Robot grabbing mechanism for feed stacking

Abstract

The robot grabbing mechanism comprises an outer shell, the left side and the right side of the lower end of the outer shell are each provided with a through groove in a penetrating mode, a clamping plate is inserted into each through groove, a mounting groove is formed in each clamping plate in a penetrating mode, an auxiliary plate is inserted into each mounting groove, and the upper end of each auxiliary plate is embedded into the outer shell. Compared with an existing device, the auxiliary plate is rotationally connected into the mounting groove, so that the auxiliary plate can additionally provide upward thrust for the feed bags by rotating the auxiliary plate in practice, and the stability of the feed bags in the feed bag transferring and stacking process can be enhanced. Meanwhile, by adjusting the distance between the upper end and the lower end of the auxiliary rod, the lower pressure of the feed bag borne by the lower end of the auxiliary rod can be partially transferred to the clamping plate, and the lengths of force arms, located on the two sides of the mounting groove, of the auxiliary rod are different, so that the auxiliary rod can provide larger upward thrust for the feed bag in practice; therefore, the feed bag can be further prevented from slipping off from the device.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of grabbing mechanism technical field, especially a kind of robot grabbing mechanism for feed stacking. BACKGROUND

[0002] After production, bagged feed packaged is needed to be stacked. At present, since stacking belongs to heavy physical labor, it is not friendly to the lumbar vertebrae of operator, thus, the corresponding stacking robot is applied.

[0003] The existing stacking robot generally includes electric control core and relevant displacement and lifting mechanism, and the lifting mechanism end is provided with corresponding grabbing mechanism. In practice, electric control core controls displacement mechanism to reach specified position according to preset instruction, and then lifting device drives grabbing mechanism to grab feed bag, thereby completing single feed bag transfer work.

[0004] The grabbing mechanism in prior art device is generally of two types, one is bending type grabbing, simulating human palm joint, providing upward and horizontal pushing force for feed bag by changing inclination angle of movable plate, and the other is parallel clamping, providing horizontal pushing force for feed bag by changing distance between two clamping plates.

[0005] In actual use, we find that although bending type is more reliable in grabbing process, it can fully resist self-weight of feed bag, but it needs more moving space during movable plate movement, which makes movable plate change inclination angle often hook surrounding feed bag in actual operation, and then operator needs to help it to get rid of extra. Although parallel clamping method has low space requirement, feed bag is mostly made of polyethylene material, which has smooth surface and small friction, thus, either grabbing force needs to be increased, or transfer time needs to be reduced. Therefore, we think that a kind of feed stacking robot grabbing mechanism is needed, which can meet the above requirements, i.e., ensuring reliable grabbing and avoiding occupying too much surrounding space. CONTENT OF UTILITY MODEL

[0006] In view of the deficiencies in prior art, the utility model provides a kind of robot grabbing mechanism for feed stacking, which has the advantages of reliable grabbing and not occupying too much surrounding space, and solves the problem that existing technical device cannot consider both grabbing application range and grabbing flexibility.

[0007] To achieve the above purpose, the utility model adopts the following technical scheme:

[0008] The utility model provides a kind of fodder stacking robot gripping mechanism, including outer shell, and the lower end of outer shell is respectively provided with a through slot in left and right sides, and a clamping plate is inserted in through slot, and it further includes auxiliary plate, the number of two auxiliary plates, two auxiliary plates are one-to-one corresponding with two clamping plates, and the part of each clamping plate outside outer shell is provided with mounting slot from left to right, and auxiliary plate middle section is inserted in mounting slot and is rotatably connected with clamping plate, the upper end of the inside of outer shell is rotatably connected with upper and lower shaft direction driven gear I, and the lower end of the inside of outer shell is rotatably connected with driven gear II coaxial with driven gear I, and the front and back ends of driven gear I and driven gear II are rotatably connected with a rack respectively, and the distal end of two racks corresponding with driven gear I is rotatably connected with two auxiliary plates respectively, and the distal end of two racks corresponding with driven gear II is fixedly connected with two clamping plates respectively.

[0009] Preferably, a transmission member is arranged between the driven gear I and the driven gear II, and the transmission member keeps the rotation directions of the driven gear I and the driven gear II opposite.

