A composite handling robot
By designing a composite handling robot, the problem of grain stacking caused by transport vehicle delays was solved, enabling continuous transfer and efficient loading of grains, and improving the stability and efficiency of the production line.
Patent Information
- Application Number
- CN202521851982.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-28
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-08-28
AI Technical Summary
The existing process for transferring distiller's grains relies heavily on the timely arrival of transport vehicles. When vehicles are delayed or in short supply, distiller's grains stack up, causing blockages in the conveyor line and production stoppages, thus reducing production efficiency.
Design a composite material handling robot, which includes a fixed frame, a clamp, a material frame gripper, and a lifting component. It can transfer distiller's grains to the stacking area when the transport vehicle has not arrived in time, and unload and load the distiller's grains when the vehicle arrives, achieving multi-functional integration and independent operation.
This ensures the continuous and stable operation of the distiller's grains production line, avoids the accumulation of distiller's grains in the bins, improves loading speed and efficiency, and enhances the transportation efficiency of distiller's grains and the continuity of the production line.
Smart Images
Figure CN224677248U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gantry robot technology, specifically a composite material handling robot. Background Technology
[0002] In the process of distiller's grains production, efficient and timely transfer of distiller's grains is one of the key links to ensure the continuous and stable operation of the distiller's grains production line.
[0003] Currently, the commonly used process for transporting distiller's grains in the industry is as follows: After production, the distiller's grains are first placed in dedicated distiller's grain frames, and then transported to a designated loading area by a conveyor. In this area, gantry robots are usually deployed to grab the delivered distiller's grain frames, precisely position them directly above the truck bed, and finally perform a 180-degree flip to empty the distiller's grains into the truck bed, completing the unloading process.
[0004] However, this existing technology has a significant drawback: its entire conveying and dumping process is heavily reliant on the timely arrival of transport vehicles. If a transport vehicle fails to arrive on time, vehicle scheduling is delayed, or the truck bed is full and a replacement vehicle is needed, the grain bins on the conveyor cannot be grabbed and emptied in a timely manner. This causes the grain bins to accumulate at the end of the conveyor, resulting in a blockage in the conveyor line, forcing the production of grains to stop, creating a production bottleneck, and ultimately leading to a decrease in overall production efficiency.
[0005] Therefore, there is an urgent need for a technical solution that can resolve the contradiction between the continuous production of distillers' grains and the poor transportation of grains under the circumstances of shortage or delay of transport vehicles, so as to eliminate waiting time in the production process and improve the overall logistics efficiency and capacity utilization of distillers' grains. Utility Model Content
[0006] To address the technical problems in the background art, this utility model discloses a composite handling robot.
[0007] This utility model provides a composite handling robot, including a fixed frame, which is installed at the power output end of a gantry robot;
[0008] The area where the gantry robot is installed also includes a material storage area for storing materials.
[0009] The lower end of the fixed frame is equipped with a clamp, which is used to grab materials in the stockpiling area by opening and closing;
[0010] The lower end of the fixed frame is also equipped with a material frame gripper for gripping the lees frame and driving the lees frame to rotate, as well as a lifting component for driving the material frame gripper.
[0011] The highest point of the material frame gripper is higher than the hopper, and the lowest point is lower than the hopper.
[0012] Furthermore, a middle seat is provided at the lower end of the fixing frame;
[0013] The clamps are two symmetrically arranged and hinged to the middle seat;
[0014] The cylinder body of the first electric cylinder is hinged to the intermediate seat, and its drive end is hinged to one of the clamps.
[0015] The cylinder body of the second electric cylinder is hinged to the intermediate seat, and its drive end is hinged to another clamp.
[0016] The first and second electric cylinders operate synchronously, driving the bucket to open and close.
[0017] Furthermore, the lifting assembly is a screw jack;
[0018] The drive end of the screw jack is connected to a lifting frame;
[0019] The material frame gripper is installed on the lifting frame.
[0020] Furthermore, the material frame gripper includes an inner frame;
[0021] The inner frame is equipped with a snap-fit component for snapping into or detaching from the lees frame;
[0022] One end of the inner frame is rotatably connected to the lifting frame via a slewing bearing, and the other end is fixedly connected to the drive end of the geared motor mounted on the lifting frame.
[0023] Furthermore, the snap-fit assembly includes a pin; the pin is driven by a drive assembly to insert into or detach from the inner frame.
