Stacking robot for pig feed production

Abstract

The utility model discloses a palletizing robot for pig feed production, which belongs to the technical field of robots and comprises a base, a fixed column casing is rotatably arranged on the base through a rotating shaft, a lifting column is slidably connected to the inner side of the fixed column casing, a mechanical arm is fixedly connected to the top end of the lifting column, and a column casing shell is fixedly connected to one end of the mechanical arm. A grabbing disc is fixedly connected to the bottom end of the cylindrical shell, a sliding groove distributed circumferentially is formed in the bottom end of the grabbing disc, a sliding block is slidably connected to the inner side of the sliding groove, a mounting frame plate is fixedly connected to the bottom end of the sliding block, and a rubber clamping roller is rotationally arranged on the inner side of the mounting frame plate. By arranging the clamping air cylinder, the rubber clamping roller, the pressure applying spring and the pressure sensor, the clamping air cylinder controls the switching block to ascend and descend, then the rubber clamping roller is driven by the transmission rod to move, the clamping and transferring functions of the cake-shaped pig feed are achieved, and the pressure sensor is used for sensing the extrusion force of the pressure applying spring; and judging whether the specification of the cake-shaped pig feed is qualified or not.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a palletizing robot for pig feed production. Background Art

[0002] In order to facilitate transportation, existing pig feed is generally pressed into cakes, and then the cakes are stacked to facilitate subsequent packaging and transportation. The existing cakes are mainly picked up and stacked one by one by robots. Although the stacking function of the cakes can be realized, the specifications of the cakes cannot be detected. Pig feed cakes with different diameters are often stacked together. The stacking of pig feed with different diameters is not stable and is prone to tipping. Therefore, a stacking robot for pig feed production is proposed to solve the above problems. Utility Model Content

[0003] The purpose of the utility model is to solve the problems in the prior art and to propose a palletizing robot for pig feed production.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The lifting of the lifting of the lifting rod is to lift the lifting of the lifting rod 10, and the lifting of the lifting rod 20 is to lift the lifting of the lifting rod 20, so that the lifting of the lifting rod 20 is stable, and the lifting of the lifting rod 20 is stable, the lifting of the lifting rod 20 is stable, and the lifting of the lifting rod 20 is stable, so that the lifting of the lifting rod 20 is stable, and the lifting of the lifting rod 20 is stable

[0006] Preferably, a lifting cylinder is installed inside the fixed column, and the output end of the lifting cylinder is fixedly connected to the bottom end of the lifting column.

[0007] Preferably, the rotating shaft at the bottom end of the fixed column is fixedly connected to a steering gear, a steering motor is installed at the top end of the base, and the output end of the steering motor is fixedly connected to a driving gear meshing with the steering gear.

[0008] Preferably, a clamping cylinder is installed inside the column shell, and the output end of the clamping cylinder is fixedly connected to a switching block. The side walls of the switching block are provided with switching grooves, and a transmission rod is rotatably provided inside the switching groove, and one end of the transmission rod is rotatably connected to the mounting frame plate.

[0009] Preferably, one of the side walls of the mounting frame is provided with cleaning bristles for cleaning residues and dust on the surface of the cake-shaped feed.

[0010] Preferably, the top end of one of the rubber clamping rollers is fixedly connected to a driven gear, a rotating motor is installed on the side wall of the mounting frame plate at the rubber clamping roller, and the output end of the rotating motor is fixedly connected to a rotating gear meshing with the rotating motor.

[0011] Preferably, a controller for controlling the turning motor, the lifting cylinder, the clamping cylinder and the opening and closing of the rotary motor is installed on the top of the base, and a stacking platform and a defective product placement platform are fixedly connected to the side wall of the base.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. This solution is equipped with a clamping cylinder, a rubber clamping roller, a pressure spring, and a pressure sensor. The clamping cylinder controls the lifting and lowering of the adapter block, and then drives the rubber clamping roller to move through the transmission rod to achieve the clamping and transfer function of the pig feed cake. The pressure sensor uses the extrusion force of the pressure spring to determine whether the pig feed cake meets the specifications.

