Fertilizer bag bulk placement gripper

Abstract

This utility model discloses a fertilizer bag batch placement and gripping fixture, connected to a robotic arm, comprising: a support plate connected to the robotic arm; a fixed frame located at the bottom of the support plate; a central gripping component located at the bottom of the fixed frame in the middle position for gripping fertilizer bags in the middle position; and two side gripping components, respectively located on both sides of the central gripping position for gripping fertilizer bags in the side positions. Beneficial effects: It can simultaneously transport three fertilizer bags from the conveyor belt, resulting in higher handling efficiency; in addition, the central gripping component allows for a certain degree of relative lifting and lowering of the gripped fertilizer bags relative to the fertilizer bags gripped by the side gripping components.

Description

Technical Field

[0001] This utility model relates to the field of fertilizer bag handling, and in particular to a fertilizer bag bulk placement and gripping clamp. Background Technology

[0002] After being conveyed by the conveyor belt, the fertilizer bags need to be transferred to the transfer device. This requires a robotic arm to control the grippers to continuously move the fertilizer bags to the transfer device in batches.

[0003] However, current clamps can only handle fertilizer bags one at a time, resulting in low handling efficiency. Utility Model Content

[0004] Purpose of the utility model: The purpose of this utility model is to solve the problems in the prior art and provide a fertilizer bag batch placement and gripping clamp.

[0005] Technical solution: A fertilizer bag bulk placement and gripping fixture is proposed, which is connected to a robotic arm, including:

[0006] Support plate, connected to the robotic arm;

[0007] A fixed frame is located at the bottom of the support plate;

[0008] The intermediate clamping component is located at the bottom of the middle position of the fixed frame and is used to clamp the fertilizer bag in the middle position.

[0009] There are two clamping components on both sides, one on each side of the middle clamping position, used to clamp the fertilizer bags on both sides.

[0010] Preferably, the intermediate clamping assembly includes a lifting assembly, a first pressing assembly, and a first gripping assembly;

[0011] The lifting assembly is connected to the fixed frame and the support plate;

[0012] The first pressing component and the first grasping component are connected to the lifting component.

[0013] Preferably, the lifting assembly includes a first lifting frame and a first electric actuator;

[0014] The first electric actuator is fixed to the upper side of the support plate, and the output end of the first electric actuator passes through the support plate and is fixedly connected to the first lifting frame;

[0015] The fixed frame is connected to a limit block, and the first lifting frame is connected to a limit post with a sliding through limit block.

[0016] Preferably, the first pressing assembly includes a first support rod, a second electric push rod, and a first pressing plate;

[0017] Two first support rods are provided, which are fixedly connected to the first lifting frame. The second electric push rod is fixed to the lower side of the first support rod and connected to the first pressing plate.

[0018] Preferably, the first gripping component includes a first T-shaped fixing seat, a first rotating shaft, a first traction rod, a third electric push rod, and a first gripper.

[0019] The first T-shaped fixing base is respectively located at the four corners of the lower side of the first lifting frame;

[0020] A first rotating shaft is rotatably connected between two first T-shaped fixing seats on the same side. Multiple first grippers are evenly distributed on the outer side of the first rotating shaft. The first grippers on the lower side of the first T-shaped fixing seats on both sides are bent towards each other.

[0021] One of the first grippers at one end of each of the two sides is rotatably mounted on one side of the first T-shaped fixed seat, and one side is rotatably connected to both ends of the first traction rod.

[0022] The third electric actuator is fixedly mounted on both sides of the first lifting frame. The output end of the third electric actuator is hinged to a first rotating rod that is fixedly connected to the first rotating shaft. When the two third electric actuators retract, they can drive the first rotating shaft to rotate so that the first grippers on both sides clamp each other.

[0023] Preferably, the two-sided clamping components include a horizontal sliding component, a second pressing component, and a second gripping component;

[0024] The lower side of the fixed frame is connected to the horizontal sliding component;

[0025] The second pressing component and the second gripping component are fixedly mounted on the horizontal sliding component.