[0010] Preferably, the transmission member includes a driving motor, a left and right axial driving bevel gear is keyed connected to an output shaft of the driving motor, and a driven bevel gear is rotatably connected to each of upper and lower sides of the driving bevel gear, wherein a sleeve is keyed connected to the relatively upper driven bevel gear, and an inner rod is keyed connected to the relatively lower driven bevel gear, the inner rod is rotatably connected to the inside of the sleeve, the inner rod is rotatably connected with the driven gear II, and the sleeve is rotatably connected with the driven gear I.

[0011] Preferably, a follower gear is keyed connected to the upper end of the sleeve and the lower end of the inner rod, wherein the follower gear corresponding to the sleeve is rotatably connected with the driven gear I through a transmission gear set, the follower gear corresponding to the inner rod is rotatably connected with the driven gear II through the transmission gear set, the transmission gear set is a speed reduction gear set, the rotation speed of the inner rod is greater than that of the driven gear II, and the rotation speed of the sleeve is greater than that of the driven gear I.

[0012] Preferably, the horizontal distance between the lower ends of the two auxiliary plates is greater than the horizontal distance between the upper ends of the two auxiliary plates, and the length of a single auxiliary plate between the two clamping plates is less than the length of the single auxiliary plate outside the two clamping plates.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] The utility model discloses a through setting up the installation groove on the clamping plate, and the auxiliary plate is rotatably connected in the installation groove, and then the auxiliary plate can provide the upward thrust for the feed bag in addition through rotating the auxiliary plate in the actual, and the stability of the feed bag in the process of transferring and stacking the feed bag can be enhanced. Meanwhile, the device can make the downward pressure of the auxiliary rod lower end of the feed bag be partially transferred to the clamping plate through adjusting the distance between the upper end and lower end of the auxiliary rod, and the length of the force arm of the auxiliary rod on the both sides of the installation groove is different, which can make the auxiliary rod provide greater upward thrust for the feed bag in the actual, and the feed bag can be further guaranteed not to slip off the device. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the whole structure schematic diagram of the utility model.

[0016] Figure 2 It is the inside structure schematic diagram of the shell of the utility model.

[0017] Figure 3 It is the position relation schematic diagram of rack and driven gear I of the utility model.

[0018] Figure 4 It is the cooperation schematic diagram of transmission member and driven gear I of the utility model.

[0019] Figure 5 It is the position relation schematic diagram of sleeve and follow-up gear of the utility model.

[0020] In the drawing: 1, clamping plate;2, auxiliary plate;3, shell;4, installation groove;5, rack;6, transmission member;601, drive motor;602, drive bevel gear;603, driven bevel gear;604, inner rod;605, follow-up gear;606, transmission gear group;607, sleeve;7, driven gear I;8, driven gear II. DETAILED DESCRIPTION

[0021] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without creative labor belong to the protection scope of the utility model.

[0022] In the description of the utility model, it is understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0023] Please refer to Figure 1 , Figure 2 A kind of robot grabbing mechanism for feed stacking, consistent with prior art device, it includes shell body 3, in actual, shell body 3 is fixedly connected with the relevant lifting, transfer mechanism of robot, by corresponding electric control element cooperation lifting, transfer mechanism moves the device to the above of required feed grabbing, can realize the purpose of using the device to grab feed.

[0024] Specifically, one through slot is formed in the left and right sides of the lower end of the shell body 3, and a clamping plate 1 is inserted into the through slot. This allows the clamping plate 1 to move linearly left and right relative to the shell body 3, i.e. the relative distance between the two clamping plates 1 can be changed during use, so that after the clamping plate 1 is inserted around the gap of a single feed bag using the lifting and transfer mechanism, the relative distance between the two clamping plates 1 is shortened to clamp and fix the feed bag, achieving the transfer and stacking of the feed bag.

[0025] Unlike prior art devices, the device further includes auxiliary plates 2, the number of auxiliary plates 2 is two, and the two auxiliary plates 2 correspond to the two clamping plates 1 one by one. Moreover, the part of each clamping plate 1 outside the shell body 3 is provided with a mounting groove 4 from left to right, and the auxiliary plate 2 is inserted into the mounting groove 4 and rotationally connected with the clamping plate 1. This allows the clamping plate 1 to clamp and fix the feed bag in actual use, while also providing an additional upward pushing force to the middle section of the feed bag. This can deform the feed bag in cooperation with the self-weight of the feed inside the feed bag, forming a state where the middle section is higher than the front and back sections. This can improve the stability of the feed bag grabbing.