[0014] 2. This solution is equipped with cleaning soft bristles, a rotating motor, a rotating gear and a driven gear. The rotating motor drives the rotating gear to rotate, and then the driven gear drives the rubber clamping roller to rotate. The friction between the rubber clamping roller and the pig feed cake drives the pig feed cake to rotate, and the cleaning soft bristles are used to clean the residue on the surface of the pig feed cake. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional cross-section assembly structure of a palletizing robot for pig feed production proposed in the present invention;

[0016] Figure 2 for Figure 1 A in the middle is an enlarged structural diagram;

[0017] Figure 3 for Figure 1 The enlarged structural diagram at B in the middle;

[0018] Figure 4 This is a schematic diagram of the connection structure between the lifting cylinder and the mounting frame plate of a stacking robot for pig feed production proposed in the utility model;

[0019] Figure 5 This is a schematic diagram of the three-dimensional structure of a palletizing robot for pig feed production proposed in the utility model.

[0020] In the figure: 1. Base; 101. Palletizing platform; 102. Defective product placement platform; 2. Steering gear; 3. Drive gear; 4. Steering motor; 5. Lifting cylinder; 6. Fixed column; 7. Lifting column;

[0021] 8. Robotic arm; 9. Clamping cylinder; 10. Grabbing disc; 11. Rubber clamping roller; 12. Cleaning soft hair; 13. Rotating motor; 14. Rotating gear; 15. Mounting frame; 16. Transmission rod; 17. Adapter block; 18. Pressure sensor; 19. Pressure spring; 20. Controller; 21. Driven gear. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] Reference Figure 1-5 A palletizing robot for pig feed production includes a base 1, a fixed column 6 is provided on the base 1 through a rotating shaft, a lifting column 7 is slidably connected to the inner side of the fixed column 6, and a mechanical arm 8 is fixedly connected to the top of the lifting column 7. Furthermore, a lifting cylinder 5 is installed inside the fixed column 6, and the output end of the lifting cylinder 5 is fixedly connected to the bottom end of the lifting column 7; further, the rotating shaft at the bottom end of the fixed column 6 is fixedly connected to the steering gear 2, and a steering motor 4 is installed on the top of the base 1, and the output end of the steering motor 4 is fixedly connected to the driving gear 3 meshing with the steering gear 2.

[0024] It should be noted that the lifting cylinder 5 drives the lifting column 7 to move up and down, and then drives the mechanical arm 8 to move up and down, so that the mechanical arm 8 controls the rubber clamping roller 11 to clamp the pig feed cake and move it up and down, thereby realizing the function of clamping the pig feed cake;

[0025] Furthermore, a controller 20 for controlling the opening and closing of the steering motor 4, the lifting cylinder 5, the clamping cylinder 9 and the rotating motor 13 is installed on the top of the base 1, and a stacking platform 101 and a defective product placement platform 102 are fixedly connected to the side wall of the base 1.

[0026] The steering motor 4 drives the driving gear 3 to rotate, the driving gear 3 drives the steering gear 2 to rotate, and then drives the fixed cylinder 6 to rotate, and finally drives the robotic arm 8 to rotate 90 degrees forward or 90 degrees backward, so as to place the qualified pig feed cakes on the stacking platform 101 or the unqualified pig feed cakes on the defective product placement platform 102.

[0027] One end of the robotic arm 8 is fixedly connected to a cylindrical shell, and the bottom end of the cylindrical shell is fixedly connected to a grabbing disc 10. A circumferentially distributed slide groove is provided at the bottom end of the grabbing disc 10, and a slider is slidably connected to the inside of the slide groove. The bottom end of the slider is fixedly connected to a mounting frame plate 15, and a rubber clamping roller 11 is rotatably provided on the inner side of the mounting frame plate 15. A pressure sensor 18 is installed on the inner wall of the slide groove, and a pressure spring 19 is fixedly connected to the inner wall of the slide groove. One end of the pressure spring 19 is fixedly connected to a pad slidably connected to the slide groove, and the pad is in contact with the pressure sensor 18. Furthermore, a clamping cylinder 9 is installed inside the cylindrical shell, and the output end of the clamping cylinder 9 is fixedly connected to an adapter block 17. Adapter grooves are provided on the side walls around the adapter block 17, and a transmission rod 16 is rotatably provided on the inside of the adapter groove, and one end of the transmission rod 16 is rotatably connected to the mounting frame plate 15.

