drive the moving support to move horizontally through a chain or a synchronous belt;

[0007] The moving support is installed with a second driving motor, and a material conveyor belt is slidably installed on the moving support, and the second driving motor drives the material conveyor belt to move up and down;

[0008] At least two mechanical grippers are installed on the conveying support, the mechanical grippers are used for clamping the sorting vehicle, and a detection component is installed on the mechanical gripper or the conveying support, and the detection component is used for judging whether the sorting vehicle is in place.

[0009] In some embodiments, the detection component is any one of a microswitch, an infrared sensor, and a grating sensor.

[0010] In some embodiments, the mechanical gripper includes: a gripper support, the gripper support is provided with separate first guiding paths and second guiding paths, one end of the gripper support is connected to a driving unit, and a gripper assembly is installed on the gripper support;

[0011] The gripper assembly is provided with a driving bracket, the driving bracket is connected to the push rod of the driving unit, and the driving bracket is provided with a separate third guiding path and a fourth guiding path;

[0012] The driving bracket is connected to the first bracket, the first bracket is provided with two first sliding grooves, sliders that move up and down are installed in the first sliding grooves, the sliders are limited in the first sliding grooves by the second bracket, the sliders are provided with connecting rods, and the connecting rods move along the first guiding path;

[0013] The driving bracket is rotatably installed with a first gripper and a second gripper, the first gripper is provided with a first limiting groove, the first limiting groove can be clamped with the first slider, the first gripper is provided with a first sliding rod, and the first sliding rod moves along the second guiding path and the fourth guiding path. One end of the first slider is connected to one end of a first tension spring, and the other end of the first tension spring is connected to the first gripper;

[0014] The second gripper is provided with a second limiting groove, the second limiting groove can be clamped with the second slider, the second gripper is provided with a second sliding rod, and the second sliding rod moves along the third guiding path. One end of the second slider is connected to one end of a second tension spring, and the other end of the second tension spring is connected to the second gripper;

[0015] The first guiding path forces the slider to perform a clamping or releasing action, and the driving unit drives the gripper assembly to clamp. During the clamping process, the second guiding path forces the first gripper to rotate in the clamping direction first, and then the third guiding path forces the second gripper to rotate in the clamping direction;

[0016] During the releasing process, the third guiding path forces the second gripper to rotate in the releasing direction, and the fourth guiding path forces the first gripper to rotate in the releasing direction.

[0017] Further, both ends of the gripper bracket respectively correspond to the releasing position and the clamping position of the gripper assembly;

[0018] The path of the first guiding path at the releasing position guides the two sliders to move upward, and the path of the first guiding path at the clamping position guides the two sliders to move downward successively;

[0019] The path of the second guiding path at the releasing position guides the first sliding rod into the limiting position, and the path of the second guiding path at the clamping position guides the first sliding rod out of the limiting position;

[0020] After the first sliding rod enters the limiting position, the first gripper rotates in the loosening direction along the fourth guiding path.

[0021] Further, the path of the first guiding path at the loosening position is formed with two ramp paths, and the two ramp paths respectively guide the two sliders to move upward.

[0022] Further, a limiting platform is arranged at the clamping position of the gripper bracket, and the limiting platform is used to limit the movement of the second sliding rod. After the second sliding rod is limited, the second gripper will rotate in the clamping direction along the third guiding path.

[0023] Further, the first tension spring pulls the first gripper in the clamping direction, and the second tension spring pulls the second gripper in the loosening direction.

[0024] Further, the driving bracket is provided with a first mating chute and a second mating chute. The two connecting rods respectively pass through the first mating chute and the second mating chute and enter the first guiding path, and the first mating chute and the second mating chute respectively define the up and down movement strokes of the two connecting rods.

[0025] Further, the driving bracket is provided with a connecting seat, and the connecting seat is rotatably connected with the push rod.

[0026] Further, the second guiding path is provided with a locking path, the push rod drives the driving bracket to rotate along the locking path, and after the first sliding rod moves to the locking path, the first gripper will be locked in the loosening state.

