Carrying arm for mushroom sticks

Abstract

The utility model provides a shiitake mushroom stick carrying arm, and belongs to the technical field of mushroom raw material stick racking equipment. The problem that carrying truss equipment for mushroom stick outer frames does not exist in the existing market is solved. The outer frame carrying manipulator comprises a clamping assembly used for clamping and fastening an outer frame and a displacement assembly used for switching the position of a station where the clamping assembly is located, and the clamping assembly comprises a stand column fixedly arranged on the displacement assembly, a swing frame fixedly arranged at the bottom of the stand column and two sets of hook claw components symmetrically arranged; the hook claw part comprises an air cylinder fixedly arranged on the stand column, a rotating body rotationally arranged at the end of the swing frame, two hook rods fixedly arranged on the two sides of the rotating body, and a deviation rod fixed to the two hook rods. Compared with the prior art, the carrying manipulator hooks the outer frame from inside to outside to complete clamping work, and has the three-axis positioning capability, so that the clamping reliability is high, and the conveying selectivity is high.

Description

Technical Field

[0001] This utility model belongs to the technical field of mushroom raw material stick loading equipment, and relates to a transport arm for shiitake mushroom sticks. Background Technology

[0002] Shiitake mushroom substrate sticks are rod-shaped raw materials rich in organic matter, used for cultivating fungi. The production process of substrate sticks requires multiple processing steps, followed by transportation. Before transport, the raw materials need to be packaged into containers. Due to their large size, the movement of these containers into and out of the workstation requires the assistance of heavy equipment. Truss machinery is ideally suited for handling such containers. Therefore, there is a need to develop a specialized truss conveying system for mushroom substrate stick containers. Utility Model Content

[0003] The purpose of this utility model is to address the problem that there is no existing transport truss equipment for mushroom sticks on the market, and to propose a transport arm for shiitake mushroom sticks.

[0004] The objective of this utility model can be achieved through the following technical solutions:

[0005] A transport arm for shiitake mushroom logs is characterized by comprising a clamping assembly for clamping and securing an outer frame and a displacement assembly for switching the position of the clamping assembly. The clamping assembly includes a column fixedly mounted on the displacement assembly, a swing frame fixedly mounted at the bottom of the column, and two sets of hook components symmetrically arranged. The hook component includes a cylinder fixedly mounted on the column, a rotating body rotatably mounted at the end of the swing frame, two hook rods fixedly mounted on both sides of the rotating body, and a deflector rod fixedly mounted on the two hook rods. The piston rod end of the cylinder is connected to the middle of the deflector rod via a universal hinge. The two ends of the deflector rod are fixed to the top ends of the two hook rods. The two ends of the rotating body are fixed to the middle ends of the two hook rods. The lower end of the hook rod is provided with an outwardly curved hook for hooking the outer frame.

[0006] In the aforementioned conveying arm for shiitake mushroom logs, a pressure sensor is provided at the lower end of the column, and the pressure sensor is connected to the controller of the cylinder.

[0007] In the aforementioned conveying arm for shiitake mushroom spawn, the displacement assembly includes a support body, a horizontal block, a vertical block, a lifting block, a transverse slide rail fixedly mounted on the support body, a transverse slide seat mounted on the bottom surface of the horizontal block, a longitudinal slide rail mounted on the top surface of the horizontal block, a longitudinal slide seat mounted on the vertical block, a vertical slide seat mounted on the vertical block, and a vertical slide rail mounted on the lifting block. The transverse slide seat is slidably mounted on the transverse slide rail, allowing the horizontal block to slide laterally relative to the frame. The longitudinal slide seat is slidably mounted on the longitudinal slide rail, allowing the vertical block to move longitudinally relative to the horizontal block. The vertical slide rail is slidably mounted on the vertical slide seat, allowing the lifting block to move up and down relative to the vertical block. A clamping assembly is fixedly mounted at the bottom end of the lifting block. The displacement assembly also includes a driving component for driving the horizontal block, the vertical block, and the lifting block.

[0008] In the aforementioned conveying arm for shiitake mushroom logs, the driving components include a horizontal driving component, a longitudinal driving component, and a vertical driving component. The horizontal driving component includes a rack fixedly mounted on a horizontal bar and parallel to a horizontal slide rail, a motor fixedly mounted on a horizontal block, and a horizontal gear fixedly mounted at the output end of the motor, with the horizontal gear meshing with the rack. The longitudinal driving component includes two vertically rotating wheels mounted on the horizontal block, a belt tightly fitted on the two vertically rotating wheels, and a second motor fixedly mounted on the horizontal block for driving one of the vertically rotating wheels to rotate, with the horizontal block fixed to the belt. The vertical driving component includes two vertically rotating wheels mounted on the vertical block, a vertical movable belt tightly fitted on the two vertically rotating wheels, and a third motor fixedly mounted on the vertical block for driving one of the vertically rotating wheels to rotate, with a lifting block fixed to the vertical movable belt.