[0026] Preferably, the first pressing component includes a horizontal fixing plate, a drive motor, and a horizontal sliding frame;

[0027] The horizontal fixing plate is fixed to the lower side of the fixing frame, the drive motor is fixed to the lower side of the horizontal fixing plate, and the output end of the drive motor is sleeved with a fixing seat connected to the horizontal fixing plate through a bearing.

[0028] The output end of the drive motor is connected to a screw, and a threaded slider is provided on the outside of the screw through a threaded engagement. A second support rod is connected to the lower side of the threaded slider through a fixing plate, and the two ends of the second support rod are connected to a horizontal sliding frame.

[0029] The fixed frame is provided with a slide rail, and the horizontal sliding frame is provided with a sliding block that cooperates with the slide rail by means of an L-shaped rod.

[0030] Preferably, the second pressing assembly includes a fourth electric actuator and a second pressing plate;

[0031] The second support rod is provided in two parts and is fixedly connected to the horizontal sliding frame. The fourth electric push rod is fixed to the lower side of the second support rod and connected to the second pressing plate.

[0032] Preferably, the second gripping assembly includes a second T-shaped fixing seat, a second rotating shaft, a second traction rod, a fifth electric push rod, and a second gripper.

[0033] The second T-shaped fixing base is respectively located at the four corners of the lower side of the horizontal sliding frame;

[0034] A second rotating shaft is rotatably connected between two second T-shaped fixing seats on the same side. Multiple second grippers are evenly distributed on the outer side of the second rotating shaft. The second grippers on the lower side of the two second T-shaped fixing seats are bent towards each other.

[0035] One of the second grippers on each side is rotatably mounted on one side of the second T-shaped fixed seat, and one side is rotatably connected to both ends of the second traction rod.

[0036] The fifth electric actuator is fixedly mounted on both sides of the horizontal sliding frame. The output end of the fifth electric actuator is hinged to a second rotating rod that is fixedly connected to the first rotating shaft. When the two fifth electric actuators retract, they can drive the second rotating shaft to rotate so that the second grippers on both sides clamp each other.

[0037] Preferably, a drag chain is connected to the upper side of the horizontal sliding frame, and the drag chain is connected to the second support rod through a C-shaped frame and a third support rod.

[0038] Beneficial effects:

[0039] It can simultaneously move three bags of fertilizer off the conveyor belt, making the handling more efficient;

[0040] In addition, the middle clamping component can raise and lower the clamped fertilizer bag to a certain extent relative to the fertilizer bags clamped by the two side clamping components;

[0041] The fertilizer bags held by the clamping components on both sides can be moved horizontally relative to the clamping components in the middle, which makes it easier to place the fertilizer bags as compactly as possible. The position of the fertilizer bag held by the middle clamping component can be adjusted to be above or below the fertilizer bags held by the clamping components on both sides, which makes it easier to stack more fertilizer bags and can be used with smaller transfer devices. Attached Figure Description

[0042] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0043] Figure 2 This is a schematic diagram of the three-dimensional structure of the support plate of this utility model;

[0044] Figure 3 This is a three-dimensional structural diagram of the first lifting frame of this utility model;

[0045] Figure 4 This is a three-dimensional structural diagram of the intermediate clamping component of this utility model;

[0046] Figure 5 This is a three-dimensional structural diagram of the two-sided clamping assembly of this utility model;

[0047] Figure 6 This is a three-dimensional structural diagram of the two-sided clamping assembly of this utility model from another perspective;

[0048] Figure 7 This is a three-dimensional structural diagram of the intermediate clamping component of this utility model from another perspective;

[0049] Figure 8 This is a bottom view of the structure of the two-sided clamping assembly of this utility model;

[0050] Figure 9 This is a bottom view of the intermediate clamping component of this utility model.