[0027] The technical effects achieved by the present utility model are as follows: Through the above sowing wall, rapid feeding of the sorting vehicle can be realized, and the efficiency of sorting and feeding can be improved; through the mechanical gripper cooperating with the detection component, rapid clamping and fixing of the sorting vehicle body can be realized, ensuring that the sorting vehicle can move into place. At the same time, the position deviation of the sorting vehicle during the sorting process is avoided, and finally the sorting quality and efficiency are guaranteed; among them, the mechanical gripper can provide a rapid and large-range grasping effect, making the docking between the sorting vehicle and the sowing wall have a large redundancy, and ensuring the stability and speed of grasping, and finally avoiding the misalignment between the sorting vehicle and the sowing wall caused by human factors or environmental factors. Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the sowing wall and the sorting vehicle of the present utility model;

[0029] Figure 2 It is a partial schematic diagram of the sowing wall of the present utility model;

[0030] Figure 3Schematic diagram of the mechanical gripper of the present utility model in the grasping state;

[0031] Figure 4 Exploded view of the mechanical gripper of the present utility model;

[0032] Figure 5 Schematic diagram of the gripper bracket of the present utility model;

[0033] Figure 6 Schematic diagram of the gripper assembly of the present utility model;

[0034] Figure 7 Exploded view of the gripper assembly of the present utility model from the first perspective;

[0035] Figure 8 Exploded view of the gripper assembly of the present utility model from the second perspective;

[0036] Figure 9 Schematic diagram of the mechanical gripper of the present utility model in the released state;

[0037] Figure 10 Schematic diagram of the mechanical gripper of the present utility model in the initial grasping state;

[0038] Figure 11 Schematic diagram of the mechanical gripper of the present utility model in the intermediate grasping state;

[0039] Figure 12 Partial view of the mechanical gripper of the present utility model in the released state.

[0040]

Reference Signs

[0041] Figures 1 - 2 : 4, sorting vehicle; 40, sorting box; 5, sowing wall; 50, conveying bracket; 51, first driving motor; 510, longitudinal transmission shaft; 511, upper guide rod; 52, moving bracket; 520, second driving motor; 53, lower guide rod; 54, material conveyor belt; 6, mechanical gripper;

[0042] Figures 3 - 12 : 1, gripper bracket; 10, first guiding path; 101, limiting platform; 11, second guiding path; 110, locking path; 111, limiting position; 12, releasing position; 13, clamping position; 2, driving unit; 20, push rod; 3, gripper assembly; 30, driving bracket; 301, connecting seat; 302, third guiding path; 303, first mating chute; 304, second mating chute; 305, fourth guiding path; 31, first bracket; 310, first chute; 32, slider; 320, connecting rod; 33, second bracket; 330, avoidance groove; 34, first gripper; 340, first limiting groove; 341, first sliding rod; 35, second gripper; 350, second limiting groove; 351, second sliding rod; 36, first tension spring; 37, second tension spring. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned purposes, features and advantages of the utility model more understandable, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from this description, and those skilled in the art can make similar improvements without violating the connotation of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed below.

[0044] like Figures 1 - 2 As shown, the utility model discloses a seeding wall of a grabbing and sorting vehicle, which comprises: the seeding wall 5 comprises a conveying bracket 50, the conveying bracket 50 is provided with a longitudinal transmission shaft 510, an upper guide rod 511, a lower guide rod 53 and a first driving motor 51, the upper guide rod 511 and the lower guide rod 53 are slidably connected with the moving bracket 52;

[0045] The first driving motor 51 drives the longitudinal transmission shaft 510 to rotate, and the upper and lower ends of the longitudinal transmission shaft 510 drive the movable bracket 52 to move horizontally through a chain or a synchronous belt;

[0046] The movable bracket 52 is equipped with a second driving motor 520, and a material conveyor belt 54 is slidably mounted on the movable bracket 52, and the second driving motor 520 drives the material conveyor belt 54 to move up and down;

[0047] The conveying support 50 is equipped with at least two mechanical grippers 6, and the mechanical grippers 6 are used to clamp the sorting vehicle 4. A detection component (not indicated in the drawings) is installed on the mechanical grippers 6 or the conveying support 50, and the detection component is used to determine whether the sorting vehicle 4 is in place.