[0009] Compared with existing technologies, this handling arm completes the clamping work by hooking the outer frame from the inside out, and it has three-axis positioning capability, which makes the clamping reliability high and the conveying options strong. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of the handling arm;

[0011] Figure 2 This is a schematic diagram of the clamping assembly;

[0012] Figure 3 This is a schematic diagram of the structure of this handling arm in use;

[0013] In the diagram, 1. Column; 2. Frame; 3. Cylinder; 4. Rotating body; 5. Hook rod; 6. Offset rod; 7. Universal hinge; 8. Hook; 9. Outer frame; 10. Ear rod; 11. Horizontal block; 12. Vertical block; 13. Lifting block; 14. Rack; 15. Motor; 16. Belt; 17. Second motor; 18. Third motor. Detailed Implementation

[0014] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0015] The transport arm of this shiitake mushroom spawn includes a clamping component for clamping and securing the outer frame 9 and a displacement component for switching the position of the clamping component.

[0016] like Figure 2 As shown, the clamping assembly includes a column 1 fixedly mounted on the displacement assembly, a swing frame 2 fixedly mounted at the bottom of the column 1, and two sets of hook components symmetrically arranged. The hook components include a cylinder 3 (or a hydraulic cylinder) fixedly mounted on the column 1, a rotating body 4 rotatably mounted at the end of the swing frame 2, two hook rods 5 fixedly mounted on both sides of the rotating body 4, and a deflector rod 6 fixedly mounted on the two hook rods 5. The piston rod end of the cylinder 3 is connected to the middle of the deflector rod 6 through a universal hinge 7. The two ends of the deflector rod 6 are fixed to the top of the two hook rods 5. The two ends of the rotating body 4 are fixed to the middle end of the two hook rods 5. The lower end of the hook rod 5 is provided with an outward hook 8, which is used to hook up the outer frame 9.

[0017] The outer frame 9 is a frame made of a rod-shaped substrate, so the hooks 8 can hook into it from the inside out. When it has two hook claw components that hook symmetrically from the inside of the rod-shaped substrate of the outer frame 9, it can stably hook the outer frame 9. Figure 3 .

[0018] like Figure 3 As shown, during the operation of the hook rod 5, the cylinder 3 retracts the piston rod, and the hook rod 5 rotates around the rotating body 4, so that the hook 8 hooks the rod-shaped base material of the outer frame 9 from the inside out (the outer frame 9 hooked in the figure has two sets of ear rods 10, and the hook 8 hooks into the ear rods 10 to hook the entire outer frame 9).

[0019] like Figure 3 As shown, a pressure sensor is installed at the bottom of the column 1. When the pressure sensor is connected to the controller of the cylinder 3, the hook component starts to operate after the pressure sensor at the bottom of the column 1 contacts the upper surface of the outer frame 9, hooking the ear rod 10.

[0020] like Figure 1 and Figure 3As shown, the displacement assembly includes a support body, a horizontal block 11, a vertical block 12, a lifting block 13, a transverse slide rail fixedly mounted on the support body, a transverse slide seat mounted on the bottom surface of the horizontal block 11, a longitudinal slide rail mounted on the top surface of the horizontal block 11, a longitudinal slide seat mounted on the vertical block 12, a vertical slide seat mounted on the vertical block 12, and a vertical slide rail mounted on the lifting block 13. The transverse slide seat is slidably mounted on the transverse slide rail so that the horizontal block 11 can slide laterally relative to the frame. The longitudinal slide seat is slidably mounted on the longitudinal slide rail so that the vertical block 12 can move longitudinally relative to the horizontal block 11. The vertical slide rail is slidably mounted on the vertical slide seat so that the lifting block 13 can move up and down relative to the vertical block 12. A clamping assembly is fixedly mounted on the bottom end of the lifting block 13. The displacement assembly also includes a drive component for driving the horizontal block 11, the vertical block 12, and the lifting block 13.

[0021] As can be seen, the design of this displacement component is mainly to move the position of the clamping component so that the clamping component can complete the picking and unloading of goods. The three-axis displacement component means that the clamping component can move horizontally (X-axis direction), vertically (Y-axis direction), and vertically (Z-axis direction). The vertical movement is to allow the clamping component to move up and down to complete the picking and unloading of goods. The horizontal movement is for the clamping component to move goods. The vertical movement is generally not required. However, when the outer frame 9 of the loading station is misaligned (tilted), it can be automatically detected by the vision sensor. Then, the clamping component can be moved slightly in the vertical direction to switch the clamping position and complete the automatic correction clamping function.

[0022] like Figure 1 As shown, the driving component includes a lateral driving component, a longitudinal driving component, and a vertical driving component.