[0051] Figure label:

[0052] 1. Robotic arm; 2. Support plate; 3. Fixed frame; 4. First lifting frame; 5. First electric push rod; 6. Limiting block; 7. Limiting post; 8. First support rod; 9. Second electric push rod; 10. First pressing plate; 11. First T-shaped fixed seat; 12. First rotating shaft; 13. First traction rod; 14. Third electric push rod; 15. First gripper; 16. First rotating rod; 17. Horizontal fixed plate; 18. Drive motor; 19. Horizontal sliding frame; 20. Screw; 21. Threaded slider; 22. Second support rod; 23. Fourth electric push rod; 24. Second pressing plate; 25. Second T-shaped fixed seat; 26. Second rotating shaft; 27. Second traction rod; 28. Second gripper; 29. ​​Fifth electric push rod; 30. Second rotating rod; 31. Cable chain; 32. Slide rail; 33. Sliding block. Detailed Implementation

[0053] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed following the word and its equivalents, but does not exclude other elements or objects.

[0057] In response to the problems existing in the current technology, combined with Figure 1-9 A fertilizer bag bulk placement and gripping fixture, connected to a robotic arm 1, includes:

[0058] Support plate 2 is connected to robotic arm 1;

[0059] The fixing frame 3 is located at the bottom of the support plate 2;

[0060] The intermediate clamping component is located at the bottom of the middle position of the fixed frame 3 and is used to clamp the fertilizer bag in the middle position.

[0061] There are two clamping components on both sides, one on each side of the middle clamping position, used to clamp the fertilizer bags on both sides.

[0062] Specifically, the middle clamping component can hold one fertilizer bag, while the two side clamping components can hold two fertilizer bags. When transporting fertilizer bags from the conveyor belt, three bags can be transported to the transfer platform at the same time, resulting in higher handling efficiency.

[0063] In some preferred embodiments, the intermediate clamping assembly includes a lifting assembly, a first pressing assembly, and a first gripping assembly;

[0064] The lifting assembly, the fixed frame 3, and the support plate 2 are connected;

[0065] The first pressing component and the first grasping component are connected to the lifting component.

[0066] Specifically, after the fertilizer bag is clamped by the middle clamping component, it can be raised and lowered during placement to adjust the vertical relationship between the fertilizer bag and the fertilizer bags on both sides, thereby adjusting the tightness of the fertilizer bag during placement.

[0067] In some preferred embodiments, the lifting assembly includes a first lifting frame 4 and a first electric push rod 5;

[0068] The first electric actuator 5 is fixed on the upper side of the support plate 2, and the output end of the first electric actuator 5 passes through the support plate 2 and is fixedly connected to the first lifting frame 4.

[0069] The fixed frame 3 is connected to a limiting block 6, and the first lifting frame 4 is connected to a limiting post 7 with a sliding through limiting block 6.

[0070] Specifically, the first electric actuator 5 can be extended and retracted to adjust the lifting and lowering of the first lifting frame 4.

[0071] In some preferred embodiments, the first pressing assembly includes a first support rod 8, a second electric push rod 9, and a first pressing plate 10;

[0072] Two first support rods 8 are provided and are fixedly connected to the first lifting frame 4. The second electric push rod 9 is fixed to the lower side of the first support rod 8 and connected to the first pressing plate 10.

[0073] Specifically, by opening the second electric push rod 9, the height of the first pressing plate 10 can be adjusted. When the fertilizer bag is clamped, the second electric push rod 9 can push the first extrusion plate 10 to squeeze the fertilizer bag, thereby improving the clamping stability of the fertilizer bag.

[0074] In some preferred embodiments, the first gripping assembly includes a first T-shaped fixing seat 11, a first rotating shaft 12, a first traction rod 13, a third electric push rod 14, and a first gripper 15;

[0075] The first T-shaped fixing base 11 is respectively located at the four corners of the lower side of the first lifting frame 4;

[0076] A first rotating shaft 12 is rotatably connected between two first T-shaped fixing seats 11 on the same side. Multiple first grippers 15 are evenly distributed on the outer side of the first rotating shaft 12. The first grippers 15 on the lower side of the first T-shaped fixing seats 11 on both sides are bent towards each other.