[0048] It should be pointed out that, combined with Figure 1 As shown, a plurality of sorting boxes 40 are provided on the sorting vehicle 4. When the seed wall 5 is in use, the first drive motor 51 and the second drive motor 520 cooperate to drive the mobile bracket 52 to move up and down and left and right, and make the material conveyor belt 54 correspond to the spatial position of the sorting box 40, so as to realize the transmission of the sorted materials, wherein the first drive motor 51 and the second drive motor 520 are driven by a synchronous belt or a chain.

[0049] Furthermore, a plurality of the detection components may be provided, and the detection component may be any one of a microswitch, an infrared sensor, and a grating sensor. During use, it is determined by the detection component whether the sorting vehicle 4 reaches the grasping range of the mechanical gripper 6. If so, the mechanical gripper 6 performs grasping. After the mechanical gripper 6 completes grasping, the detection component further detects and determines whether the mechanical gripper 6 has grasped in place. If not, re-grasping or adjusting the grasping distance is performed.

[0050] Specifically, in combination with Figures 3 - 5 as shown, the mechanical gripper includes: a gripper bracket 1, and the gripper bracket 1 is provided with separate first guiding paths 10 and second guiding paths 11. One end of the gripper bracket 1 is connected to a driving unit 2, and a gripper assembly 3 is installed on the gripper bracket 1;

[0051] The gripper assembly 3 is provided with a driving bracket 30, and the driving bracket 30 is connected to a push rod 20 of the driving unit 2. The driving bracket 30 is provided with separate third guiding paths 302 and fourth guiding paths 305;

[0052] Combined with Figures 6 - 8 、 Figure 12 as shown, the driving bracket 30 is connected to a first bracket 31. The first bracket 31 is provided with two first sliding grooves 310. A vertically movable slider 32 is installed in the first sliding grooves 310. The slider 32 is limited in the first sliding grooves 310 by a second bracket 33. The slider 32 is provided with a connecting rod 320, and the connecting rod 320 moves along the first guiding path 10;

[0053] The driving bracket 30 is rotatably installed with a first gripper 34 and a second gripper 35. The first gripper 34 is provided with a first limiting groove 340, and the first limiting groove 340 can be engaged with the first slider 32. The first gripper 34 is provided with a first sliding rod 341, and the first sliding rod 341 moves along the second guiding path 11 and the fourth guiding path 305. The first slider 32 is connected to one end of a first tension spring 36, and the other end of the first tension spring 36 is connected to the first gripper 34;

[0054] The second gripper 35 is provided with a second limiting groove 350, and the second limiting groove 350 can be engaged with the second slider 32. The second gripper 35 is provided with a second sliding rod 351, and the second sliding rod 351 moves along the third guiding path 302. The second slider 32 is connected to one end of a second tension spring 37, and the other end of the second tension spring 37 is connected to the second gripper 35;

[0055] When the first slider 32 is engaged with the first limiting groove 340 , the first gripper 34 is locked and limited; when the second slider 32 is engaged with the second limiting groove 350 , the second gripper 35 is locked and limited.

[0056] It should be pointed out that the first guide path 10 forces the slider 32 to perform a clamping or releasing action, and the drive unit 2 drives the gripper assembly 3 to clamp. During the clamping process, the second guide path 11 forces the first gripper 34 to rotate in the clamping direction first, and then the third guide path 302 forces the second gripper 35 to rotate in the clamping direction; during the release process, the third guide path 302 forces the second gripper 35 to rotate in the release direction, and the fourth guide path 305 forces the first gripper 34 to rotate in the release direction.

[0057] It should be noted that the first tension spring 36 pulls the first gripper 34 in the clamping direction, and the second tension spring 37 pulls the second gripper 35 in the releasing direction, so that the first and second grippers can switch states more quickly. The driving unit 2 is an electric push rod device or a cylinder push rod device.

[0058] Again, combined Figure 7 As shown, the connecting rod 320 can pass through the slider 32 , and the first and second tension springs are connected to the two connecting rods 320 respectively. At this time, the second bracket 33 is provided with an avoidance groove 330 for avoiding the connecting rod 320 .