[0024] Furthermore, the pin is inserted into the mounting bracket fixed to the inner frame;
[0025] The drive component is a rotary actuator, and a crank is provided at its drive end;
[0026] One end of the connecting rod is eccentrically hinged to the crankshaft, and the other end is hinged to the pin.
[0027] Furthermore, the snap-fit assembly also includes a snap-fit plate that is fixedly connected to the inner frame;
[0028] The upper end of the card plate extends into a locking part towards the grain frame;
[0029] The snap-fit part snaps into the upper end of the lees frame.
[0030] Furthermore, the lower end of the pallet extends a guide section diagonally downwards, away from the direction of the lees frame.
[0031] The beneficial effects of this utility model are:
[0032] 1. By setting up a stacking area within the working area of the gantry robot, the lees can still be transferred from the conveyor line and temporarily stored in the stacking area when the transport vehicle does not arrive in time. This avoids the lees frames from accumulating and blocking at the end of the conveyor, thereby ensuring the continuous and stable operation of the lees production line and eliminating the bottleneck of production stoppage caused by vehicle delays.
[0033] 2. The clamp is designed to grab the lees from the stockpiling area and transport them to the truck bed. When the transport vehicle arrives, it can grab the lees frame on the conveyor for unloading and loading, and can also grab the lees from the stockpiling area for loading, thereby improving loading speed and efficiency, and thus improving the transportation efficiency of lees.
[0034] 3. The structural design of the material frame gripper's highest point being higher than the hopper and its lowest point being lower than the hopper ensures that the two functional components do not interfere with each other in the vertical space. They can operate independently or alternately as needed, achieving multi-functional integration in a compact space, avoiding mechanical conflicts, and improving the reliability of the action and the accuracy of operation. Attached Figure Description
[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0036] Figure 1 This is a schematic diagram of the installation structure of this utility model;
[0037] Figure 2 This is a top view of the installation structure of this utility model;
[0038] Figure 3 This is a schematic diagram of the structure of this utility model;
[0039] Figure 4 This is a structural schematic diagram from another perspective of this utility model;
[0040] Figure 5 This is a schematic diagram of the material frame gripper.
[0041] Figure 6 This is a schematic diagram of the connection structure between the inner frame and the lees frame;
[0042] Figure 7 This is the main view of the connection structure between the inner frame and the lees frame;
[0043] Figure 8 This is a schematic diagram of the clamp installation structure;
[0044] Figure 9 This is a schematic diagram of the installation structure of the latch;
[0045] Figure 10 This is the main view of the mounting structure of the latch;
[0046] Figure 11This is a structural schematic diagram of a screw jack;
[0047] In the diagram: 1. Fixed frame; 2. Gantry robot; 3. Gripper; 4. Distillery grains frame; 5. Material frame gripper; 6. Stacking area; 7. Intermediate seat; 8. First electric cylinder; 9. Second electric cylinder; 10. Screw jack; 11. Lifting frame; 12. Inner frame; 13. Slewing bearing; 14. Pin; 15. Fixed seat; 16. Crankshaft; 17. Clamping plate; 18. Clamping part; 19. Guide part; 20. Fixing hole; 21. Rotary actuator; 22. Gear motor; 23. Connecting rod; 24. Worm gear reducer; 25. Worm gear jack; 26. Gearbox; 27. Screw. Detailed Implementation
[0048] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.
[0049] like Figure 1 and Figure 2 As shown, this utility model discloses a composite material handling robot, including a horizontally arranged fixed frame 1, the upper end of which is fixedly installed on the power output end of a gantry robot 2. A clean material storage area 6 is also provided in the area where the gantry robot 2 is located for stacking materials.
[0050] like Figure 3 and Figure 4 As shown, a clamp 3 is provided at the lower end of the fixed frame 1, which grabs the material in the stacking area 6 by opening and closing. Its specific structure is as follows: a middle seat 7 extends downwards from the center of the fixed frame 1, as shown... Figure 8 As shown, the intermediate seat 7 is composed of vertically arranged columns and a horizontal frame forming a T-shape. The columns are vertically arranged, with their upper ends fixedly connected to the fixed frame 1 and their lower ends fixedly connected to the center of the horizontally arranged frame. There are two symmetrically arranged clamps 3, with their two ends hinged to the two ends of the horizontal frame. Each clamp 3 has a horizontally arranged connecting column connecting the two sides inside. The cylinder body of the first electric cylinder 8 is hinged to the intermediate seat 7, and its driving end is hinged to the connecting column of one of the clamps 3; the cylinder body of the second electric cylinder 9 is hinged to the intermediate seat 7, and its driving end is hinged to the connecting column of the other clamp 3; the first electric cylinder 8 and the second electric cylinder 9 operate synchronously, driving the clamps 3 to open and close, for grabbing materials in the stacking area 6.
