Stacking manipulator for starch sacks

Abstract

The utility model discloses a kind of starch sack stacking manipulators, including main girder, two parallelly arranged main girder are equipped with two symmetrically arranged driving structures, several side-by-side arranged L-shaped clamping jaws are installed on driving structure, dust suction communication structure is arranged in the region above L-shaped clamping jaw of driving structure, dust suction communication structure includes tee and cross pipe, L-shaped clamping jaw is hollow structure, and vertical end is open setting, L-shaped clamping jaw top end is equipped with hose by pipe fitting, the bottom of cross pipe in the position above L-shaped clamping jaw is fixedly communicated with hose, L-shaped pipe is fixedly communicated with another end of cross pipe, tee is fixedly communicated with the adjacent end of L-shaped pipe in two ends symmetry, a plurality of through holes are set in the side wall of L-shaped clamping jaw, dust suction communication structure can be connected with external dust collector pipeline and start working, effectively suck away dust and dust on the surface of starch sack, avoid dust and dust flying to cause influence to environment and human health, improve cleaning efficiency.

Description

Technical Field

[0001] This utility model relates to the field of starch sack mobile equipment, specifically a starch sack palletizing robot. Background Technology

[0002] A starch sack palletizing robot is an automated mechanical device specifically designed for palletizing starch sacks; it can also be called an industrial starch palletizing robot or palletizing robot. This automated device integrates technologies from multiple disciplines, including mechanics, electronics, computers, sensors, and artificial intelligence, and can simulate a human arm to grasp, move, and stack items in a predetermined manner.

[0003] The starch sack palletizing robot mainly relies on multi-axis robots and gripper combination technology to realize the palletizing process. However, a small amount of dust remains on the surface of the starch sacks, and the gripper contact process will generate dust. If people inhale the dust, it will affect their health. If the dust flies to the joints of the mechanical equipment, it will cause wear or damage and affect the normal life of the mechanical equipment. Utility Model Content

[0004] The purpose of this invention is to provide a starch sack palletizing robot that effectively removes dust and powder from the surface of starch sacks, preventing dust and powder from flying and affecting the environment and human health, thus solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a starch sack stacking robot, comprising a main beam, two symmetrically arranged drive structures mounted on two parallel main beams, several L-shaped grippers arranged side by side mounted on the drive structures, a dust suction connection structure provided above the L-shaped grippers on the drive structures, the dust suction connection structure comprising a T-pipe and a horizontal pipe, the L-shaped grippers being hollow and having an open vertical end, a flexible hose being installed at the top of the L-shaped grippers via a pipe fitting, the bottom of the horizontal pipe located above the L-shaped grippers being fixedly connected to the flexible hose, the other end of the horizontal pipe being fixedly connected to the L-shaped pipe, the two symmetrical ends of the T-pipe being fixedly connected to the adjacent ends of the L-shaped pipe, and several through holes being opened on the side walls of the L-shaped grippers.

[0006] Preferably, one end of the hose is threaded to the fitting.

[0007] Preferably, the tops of the two parallel main beams are fixedly connected to a mounting plate, and the mounting plate is provided with a number of evenly spaced mounting holes.

[0008] Preferably, the drive structure includes a cylinder and a T-shaped plate. Two symmetrically arranged T-shaped plates are fixedly connected to the bottom of the main beam. Bushings are fixedly connected to the bottom of both ends of the main beam. A rotating shaft is provided between the two bushings. A curved clamping arm is installed at both ends of the rotating shaft. An inclined side plate is installed on the inner side wall of the curved clamping arm. The inner side of the inclined side plate is fixedly connected to the outer side wall of the vertical end of the L-shaped clamp. The outer side wall of the horizontal tube is fixedly connected to the outer side wall of the curved clamping arm. Two clamping plates are fixedly connected to the top of the T-shaped plate. A cylinder is rotatably connected to the two clamping plates through a first pin. A drive arm is rotatably connected to the output end of the cylinder through a second pin. A long cavity is opened at the top of the T-shaped plate. The drive arm passes through the long cavity and is fixedly sleeved at the center position of the rotating shaft.

[0009] Preferably, mounting sleeves are fixedly fitted at both ends of the rotating shaft, and several annular threaded holes are provided on the side wall of the curved clamping arm and the outer side wall of the mounting sleeve. Several countersunk holes are provided on the bottom side of the curved clamping arm and adjacent to the inclined side plate.

[0010] Preferably, the inclined side plates are provided with stepped grooves at the L-shaped gripper positions, and the vertical end sidewall of the L-shaped gripper is provided with an integrally formed protrusion.

[0011] Compared with the prior art, the beneficial effects of this utility model are: high cleaning efficiency. Through the design of the dust suction connection structure, when the L-shaped gripper clamps the starch sack, the dust suction connection structure can be connected to the external vacuum cleaner pipe and start working, effectively sucking away the dust and powder on the surface of the starch sack, avoiding the impact of dust and powder on the environment and human health, improving cleaning efficiency, and thus minimizing dust in the transplanting equipment area, ensuring the respiratory health of personnel and the normal use of equipment. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0013] Figure 2 This is a three-dimensional structural diagram of the present invention from another angle;

[0014] Figure 3 This is a three-dimensional structural diagram of the drive structure and the dust collection connection structure in this utility model;

[0015] Figure 4 for Figure 3 A schematic diagram of the three-dimensional structure from another angle;

[0016] Figure 5 This is a schematic diagram of the exploded disassembly structure of the inclined side plate, L-shaped gripper, and curved gripper arm in this utility model.