[0059] Specifically, combined Figures 4 - 8 , Figure 12 As shown, the two ends of the gripper bracket 1 correspond to the release position 12 and the clamping position 13 of the gripper assembly 3 respectively; the path of the first guide path 10 at the release position 12 guides the two sliders 32 to move upward, and the path of the first guide path 10 at the clamping position 13 guides the two sliders 32 to move downward successively; the path of the second guide path 11 at the release position 12 guides the first slide bar 341 to enter the limit position 111, and the path of the second guide path 11 at the clamping position 13 guides the first slide bar 341 to disengage from the limit position 111; after the first slide bar 341 enters the limit position 111, the first gripper 34 rotates along the fourth guide path 305 in the release direction.

[0060] Combination Figure 4 , Figure 5As shown, a limiting platform 101 is provided at the clamping position 13 of the gripper bracket 1. The limiting platform 101 is used to limit the movement of the second sliding rod 351. After the second sliding rod 351 is limited, the second gripper 35 will rotate in the clamping direction along the third guiding path 302. The path of the first guiding path 10 at the release position 12 forms two ramp paths, and the two ramp paths respectively guide the two sliders 32 to move upward.

[0061] Specifically, as Figure 8 shown, the driving bracket 30 is provided with a first mating chute 303 and a second mating chute 304. The two connecting rods 320 respectively pass through the first mating chute 303 and the second mating chute 304 and enter the first guiding path 10. The first mating chute 303 and the second mating chute 304 respectively define the up and down movement strokes of the two connecting rods 320.

[0062] Specifically, in combination with Figure 4 、 Figure 5 、 Figure 8 shown, the driving bracket 30 is provided with a connecting seat 301. The connecting seat 301 is rotatably connected to the push rod 20. The second guiding path 11 is provided with a locking path 110. The push rod 20 drives the driving bracket 30 to rotate along the locking path 110. After the first sliding rod 341 moves to the locking path 110, the first gripper 34 will be locked in the release state. The second gripper 35 is pulled back to the release state by the second tension spring 37. And as the slider 32 moves upward, the second tension spring 37 will further tighten the second gripper 35, so that the second gripper 35 is locked in the release state.

[0063] The initial state of the mechanical gripper is the release state, that is, Figure 9 shown, the first and second grippers are opened at a large angle and in the locked and limited state. The driving unit 2 drives the gripper assembly 3 to move, then first enters the Figure 10 shown state. The first gripper 34 first rotates in the clamping direction. At this time, it can contact the material, and then enters the Figure 11 shown state. The first gripper 34 rotates in place and can contact the material. Finally, it enters the Figure 3 shown state. The second gripper 35 also rotates in the clamping direction and rotates in place. At this time, the first gripper 34 and the second gripper 35 cooperate to clamp the material, and the first gripper 34 and the second gripper 35 are locked and limited.

[0064] The above-mentioned mechanical gripper enables rapid and stable grasping of materials within a large range, such that the materials do not need to be placed at a specific position to be clamped. Among them, by successively driving the first gripper and the second gripper to rotate in the clamping direction, the materials are more easily clamped and less likely to be clamped and flown away; in terms of structure, the driving and control of the first gripper and the second gripper are simple and stable.

[0065] In summary, through the above-mentioned sowing wall, rapid feeding of the sorting vehicle can be achieved, improving the efficiency of sorting and feeding; through the cooperation of the mechanical gripper and the detection component, rapid clamping and fixing of the sorting vehicle body can be realized, ensuring that the sorting vehicle can move into place, and at the same time, avoiding the position deviation of the sorting vehicle during the sorting process, and ultimately ensuring the sorting quality and efficiency; among them, the mechanical gripper can provide a rapid and large-range grasping effect, enabling a large redundancy in the docking of the sorting vehicle and the sowing wall, and ensuring the stability and speed of grasping, and ultimately avoiding the misalignment of the sorting vehicle and the sowing wall caused by human factors or environmental factors.

[0066] The above-described embodiments merely represent one or more implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the appended claims.

Claims

1. A seeding wall of a grasping and sorting vehicle, characterized in that, The sowing wall includes a conveying support, and the conveying support is provided with a longitudinal transmission shaft, an upper guide rod, a lower guide rod and a first driving motor. The upper guide rod and the lower guide rod are slidably connected to a moving support. The first driving motor drives the longitudinal transmission shaft to rotate, and the upper and lower ends of the longitudinal transmission shaft drive the moving support to move horizontally through a chain or a synchronous belt. The moving support is installed with a second driving motor, and a material conveyor belt is slidably installed on the moving support. The second driving motor drives the material conveyor belt to move up and down. The conveying support is installed with at least two mechanical grippers for gripping the sorting vehicle. A detection component is installed on the mechanical gripper or the conveying support for judging whether the sorting vehicle is in place.