[0051] The lower end of the fixed frame 1 is also equipped with a material frame gripper 5 for gripping the lees frame 4 and driving the lees frame 4 to rotate, as well as a lifting assembly for driving the material frame gripper 5; its specific structure is as follows: Figure 11As shown, in this embodiment, the lifting assembly is a screw jack 10, including a worm gear reducer 24 with two symmetrically arranged output shafts. The outer ends of the output shafts are fixedly connected to the input end of a gearbox 26. The output ends of the gearbox 26 have two symmetrically arranged outputs, each connected to a worm gear jack 25. The positions of the worm gear jacks 25 form a rectangle, fixedly installed at the four corners of the lower end of the fixed frame 1. The lower end of the screw 27 in the worm gear jack 25 is hinged to the rectangular lifting frame 11. With this configuration, when the worm gear reducer 24 is started, the lifting frame 11 can be driven to rise and fall. Moreover, the hinged connection between the lower end of the screw 27 and the lifting frame 11 allows the lifting frame 11 to rotate and automatically adjust its position under gravity when the axial direction of the screw 27 deviates from the vertical direction.
[0052] A rectangular inner frame 12 is provided on the inner side of the lifting frame 11. For example... Figure 5 As shown, one end of the inner frame 12 is movably connected to the inner side of the lifting frame 11 via a slewing bearing 13, and the other end is fixedly connected to the output end of the geared motor 22 fixedly installed on the lifting frame 11, so that the geared motor 22 can drive the inner frame 12 to rotate.
[0053] The inner frame 12 is provided with a snap-fit component for snapping into or detaching from the lees frame 4, the specific structure of which is as follows: Figure 9 and Figure 10 As shown, two symmetrically arranged mounting seats 15 are installed on opposite sides of the inner frame 12. A pin 14, facing the lees frame 4, is inserted into each mounting seat 15. A rotary actuator 21 is mounted on the upper end of the mounting seat 15, with its drive end facing downwards. A circular crankshaft 16 is mounted on the actuator 21 and is coaxially arranged with the crankshaft 16. A first connecting rod extending upwards is vertically mounted on the outer end of the pin 14, and a second connecting rod extending downwards and eccentrically arranged is vertically mounted on the lower end of the crankshaft 16. A horizontally arranged connecting rod 23 is hinged at one end to the upper end of the first connecting rod and at the other end to the lower end of the second connecting rod. The lees frame 4 has a fixing hole 20 coaxially arranged with the pin 14. When the rotary actuator 21 is activated, driving the crankshaft 16 to rotate in both directions, the pin 14 can be inserted into or disengaged from the fixing hole 20.
[0054] To improve the stability of the connection between the inner frame 12 and the wine lees frame 4, such as Figure 6 and Figure 7 As shown, two symmetrical, vertically extending clamping plates 17 are provided at opposite ends of the inner side of the inner frame 12; the upper end of the clamping plate 17 extends vertically towards the lees frame 4 with a locking part 18, which locks into the upper end of the lees frame 4. To prevent the lower end of the clamping plate 17 from colliding with the lees frame 4 when locking into it, the lower end of the clamping plate 17 also extends a guide part 19 diagonally downwards away from the lees frame 4.
[0055] The working principle of this embodiment is as follows:
[0056] When the transport vehicle arrives, the screw jack 10 drives the material frame gripper 5 to descend below the hopper 3; the material frame gripper 5 grabs the lees frame 4 on the conveyor and moves it to directly above the vehicle's hopper under the action of the gantry robot 2; then the geared motor 22 drives the lees frame 4 to rotate 180°, causing the lees to fall into the hopper.