[0017] In the diagram: 1. Main beam; 2. Drive structure; 201. Cylinder; 202. T-shaped plate; 203. Long cavity; 204. Clamping plate; 205. Curved clamping arm; 206. First pin; 207. Second pin; 208. Bushing; 209. Rotating shaft; 2010. Drive arm; 2011. Countersunk hole; 2012. Sloping side plate; 2013. Mounting sleeve; 2014. Stepped groove; 2015. Threaded hole; 3. L-shaped gripper; 301. Through hole; 302. Protrusion; 4. Dust suction connection structure; 401. T-shaped pipe; 402. L-shaped pipe; 403. Flexible hose; 404. Fitting; 405. Horizontal pipe; 5. Mounting plate; 501. Mounting hole. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-5 The diagram shows a starch sack stacking robot, including a main beam 1. Two parallel main beams 1 are equipped with two symmetrically arranged drive structures 2. Several L-shaped grippers 3 are installed side by side on the drive structures 2. A dust suction connection structure 4 is provided above the L-shaped grippers 3 on the drive structures 2. The dust suction connection structure 4 includes a three-way pipe 401 and a horizontal pipe 405. The L-shaped grippers 3 are hollow and open at the vertical end. A flexible hose 403 is installed at the top of the L-shaped grippers 3 through a fitting 404. The bottom of the horizontal pipe 405 located above the L-shaped grippers 3 is fixedly connected to the flexible hose 403. The other end of the horizontal pipe 405 is fixedly connected to an L-shaped pipe 402. The two symmetrical ends of the three-way pipe 401 are fixedly connected to the adjacent ends of the L-shaped pipe 402. Several through holes 301 are opened on the two side walls of the L-shaped grippers 3.

[0020] It is worth noting that the drive structure 2 drives the L-shaped gripper 3 to move. When the L-shaped gripper 3 moves to the position of the starch bag, the open part of the vertical end of the L-shaped gripper 3 clamps the starch bag. At this time, the vacuuming connection structure 4 can be connected to the external vacuum cleaner pipe and start working. The air inside the L-shaped gripper 3 is extracted through the hose 403 and the horizontal pipe 405 to form a negative pressure. Since there are several through holes 301 on both sides of the L-shaped gripper 3, the negative pressure generated by the vacuuming connection structure 4 can also suck away the dust and powder on the surface of the starch bag and discharge it into the vacuum cleaner through the L-shaped pipe 402 and the three-way pipe 401, thereby achieving the cleaning effect of the starch bag and avoiding the impact of dust and powder on the environment and human health.

[0021] One end of the flexible hose 403 is threaded to the fitting 404, and the other end is sealed to the bottom of the horizontal pipe 405 to ensure no leakage at the connection and guarantee the dust collection effect. The fitting 404 not only facilitates the connection between the flexible hose 403 and the L-shaped gripper 3, but also facilitates the disassembly and replacement of the flexible hose 403, improving the flexibility and maintenance convenience of the equipment. In addition, the flexible hose 403 is made of a material with good flexibility and wear resistance, which can adapt to the deformation of the L-shaped gripper 3 during movement, ensuring the continuous and stable operation of the dust collection connection structure 4.

[0022] Please refer to Figure 1 and Figure 2 Two parallel main beams 1 are fixedly connected to the top of an mounting plate 5. The mounting plate 5 has several evenly arranged mounting holes 501. Through these mounting holes 501, the multi-axis robot arm can be assembled, so that the entire palletizing mechanical gripper can be stably installed on the multi-axis robot. The design of the mounting holes 501 not only takes into account the convenience of installation, but also ensures the firmness of the installation.

[0023] See Figure 1 , Figure 2 , Figure 3 and Figure 4 The drive structure 2 includes a cylinder 201 and a T-shaped plate 202. Two symmetrically arranged T-shaped plates 202 are fixedly connected to the bottom of the main beam 1. Bushings 208 are fixedly connected to the bottom of both ends of the main beam 1. A rotating shaft 209 is provided between the two bushings 208. Curved clamping arms 205 are installed at both ends of the rotating shaft 209. Inclined side plates 2012 are installed on the inner side walls of the curved clamping arms 205. The inner side surfaces of the inclined side plates 2012 are connected to the outer side walls of the vertical ends of the L-shaped grippers 3. The horizontal tube 405 is fixedly connected to the outer wall of the curved clamping arm 205. Two clamping plates 204 are fixedly connected to the top of the T-shaped plate 202. The two clamping plates 204 are rotatably connected to the cylinder 201 through the first pin 206. The output end of the cylinder 201 is rotatably connected to the drive arm 2010 through the second pin 207. The top of the T-shaped plate 202 has an elongated cavity 203. The drive arm 2010 passes through the elongated cavity 203 and is fixedly sleeved at the center position of the rotating shaft 209.