2. The seeding wall of the grasping and sorting vehicle according to claim 1, wherein The detection component is any one of a microswitch, an infrared sensor and a grating sensor.

3. The seeding wall of the grasping and sorting vehicle according to claim 1, characterized in that, The mechanical gripper includes a gripper support. The gripper support is provided with separate first guiding paths and second guiding paths. One end of the gripper support is connected to a driving unit, and a gripper assembly is installed on the gripper support. The gripper assembly is provided with a driving support. The driving support is connected to a push rod of the driving unit, and the driving support is provided with separate third guiding paths and fourth guiding paths. The driving support is connected to a first support. The first support is provided with two first sliding grooves, and sliders moving up and down are installed in the first sliding grooves. The sliders are limited in the first sliding grooves by a second support. The sliders are provided with connecting rods, and the connecting rods move along the first guiding paths. The driving support is rotatably installed with a first gripper and a second gripper. The first gripper is provided with a first limiting groove which can be clamped with the first slider. The first gripper is provided with a first sliding rod which moves along the second guiding path and the fourth guiding path. The first slider is connected to one end of a first tension spring, and the other end of the first tension spring is connected to the first gripper. The second gripper is provided with a second limiting groove which can be clamped with the second slider. The second gripper is provided with a second sliding rod which moves along the third guiding path. The second slider is connected to one end of a second tension spring, and the other end of the second tension spring is connected to the second gripper. The first guiding path forces the slider to perform a clamping or releasing action. The driving unit drives the gripper assembly to clamp. During the clamping process, the second guiding path forces the first gripper to rotate first in the clamping direction, and then the third guiding path forces the second gripper to rotate in the clamping direction. During the releasing process, the third guiding path forces the second gripper to rotate in the releasing direction, and the fourth guiding path forces the first gripper to rotate in the releasing direction.

4. The seeding wall of the grasping and sorting vehicle according to claim 3, characterized in that, Both ends of the gripper support respectively correspond to the releasing position and the clamping position of the gripper assembly. The path of the first guiding path at the releasing position guides the two sliders to move upward, and the path of the first guiding path at the clamping position guides the two sliders to move downward successively. The path of the second guiding path at the releasing position guides the first sliding rod into the limiting position, and the path of the second guiding path at the clamping position guides the first sliding rod out of the limiting position. After the first sliding rod enters the limiting position, the first gripper rotates in the releasing direction along the fourth guiding path.

5. The seeding wall of the grasping and sorting vehicle according to claim 4, characterized in that, The path of the first guiding path at the releasing position forms two ramp paths, and the two ramp paths respectively guide the two sliders to move upward.

6. The seeding wall of the grasping and sorting vehicle according to claim 4, wherein The gripper bracket is provided with a limiting platform at the clamping position, and the limiting platform is used to limit the movement of the second sliding rod. After the second sliding rod is limited, the second gripper will rotate in the clamping direction along the third guiding path.

7. The seeding wall of the grasping and sorting vehicle according to claim 3, characterized in that, The first tension spring pulls the first gripper in the clamping direction, and the second tension spring pulls the second gripper in the releasing direction.

8. The seeding wall of the grasping and sorting vehicle according to claim 3, characterized in that, The driving bracket is provided with a first mating chute and a second mating chute. The two connecting rods respectively pass through the first mating chute and the second mating chute and enter the first guiding path. The first mating chute and the second mating chute respectively define the up and down movement strokes of the two connecting rods.

9. The seeding wall of the grasping and sorting vehicle according to claim 3, characterized in that, The driving bracket is provided with a connecting seat, and the connecting seat is rotatably connected to the push rod.

10. The seeding wall of the grasping and sorting vehicle according to claim 9, characterized in that, The second guiding path is provided with a locking path, and the push rod drives the driving bracket to rotate along the locking path. After the first sliding rod moves to the locking path, the first gripper will be locked in the released state.

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