[0057] When the transport vehicle is not yet in place, the screw jack 10 drives the material frame gripper 5 to descend below the hopper 3; the material frame gripper 5 grabs the lees frame 4 on the conveyor and moves it to the stacking area 6 under the action of the gantry robot 2; then the reduction motor 22 drives the lees frame 4 to rotate 180°, causing the lees to fall into the stacking area 6. When the transport vehicle arrives, the screw jack 10 drives the material frame gripper 5 to rise above the hopper 3; the hopper 3 grabs the lees from the stacking area 6 and transports them to the truck bed for unloading.
[0058] Compared to existing technologies, the advantages of this embodiment are: 1. By setting up a stacking area 6 within the working area of the gantry robot 2, the lees can still be transferred from the conveyor line and temporarily stored in the stacking area 6 when the transport vehicle does not arrive in time. This avoids the lees frames 4 accumulating and blocking at the end of the conveyor, thereby ensuring the continuous and stable operation of the lees production line and eliminating the bottleneck of production stoppage caused by vehicle delays. 2. The clamp 3 is used to clamp the lees in the stacking area 6 and transport them to the truck bed. When the transport vehicle arrives, it can clamp the lees frames 4 on the conveyor for unloading and loading, and can also grab the lees in the stacking area 6 for loading, thereby improving loading speed and efficiency, and thus improving the transportation efficiency of lees. 3. The structural design of the material frame gripper 5, with its highest point higher than the clamp 3 and its lowest point lower than the clamp 3, ensures that the two functional components do not interfere with each other in the vertical space. They can operate independently or alternately as needed, realizing multi-functional integration in a compact space, avoiding mechanical conflicts, and improving the reliability of actions and operational accuracy.
[0059] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A composite material handling robot, characterized in that: Includes a fixed frame (1), which is installed at the power output end of the gantry robot (2); The area where the gantry robot (2) is set up also includes a material storage area (6) for storing materials; The lower end of the fixed frame (1) is provided with a clamp (3), which is used to grab the material in the stacking area (6) by opening and closing; The lower end of the fixed frame (1) is also provided with a material frame gripper (5) for gripping the lees frame (4) and driving the lees frame (4) to rotate, and a lifting component for driving the material frame gripper (5). The highest point of the material frame gripper (5) is higher than the hopper (3), and the lowest point is lower than the hopper (3).
2. The composite handling robot according to claim 1, characterized in that: The lower end of the fixing frame (1) is provided with an intermediate seat (7); The clamps (3) are two symmetrically arranged and hinged to the intermediate seat (7); The cylinder body of the first electric cylinder (8) is hinged to the intermediate seat (7), and its drive end is hinged to one of the clamps (3); The cylinder body of the second electric cylinder (9) is hinged to the intermediate seat (7), and its drive end is hinged to another clamp (3). The first electric cylinder (8) and the second electric cylinder (9) operate synchronously to drive the clamp (3) to open and close.
3. The composite handling robot according to claim 1, characterized in that: The lifting assembly is a screw jack (10); The drive end of the screw jack (10) is connected to a lifting frame (11); The material frame gripper (5) is installed on the lifting frame (11).
4. The composite handling robot according to claim 3, characterized in that: The material frame gripper (5) includes an inner frame (12); The inner frame (12) is provided with a snap-fit component for snapping into or detaching from the lees frame (4); One end of the inner frame (12) is rotatably connected to the lifting frame (11) via a slewing bearing (13), and the other end is fixedly connected to the drive end of the geared motor (22) mounted on the lifting frame (11).
5. A composite handling robot according to claim 4, characterized in that: The snap-fit assembly includes a pin (14); the pin (14) is driven by a drive assembly to insert into or disengage from the inner frame (12).
6. A composite handling robot according to claim 5, characterized in that: The pin (14) is inserted into the fixing seat (15) fixed on the inner frame (12); The drive assembly is a rotary actuator (21), and its drive end is provided with a crank (16); One end of the connecting rod (23) is eccentrically hinged to the crank (16), and the other end is hinged to the pin (14).
7. A composite handling robot according to claim 5, characterized in that: The snap-fit assembly also includes a snap-fit plate (17) that is fixedly connected to the inner frame (12); The upper end of the card plate (17) extends into a snap-fit part (18) towards the grain frame (4); The snap-fit part (18) snaps into the upper end of the lees frame (4).
8. A composite handling robot according to claim 7, characterized in that: The lower end of the card plate (17) faces away from the grain frame (4) and extends obliquely downward to form a guide part (19).