[0077] One of the first grippers 15 on each side is rotatably mounted on one side of the first T-shaped fixed seat 11, and one side is rotatably connected to both ends of the first traction rod 13.

[0078] The third electric push rod 14 is fixedly mounted on both sides of the first lifting frame 4. The output end of the third electric push rod 14 is hinged to a first rotating rod 16 that is fixedly connected to the first rotating shaft 12. When the two third electric push rods 14 retract, they can drive the first rotating shaft 12 to rotate so that the first grippers 15 on both sides clamp each other.

[0079] Specifically, by simultaneously opening the third electric push rods 14 on both sides, the first rotating rod 16 can be driven to rotate, which in turn drives the first rotating shaft 12 to rotate. The rotation of the first rotating shaft 12 drives the first grippers 15 on both sides to rotate. The first traction rod 13 can improve the synchronization of the rotation of the first grippers 15 on both sides, preventing the material from deflecting due to the asynchronous release of the first grippers 15 on both sides when the first grippers 15 are released. When the third electric push rod 14 is pushed out, it drives the two first grippers 15 to move away. When the third electric push rod 14 is retracted, it drives the first grippers 15 on both sides to clamp the fertilizer bag in opposite directions.

[0080] In some preferred embodiments, the two-sided clamping components include a horizontal sliding component, a second pressing component, and a second gripping component;

[0081] The lower side of the fixed frame 3 is connected to the horizontal sliding component;

[0082] The second pressing component and the second gripping component are fixedly mounted on the horizontal sliding component.

[0083] Specifically, the second gripping component can grip the fertilizer bag, and the second pressing component can press the gripped fertilizer bag to improve the gripping stability. The horizontal sliding component can adjust the horizontal movement of the gripped fertilizer bag to adjust the distance between the fertilizer bags on both sides and the fertilizer bag in the middle. It can also adjust the raising or lowering of the middle fertilizer bag when the fertilizer bags on both sides are far away from the middle fertilizer bag, then bring the fertilizer bags on both sides closer together, and then bring the middle fertilizer bag closer to the fertilizer bags on both sides. When the three fertilizer bags are placed together, the middle fertilizer bag can be adjusted to be above or below the fertilizer bags on both sides, depending on the needs.

[0084] In some preferred embodiments, the first pressing component includes a horizontal fixing plate 17, a drive motor 18, and a horizontal sliding frame 19;

[0085] The horizontal fixing plate 17 is fixed to the lower side of the fixing frame 3, the drive motor 18 is fixed to the lower side of the horizontal fixing plate 17, and the output end of the drive motor 18 is sleeved with a fixing seat connected to the horizontal fixing plate 17 through a bearing.

[0086] The output end of the drive motor 18 is connected to a screw 20. A threaded slider 21 is provided on the outside of the screw 20 through a threaded engagement. A second support rod 22 is connected to the lower side of the threaded slider 21 through a fixing plate. The two ends of the second support rod 22 are connected to the horizontal sliding frame 19.

[0087] The fixed frame 3 is provided with a slide rail 32, and the horizontal sliding frame 19 is provided with a sliding block 33 that cooperates with the slide rail 32 via an L-shaped rod.

[0088] Specifically, turning on the drive motor 18 can drive the screw 20 to rotate, which in turn causes the threaded slider 21 to slide on the outside of the screw 20. The sliding of the threaded slider 21 causes the second support rod 22 to slide horizontally, which in turn causes the horizontal sliding frame 19 to slide horizontally.

[0089] At the same time, the sliding block 33 slides on the slide rail 32, making the horizontal sliding frame 19 slide more steadily.

[0090] In some preferred embodiments, the second pressing assembly includes a fourth electric actuator 23 and a second pressing plate 24;

[0091] The second support rod 22 is provided in two parts and is fixedly connected to the horizontal sliding frame 19. The fourth electric push rod 23 is fixed to the lower side of the second support rod 22 and connected to the second pressing plate 24.

[0092] Specifically, by opening the fourth electric push rod 23, the fertilizer bag can be squeezed and clamped by the second pressing plate 24, making the fertilizer bag more secure.