[0023] The lateral drive component includes a rack 14 fixedly mounted on the crossbar and parallel to the lateral slide rail, a motor 15 fixedly mounted on the cross block 11, and a lateral gear fixedly mounted at the output end of the motor 15, the lateral gear meshing with the rack 14.

[0024] The longitudinal drive component includes two longitudinal rotating wheels mounted vertically on the horizontal block 11, a belt 16 tightly fitted on the two longitudinal rotating wheels, and a second motor 17 fixedly mounted on the horizontal block 11 for driving one of the longitudinal rotating wheels to rotate. The longitudinal block 12 is fixed on the belt 16.

[0025] The vertical drive component includes two vertical rotating wheels that are rotatably mounted on the longitudinal block 12, a vertical movable belt that is tightly fitted on the two vertical rotating wheels, a third motor 18 that is fixedly mounted on the longitudinal block 12 and used to drive one of the vertical rotating wheels to rotate, and a lifting block 13 that is fixed on the vertical movable belt.

[0026] Because this displacement component is generally used on large supports (trusses), the support body can be directly part of the truss. Therefore, the lateral movement based on the truss itself can be properly installed using a rack and pinion. However, the longitudinal and vertical movement must be accomplished based on the clamping device itself. Therefore, if a rack and pinion is used, it will be difficult to install due to insufficient space. So, a belt is used to achieve the displacement movement.

[0027] The three-axis drive assembly also includes a cable chain, which is used to lay the wiring in the three-axis drive assembly.

[0028] It should be understood that in the claims and description of this utility model, all instances of "comprising..." should be understood as having an open meaning, that is, their meaning is equivalent to "containing at least...", and should not be understood as having a closed meaning, that is, their meaning should not be understood as "containing only...".

[0029] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A lentinula mushroom stick handling arm characterized by: The utility model provides a clamping assembly for clamping and fastening outer frame and a displacement assembly for switching the position of the station where the clamping assembly is located, the clamping assembly comprises a stand fixedly arranged on the displacement assembly, a swing frame fixedly arranged at the bottom of the stand, and two sets of hook components arranged symmetrically, the hook components comprise a gas cylinder fixedly arranged on the stand, a rotating body rotatably arranged at the end of the swing frame, two hook rods fixedly arranged at both sides of the rotating body, and a biasing rod fixedly arranged on the two hook rods, the piston rod end of the gas cylinder is connected to the middle of the biasing rod through a universal hinge, both ends of the biasing rod are fixed to the top ends of the two hook rods, both ends of the rotating body are fixed to the middle ends of the two hook rods, and the lower ends of the hook rods are provided with outward hooks for hooking the outer frame.

2. The shiitake mushroom plug carrying arm according to claim 1, wherein: The lower end of the stand is provided with a pressure sensor connected to the controller of the gas cylinder.

3. The mushroom stick carrying arm according to claim 1 or 2, characterized in that: The displacement assembly comprises a bracket body, a cross block, a longitudinal block, a lifting block, a horizontal sliding rail fixedly arranged on the bracket body, a horizontal sliding seat arranged on the bottom surface of the cross block, a longitudinal sliding rail arranged on the top surface of the cross block, a longitudinal sliding seat arranged on the longitudinal block, a vertical sliding seat arranged on the longitudinal block, and a vertical sliding rail arranged on the lifting block, the horizontal sliding seat is horizontally slidably arranged on the horizontal sliding rail to enable the cross block to horizontally slide relative to the frame, the longitudinal sliding seat is longitudinally slidably arranged on the longitudinal sliding rail to enable the longitudinal block to longitudinally move relative to the cross block, the vertical sliding rail is slidably arranged on the vertical sliding seat to enable the lifting block to vertically move relative to the longitudinal block, the clamping assembly is fixedly arranged at the bottom end of the lifting block, and the displacement assembly further comprises a driving member for driving the cross block, the longitudinal block and the lifting block to operate.

4. The mushroom peg carrying arm according to claim 3, wherein: The driving member comprises a horizontal driving component, a longitudinal driving component and a vertical driving component, the horizontal driving component comprises a rack fixedly arranged on the horizontal rod and parallel to the horizontal sliding rail, a motor fixedly arranged on the cross block, and a horizontal gear fixedly arranged at the output end of the motor and engaged with the rack, the longitudinal driving component comprises two longitudinal rotating wheels rotatably arranged on the cross block, a belt tightly sleeved on the two longitudinal rotating wheels, a second motor fixedly arranged on the cross block and used for driving one of the longitudinal rotating wheels to rotate, and the longitudinal block is fixed to the belt, and the vertical driving component comprises two vertical rotating wheels rotatably arranged on the longitudinal block, a vertical movable belt tightly sleeved on the two vertical rotating wheels, a third motor fixedly arranged on the longitudinal block and used for driving one of the vertical rotating wheels to rotate, and the lifting block is fixed to the vertical movable belt.

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