[0026] Specifically, please refer to Figure 3 , Figure 4 In order to change the position of the two clamping plates 1, so that the two clamping plates 1 can adapt to feed bags of different sizes and the clamping plate 1 can exert sufficient clamping force on the feed bag, the device is rotationally connected with a driven gear II 8 axially upward inside the lower end of the shell body 3. One rack 5 is transmissionally connected with each end of the driven gear II 8, and the distal ends of the two racks 5 corresponding to the driven gear II 8 are fixedly connected with the two clamping plates 1, respectively. This allows the two racks 5 to be driven during the rotation of the driven gear, and in turn drives the two clamping plates 1 to move towards or away from each other.

[0027] Need to explain, in fact, in order to achieve by the auxiliary plate 2 to the feed bag to provide additional upward thrust, the device constraint auxiliary plate 2 between the lower end of the horizontal distance is greater than the two auxiliary plate 2 between the upper end of the horizontal distance, this makes the two auxiliary plate 2 lower end between the two clamp plate 1.

[0028] At the same time, because the auxiliary plate 2 and the clamp plate 1 is located outside the shell 3 part of the rotating connection, therefore, a single auxiliary plate 2 between the two clamp plate 1 length is less than a single auxiliary plate 2 outside the two clamp plate 1 length, at this time, due to the length of the arm limit, the auxiliary plate 2 upper end must be a large amplitude of position change, can make the auxiliary plate 2 in the horizontal plane length is large enough, that is, the auxiliary plate 2 of the inclination angle is large enough, the auxiliary plate 2 on the feed bag upward force is greater.

[0029] Specifically, the device in the shell 3 inside the upper end of the rotating connection has up and down axial driven gear Ⅰ7, driven gear Ⅰ7 front and rear ends are also respectively engaged transmission connection with a rack 5, with driven gear Ⅰ7 corresponding to the two rack 5 away from the end is respectively with two auxiliary plate 2 rotating connection, this makes the auxiliary plate 2 in the shell 3 part is long enough, enough to form a sufficient force arm, can provide greater upward force for the feed bag.

[0030] Further, in order to reduce the operation steps and increase the auxiliary plate 2 of the inclination angle, the device is provided with transmission member 6 between the driven gear Ⅰ7 and the driven gear Ⅱ8, and, constraint driven gear Ⅰ7 and driven gear Ⅱ8 between the transmission member 6 keep the opposite direction of rotation, at this time, in the normal process of clamping the feed bag, the two clamp plate 1 movement towards each other, while the two auxiliary plate 2 lower end movement towards each other, two auxiliary plate 2 upper end movement away from each other.

[0031] Specifically, as shown in Figure 3 , Figure 4 , Figure 5 The transmission member 6 includes a driving motor 601, the output shaft of the driving motor 601 is keyed with left and right axial drive bevel gear 602.

[0032] The drive bevel gear 602 upper and lower sides are respectively engaged transmission connection with a driven bevel gear 603, wherein, the relatively upper driven bevel gear 603 is keyed with a sleeve 607, the relatively lower driven bevel gear 603 is keyed with an inner rod 604, at this time, according to the bevel gear connection property can know that the sleeve 607 and the inner rod 604 rotating direction is completely opposite.

[0033] Therefore, the follow-up gear 605 is connected to the upper end of the sleeve 607 and the lower end of the inner rod 604 by means of a key, wherein the sleeve 607 corresponds to the follow-up gear 605 which is connected to the driven gear I 7 through the transmission gear set 606, and the inner rod 604 corresponds to the follow-up gear 605 which is connected to the driven gear II 8 through the transmission gear set 606, at this time, the reverse rotation process between the driven gear I 7 and the driven gear II 8 can be realized.

[0034] Specifically, the inner rod 604 is inserted into the sleeve 607, and the inner rod 604 is rotationally connected with the sleeve 607 so as to form a support for the sleeve 607 by means of the inner rod 604.

[0035] Further, the transmission gear set 606 is a reduction gear set, the rotation speed of the inner rod 604 is greater than that of the driven gear II 8, and the rotation speed of the sleeve 607 is greater than that of the driven gear I 7, which prolongs the clamping time, but can ensure that a greater clamping force is applied to the feed bag, and in practice, the device will not be damaged and the feed bag will not fall off due to overloading.