[0093] In some preferred embodiments, the second gripping assembly includes a second T-shaped fixing seat 25, a second rotating shaft 26, a second traction rod 27, a fifth electric push rod 29, and a second gripper 28;

[0094] The second T-shaped fixing base 25 is respectively located at the four corners of the lower side of the horizontal sliding frame 19;

[0095] A second rotating shaft 26 is rotatably connected between two second T-shaped fixing seats 25 on the same side. Multiple second grippers 28 are evenly distributed on the outer side of the second rotating shaft 26. The second grippers 28 on the lower side of the two second T-shaped fixing seats 25 are bent towards each other.

[0096] One of the second grippers 28 on each side is rotatably mounted on one side of the second T-shaped fixed seat 25, and one side is rotatably connected to both ends of the second traction rod 27 respectively.

[0097] The fifth electric actuator 29 is fixedly mounted on both sides of the horizontal sliding frame 19. The output end of the fifth electric actuator 29 is hinged to a second rotating rod 30 that is fixedly connected to the second rotating shaft 12. When the two fifth electric actuators 29 retract, they can drive the second rotating shaft 26 to rotate so that the second grippers 28 on both sides clamp each other.

[0098] Specifically, opening the fifth electric push rods 29 on both sides simultaneously can drive the second rotating rod 30 to rotate, which in turn drives the second rotating shaft 26 to rotate. The rotation of the second rotating shaft 26 drives the second grippers 28 on both sides to rotate. The second traction rod 27 can improve the synchronization effect of the rotation on both sides. When the fifth electric push rod 29 is pushed out, it drives the two second grippers 28 to move away. When the fifth electric push rod 29 is retracted, it drives the second grippers 28 on both sides to clamp the fertilizer bag in opposite directions.

[0099] In some preferred embodiments, a drag chain 31 is connected to the upper side of the horizontal sliding frame 19, and the drag chain 31 is connected to the second support rod 22 through a C-shaped frame and a third support rod.

[0100] Specifically, cables between components are stored using cable chains to avoid dragging cables when the horizontal sliding frame 19 and the horizontal fixed plate 17 slide relative to each other.

[0101] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A fertilizer bag bulk placement and gripping clamp, characterized in that, Connected to the robotic arm (1), including: The support plate (2) is connected to the robotic arm (1); A fixed frame (3) is located at the bottom of the support plate (2); The intermediate clamping component is located at the bottom of the middle position of the fixed frame (3) and is used to clamp the fertilizer bag in the middle position; There are two clamping components on both sides, one on each side of the middle clamping position, used to clamp the fertilizer bags on both sides.

2. The fertilizer bag bulk placement and gripping clamp according to claim 1, characterized in that, The intermediate clamping assembly includes a lifting assembly, a first pressing assembly, and a first gripping assembly; The lifting assembly is connected to the fixed frame (3) and the support plate (2); The first pressing component and the first grasping component are connected to the lifting component.

3. The fertilizer bag bulk placement and gripping clamp according to claim 2, characterized in that, The lifting assembly includes a first lifting frame (4) and a first electric push rod (5); The first electric actuator (5) is fixed on the upper side of the support plate (2), and the output end of the first electric actuator (5) passes through the support plate (2) and is fixedly connected to the first lifting frame (4); The fixed frame (3) is connected to a limiting block (6), and the first lifting frame (4) is connected to a limiting post (7) with a sliding through limiting block (6).

4. The fertilizer bag bulk placement and gripping clamp according to claim 3, characterized in that, The first pressing assembly includes a first support rod (8), a second electric push rod (9), and a first pressing plate (10); The first support rod (8) is set in two and is fixedly connected to the first lifting frame (4). The second electric push rod (9) is fixed to the lower side of the first support rod (8) and connected to the first pressing plate (10).