[0028] It should be noted that: the output end of the clamping cylinder 9 drives the adapter block 17 to move downward, and then drives one end of the transmission rod 16 rotatably connected thereto to move downward, so that the other end of the transmission rod 16 pushes the mounting frame plate 15 to move, so that the clamping distance between the rubber clamping rollers 11 reaches the maximum. During the movement of the mounting frame plate 15, the slider inside the slide groove is driven to move and compress the pressure spring 19. When the cake-shaped pig feed is located between the rubber clamping rollers 11, the output end of the clamping cylinder 9 drives the adapter block 17 to move upward, and then the transmission rod 16 pulls the mounting frame plate 15 to move, so that the rubber clamping roller 11 realizes the clamping function of the cake-shaped pig feed. At this time, the pressure sensor 18 will transmit the final pressure value sensed to the controller 20. The controller 20 compares the received pressure value with the standard value. If the pressure value is the same as the standard value, it means that the specifications of the clamped cake-shaped pig feed are qualified, otherwise it means that it is unqualified.

[0029] It is worth noting that: if the specifications of the cake-shaped pig feed are larger, the clamping distance between the rubber clamping rollers 11 will be larger, and the compression distance of the slider on the pressure spring 19 will be larger. At this time, the pressure value finally sensed by the pressure sensor 18 will be larger (greater than the standard value). Conversely, the pressure value finally sensed by the pressure sensor 18 will be smaller (less than the standard value).

[0030] Furthermore, cleaning bristles 12 for cleaning residues and dust on the surface of the cake-shaped feed are provided on the side wall of one of the mounting frame plates 15, and a driven gear 21 is fixedly connected to the top end of one of the rubber clamping rollers 11. A rotating motor 13 is installed on the side wall of the mounting frame plate 15 at the rubber clamping roller 11, and a rotating gear 14 meshing with the rotating motor 13 is fixedly connected to the output end of the rotating motor 13.

[0031] It should be noted that when the rubber clamping roller 11 clamps the pig feed cake, the cleaning bristles 12 will contact the top of the pig feed cake, and the rotating motor 13 drives the rotating gear 14 to rotate, thereby driving the rubber clamping roller 11 to rotate. The friction between the rubber clamping roller 11 and the pig feed cake drives the pig feed cake to rotate, and the cleaning bristles 12 cooperate with each other to clean the residue on the surface of the pig feed cake, while the residue at the bottom of the pig feed cake will automatically fall off due to the centrifugal force of rotation.

[0032] When the utility model is in use, the robot is placed next to a conveyor belt for conveying cake-shaped pig feed. When the cake-shaped pig feed is conveyed to the bottom of the grabbing disc 10, the controller 20 controls the output end of the lifting cylinder 5 to drive the lifting column 7 to move downward, thereby driving the mechanical arm 8 at the top of the lifting column 7 to move downward, so that the rubber clamping roller 11 is close to the cake-shaped pig feed. In this process, the controller 20 controls the clamping cylinder 9, and the output end of the clamping cylinder 9 drives the adapter block 17 to move downward, thereby driving one end of the transmission rod 16 rotatably connected thereto to move downward, so that the other end of the transmission rod 16 pushes the mounting frame plate 15 to move, so that the clamping distance between the rubber clamping rollers 11 reaches the maximum, and the mounting frame plate During the movement of 15, the slider inside the slide groove is driven to move and compress the pressure spring 19. When the pig feed cake is located between the rubber clamping rollers 11, the output end of the clamping cylinder 9 drives the adapter block 17 to move upward, thereby causing the transmission rod 16 to pull the installation frame plate 15 to move, so that the rubber clamping roller 11 can achieve the function of clamping the pig feed cake. At this time, the pressure sensor 18 will transmit the final pressure value sensed to the controller 20. The controller 20 will compare the received pressure value with the standard value. If the pressure value is the same as the standard value, it means that the specifications of the clamped pig feed cake are qualified. Otherwise, it means that it is unqualified. Then the lifting cylinder 5 drives the lifting column 7 and the mechanical arm 8 to reset.