[0024] The drive arm 2010 can slide freely in the elongated cavity 203. When the cylinder 201 works, its output end pushes the drive arm 2010 to move along the elongated cavity 203, thereby driving the rotating shaft 209 to rotate between the two bushings 208. Since both ends of the rotating shaft 209 are equipped with curved clamping arms 205, the curved clamping arms 205 will swing as the rotating shaft 209 rotates, thereby driving the L-shaped gripper 3 to open and close, which can realize the fast and accurate stacking of starch sacks.

[0025] See Figure 5The two ends of the rotating shaft 209 are fixedly fitted with mounting sleeves 2013. The side wall of the curved clamping arm 205 and the outer side wall of the mounting sleeve 2013 are provided with a number of annular threaded holes 2015. The bottom side of the curved clamping arm 205 and the adjacent inclined side plate 2012 are provided with a number of countersunk holes 2011.

[0026] The threaded hole 2015 facilitates the fixed connection of the curved clamping arm 205 to the mounting sleeve 2013 by bolts, enhancing the stability of the structure. The bolt assembly that matches the countersunk hole 2011 can install the inclined side plate 2012 to the curved clamping arm 205.

[0027] The inclined side plate 2012 is provided with stepped grooves 2014 at the L-shaped gripper 3, and the vertical end side wall of the L-shaped gripper 3 is provided with an integrally formed protrusion 302.

[0028] The cooperation between the protrusion 302 and the stepped groove 2014, through the embedding of the protrusion 302 into the stepped groove 2014, not only significantly enhances the welding connection stability between the L-shaped gripper 3 and the inclined side plate 2012, but also ensures the smoothness of the L-shaped gripper 3 in opening and closing operations, preventing welding deviations caused by shaking or misalignment. The design of the stepped groove 2014 provides a preset limit function for the L-shaped gripper 3, ensuring the accuracy of the welding fixing position and improving the accuracy of installation.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A starch sack stacking robot, comprising a main beam (1), characterized in that, Two parallel main beams (1) are equipped with two symmetrically arranged drive structures (2). Several L-shaped grippers (3) are installed on the drive structures (2). A dust collection connection structure (4) is set in the area above the L-shaped grippers (3) of the drive structures (2). The dust collection connection structure (4) includes a three-way pipe (401) and a horizontal pipe (405). The L-shaped grippers (3) are hollow structures with open vertical ends. A flexible hose (403) is installed at the top of the L-shaped grippers (3) through a pipe fitting (404). The bottom of the horizontal pipe (405) located above the L-shaped grippers (3) is fixedly connected to the flexible hose (403). The other end of the horizontal pipe (405) is fixedly connected to the L-shaped pipe (402). The two symmetrical ends of the three-way pipe (401) are fixedly connected to the adjacent ends of the L-shaped pipe (402). Several through holes (301) are opened on both sides of the L-shaped grippers (3).

2. The starch sack palletizing robot according to claim 1, characterized in that: One end of the hose (403) is threaded to the fitting (404).

3. The starch sack palletizing robot according to claim 1, characterized in that: Two parallel main beams (1) are fixedly connected to the top of an mounting plate (5), and the mounting plate (5) has several evenly arranged mounting holes (501).

4. The starch sack palletizing robot according to claim 1, characterized in that: The drive structure (2) includes a cylinder (201) and a T-shaped plate (202). The two symmetrically arranged T-shaped plates (202) are fixedly connected to the bottom of the main beam (1). The bottom of both ends of the main beam (1) are fixedly connected to bushings (208). A rotating shaft (209) is provided between the two bushings (208). Both ends of the rotating shaft (209) are equipped with curved clamping arms (205). The inner side wall of the curved clamping arms (205) is equipped with inclined side plates (2012). The inner side of the inclined side plates (2012) is fixed to the outer side wall of the vertical end of the L-shaped gripper (3). The outer wall of the horizontal tube (405) is fixedly connected to the outer wall of the curved clamping arm (205). Two clamping plates (204) are fixedly connected to the top of the T-shaped plate (202). The two clamping plates (204) are rotatably connected to a cylinder (201) through a first pin (206). The output end of the cylinder (201) is rotatably connected to a drive arm (2010) through a second pin (207). A long cavity (203) is opened at the top of the T-shaped plate (202). The drive arm (2010) passes through the long cavity (203) and is fixedly sleeved at the center position of the rotating shaft (209).

5. A starch sack palletizing robot according to claim 4, characterized in that: The two ends of the rotating shaft (209) are fixedly fitted with mounting sleeves (2013). The side wall of the curved clamping arm (205) and the outer side wall of the mounting sleeve (2013) are provided with several annular threaded holes (2015). The bottom side of the curved clamping arm (205) and the adjacent inclined side plate (2012) are provided with several countersunk holes (2011).

6. The starch sack palletizing robot according to claim 4, characterized in that: The inclined side plate (2012) is provided with stepped grooves (2014) at the L-shaped claw (3) position, and the vertical end side wall of the L-shaped claw (3) is provided with an integrally formed protrusion (302).

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