5. The fertilizer bag bulk placement and gripping clamp according to claim 4, characterized in that, The first gripping assembly includes a first T-shaped fixing seat (11), a first rotating shaft (12), a first traction rod (13), a third electric push rod (14), and a first gripper (15). The first T-shaped fixing seat (11) is respectively located at the four corners of the lower side of the first lifting frame (4); A first rotating shaft (12) is rotatably connected between two first T-shaped fixing seats (11) on the same side. Multiple first grippers (15) are evenly distributed on the outer side of the first rotating shaft (12). The first grippers (15) on the lower side of the first T-shaped fixing seats (11) on both sides are bent towards each other. One of the first grippers (15) on both sides is rotatably mounted on one side of the first T-shaped fixed seat (11), and one side is rotatably connected to both ends of the first traction rod (13); The third electric push rod (14) is fixed on both sides of the first lifting frame (4). The output end of the third electric push rod (14) is hinged to a first rotating rod (16) fixedly connected to the first rotating shaft (12). When the two third electric push rods (14) retract, they can drive the first rotating shaft (12) to rotate so that the first grippers (15) on both sides clamp each other.

6. The fertilizer bag bulk placement and gripping clamp according to claim 2, characterized in that, The clamping components on both sides include a horizontal sliding component, a second pressing component, and a second gripping component; The lower side of the fixed frame (3) is connected to the horizontal sliding component; The second pressing component and the second gripping component are fixedly mounted on the horizontal sliding component.

7. The fertilizer bag bulk placement and gripping clamp according to claim 6, characterized in that, The first pressing component includes a horizontal fixing plate (17), a drive motor (18), and a horizontal sliding frame (19). The horizontal fixing plate (17) is fixed on the lower side of the fixing frame (3), the drive motor (18) is fixed on the lower side of the horizontal fixing plate (17), and the output end of the drive motor (18) is fitted with a fixing seat connected to the horizontal fixing plate (17) through a bearing sleeve on the outside. The output end of the drive motor (18) is connected to a screw (20), and a threaded slider (21) is provided on the outside of the screw (20) through a threaded engagement. A second support rod (22) is connected to the lower side of the threaded slider (21) through a fixing plate. The two ends of the second support rod (22) are connected to the horizontal sliding frame (19). The fixed frame (3) is provided with a slide rail (32), and the horizontal sliding frame (19) is provided with a sliding block (33) that cooperates with the slide rail (32) by means of an L-shaped rod.

8. The fertilizer bag bulk placement and gripping clamp according to claim 7, characterized in that, The second pressing assembly includes a fourth electric actuator (23) and a second pressing plate (24); The second support rod (22) is configured as two, and is fixedly connected to the horizontal sliding frame (19). The fourth electric push rod (23) is fixed to the lower side of the second support rod (22) and connected to the second pressing plate (24).

9. The fertilizer bag bulk placement and gripping fixture according to claim 8, characterized in that, The second gripping assembly includes a second T-shaped fixing seat (25), a second rotating shaft (26), a second traction rod (27), a fifth electric push rod (29), and a second gripper (28); The second T-shaped fixing seat (25) is respectively located at the four corners of the lower side of the horizontal sliding frame (19); A second rotating shaft (26) is rotatably connected between two second T-shaped fixing seats (25) on the same side. Multiple second grippers (28) are evenly distributed on the outer side of the second rotating shaft (26). The second grippers (28) on the lower side of the two second T-shaped fixing seats (25) are bent towards each other. One of the second grippers (28) on both sides is rotatably mounted on one side of the second T-shaped fixed seat (25), and one side is rotatably connected to both ends of the second traction rod (27); The fifth electric actuator (29) is fixed on both sides of the horizontal sliding frame (19). The output end of the fifth electric actuator (29) is hinged to a second rotating rod (30) which is fixedly connected to the second rotating shaft (26). When the two fifth electric actuators (29) retract, they can drive the second rotating shaft (26) to rotate so that the second grippers (28) on both sides clamp each other.

10. The fertilizer bag bulk placement and gripping fixture according to claim 8, characterized in that, The horizontal sliding frame (19) is connected to a drag chain (31) on its upper side. The drag chain (31) is connected to the second support rod (22) through a U-shaped frame and a third support rod.

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