[0033] The controller 20 controls the steering motor 4 to rotate forward or reverse according to whether the clamped pig feed cake is qualified. If the specifications of the pig feed cake are qualified, the steering motor 4 rotates forward, driving the driving gear 3 at its output end to rotate forward, and the driving gear 3 drives the steering gear 2 meshed with it to rotate forward 90 degrees, and the steering gear 2 drives the fixed column 6 connected thereto to rotate forward 90 degrees, thereby driving the mechanical arm 8 to rotate forward 90 degrees, so that the clamped pig feed cake is located directly above the stacking platform 101. At this time, the controller 20 controls the lifting cylinder 5 to work, so that the lifting column 7 moves downward, so that the position of the mechanical arm 8 moves downward, so that the clamped pig feed cake is close to the stacking platform 101. At this time, the controller 20 controls the clamping cylinder 9 to work, so that the adapter block 17 moves downward, so that the rubber clamping roller 11 no longer clamps the pig feed cake, so that the pig feed cake falls on the stacking platform 101, and repeats the above process to realize the specification quality inspection function of the pig feed cake and the stacking function of the pig feed cake.

[0034] During the transfer of the pig feed cake, the controller 20 controls the rotary motor 13 to operate. The rotary motor 13 drives the rotary gear 14 at its output end to rotate. The rotary gear 14 drives the driven gear 21 meshing with it to rotate, thereby driving the rubber clamping roller 11 to rotate. The friction between the rubber clamping roller 11 and the pig feed cake drives the pig feed cake to rotate, and the cleaning bristles 12 clean the residue on the surface of the pig feed cake. The residue at the bottom of the pig feed cake will automatically fall off due to the centrifugal force of the rotation.

[0035] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A palletizing robot for pig feed production, comprising a base (1), characterized in that: The base (1) is provided with a fixed column (6) which is rotatable by a rotating shaft, and a lifting column (7) is slidably connected to the inner side of the fixed column (6), and a mechanical arm (8) is fixedly connected to the top of the lifting column (7), and one end of the mechanical arm (8) is fixedly connected to a column shell, and a grabbing disc (10) is fixedly connected to the bottom end of the column shell, and a circumferentially distributed sliding groove is provided at the bottom end of the grabbing disc (10), and a slider is slidably connected to the inner side of the sliding groove, and the bottom end of the slider is fixedly connected to a mounting frame plate (15), and a rubber clamping roller (11) is rotatably provided on the inner side of the mounting frame plate (15), and a pressure sensor (18) is installed on the inner wall of the sliding groove, and a pressure spring (19) is fixedly connected to the inner wall of the sliding groove, and one end of the pressure spring (19) is fixedly connected to a pad which is slidably connected to the sliding groove, and the pad is in contact with the pressure sensor (18).

2. A palletizing robot for pig feed production according to claim 1, characterized in that: A lifting cylinder (5) is installed inside the fixed column (6), and the output end of the lifting cylinder (5) is fixedly connected to the bottom end of the lifting column (7).

3. A palletizing robot for pig feed production according to claim 1, characterized in that: The rotating shaft at the bottom end of the fixed column (6) is fixedly connected to a steering gear (2), a steering motor (4) is installed at the top end of the base (1), and the output end of the steering motor (4) is fixedly connected to a driving gear (3) meshing with the steering gear (2).

4. A palletizing robot for pig feed production according to claim 1, characterized in that: A clamping cylinder (9) is installed inside the column shell, and an output end of the clamping cylinder (9) is fixedly connected to an adapter block (17). The side walls of the adapter block (17) are provided with adapter grooves. A transmission rod (16) is rotatably arranged inside the adapter groove, and one end of the transmission rod (16) is rotatably connected to the installation frame plate (15).

5. A palletizing robot for pig feed production according to claim 1, characterized in that: One of the side walls of the mounting frame (15) is provided with cleaning bristles (12) for cleaning residues and dust on the surface of the cake-shaped feed.

6. A palletizing robot for pig feed production according to claim 1, characterized in that: A driven gear (21) is fixedly connected to the top end of one of the rubber clamping rollers (11), a rotating motor (13) is installed on the side wall of the mounting frame plate (15) at the rubber clamping roller (11), and a rotating gear (14) meshing with the rotating motor (13) is fixedly connected to the output end of the rotating motor (13).

7. A palletizing robot for pig feed production according to claim 1, characterized in that: A controller (20) for controlling the opening and closing of a steering motor (4), a lifting cylinder (5), a clamping cylinder (9), and a rotating motor (13) is installed on the top of the base (1), and a stacking platform (101) and a defective product placement platform (102) are fixedly connected to the side wall of the base (1).

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