[0036] In the actual use process of the utility model,

[0037] First, the reverse driving motor 601 is driven, the two clamping plates 1 move away from each other, and the upper ends of the two auxiliary plates 2 move towards each other;

[0038] Then, when the auxiliary plate 2 is in a vertical state (the upper and lower ends thereof are in the same vertical plane), the rotation driving motor 601 is stopped, at this time, the auxiliary plate 2 and the corresponding clamping plate 1 are in the same vertical plane (the auxiliary plate 2 and the clamping plate 1 are in abutment at the side ends thereof);

[0039] Then, the two clamping plates 1 are inserted into the two sides of a single feed bag by means of the corresponding lifting and shifting mechanism;

[0040] Finally, the forward driving motor 601 is started, the two clamping plates 1 move towards each other, and the upper ends of the two auxiliary plates 2 move away from each other, at this time, the distance between the lower end of the auxiliary plate 2 and the clamping plate 1 becomes larger, and the auxiliary plate 2 provides an upward pushing force for the feed bag.

[0041] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A robot grabbing mechanism for feed stacking, comprising an outer shell (3), a through slot is formed on the left and right sides of the lower end of the outer shell (3) respectively, and a clamping plate (1) is inserted into the through slot, characterized in that: Two auxiliary plates (2) are further included, the two auxiliary plates (2) correspond to the two clamping plates (1) one by one, and a mounting groove (4) is formed through the part of each clamping plate (1) outside the outer shell (3) from left to right, and the middle part of the auxiliary plate (2) is inserted into the mounting groove (4) and rotationally connected with the clamping plate (1); The upper end of the inner part of the outer shell (3) is rotationally connected with a upper and lower axial driven gear I (7), the lower end of the inner part of the outer shell (3) is rotationally connected with a driven gear II (8) coaxial with the driven gear I (7), and the front and rear ends of the driven gear I (7) and the driven gear II (8) are respectively meshingly connected with a rack (5). The distal ends of the two racks (5) corresponding to the driven gear I (7) are respectively rotationally connected with the two auxiliary plates (2), and the distal ends of the two racks (5) corresponding to the driven gear II (8) are respectively fixedly connected with the two clamping plates (1).

2. A robotic gripping mechanism for feed palletizing according to claim 1, characterized in that: The transmission member (6) is arranged between the driven gear I (7) and the driven gear II (8), and the transmission member (6) keeps the rotation directions of the driven gear I (7) and the driven gear II (8) opposite.

3. A robotic gripping mechanism for bales of feed according to claim 2, characterised in that: The transmission member (6) comprises a driving motor (601), the output shaft of the driving motor (601) is key-connected with a left and right axial driving bevel gear (602), and the upper and lower sides of the driving bevel gear (602) are respectively meshingly connected with a driven bevel gear (603), wherein the upper driven bevel gear (603) is key-connected with a sleeve (607), and the lower driven bevel gear (603) is key-connected with an inner rod (604). The inner rod (604) is inserted into the inner part of the sleeve (607) and rotationally connected with the sleeve (607), the inner rod (604) is transmissionally connected with the driven gear II (8), and the sleeve (607) is transmissionally connected with the driven gear I (7).

4. A robotic gripping mechanism for bales of feed according to claim 3 wherein: The upper end of the sleeve (607) and the lower end of the inner rod (604) are key-connected with a driven gear (605), wherein the driven gear (605) corresponding to the sleeve (607) is transmissionally connected with the driven gear I (7) through a transmission gear set (606), and the driven gear (605) corresponding to the inner rod (604) is transmissionally connected with the driven gear II (8) through the transmission gear set (606). The transmission gear set (606) is a speed reduction gear set, the rotation speed of the inner rod (604) is greater than the rotation speed of the driven gear II (8), and the rotation speed of the sleeve (607) is greater than the rotation speed of the driven gear I (7).

5. The robotic grasping mechanism for feed palletizing according to claim 1, characterized in that: The horizontal distance between the lower ends of the two auxiliary plates (2) is greater than the horizontal distance between the upper ends of the two auxiliary plates (2), and the length of a single auxiliary plate (2) between the two clamping plates (1) is less than the length of the single auxiliary plate (2) outside the two clamping plates (1).

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