阅读说明：本技术 一种肥料包装用自动高位搬运垛码装置 (Automatic high-position carrying and stacking device for fertilizer packaging ) 是由 黄步高 朱强 于 2021-06-30 设计创作，主要内容包括：本发明涉及一种肥料包装用自动高位搬运垛码装置,包括机架,机架一侧设有提升机、位于提升机尾端的转运平台,转运平台与机架之间设有定位轴、用于驱动转运平台绕定位轴往复偏转的第一驱动机构,机械抓手包括支撑架、与支撑架相对升降的抓手架、位于抓手架底部两侧的对向往复移动的夹臂,支撑架与机架之间设有用于驱动机械抓手在水平面左右、前后方向往复移动的第二驱动机构和第三驱动机构,机架内设有升降移动的垛码平台,通过提升机提升、高位转运平台转转运、机械抓手搬运、垛码平台码垛,实现连续逐层交错的肥料包自动搬运垛码,保证了垛码的精准性、可靠性、避免倾覆风险,有利于增加垛码高度和尺寸、提高肥料包装后的垛码加工自动化效率。(The invention relates to an automatic high-position stack stacking carrying device for fertilizer packaging, which comprises a rack, wherein one side of the rack is provided with a lifter and a transfer platform positioned at the tail end of the lifter, a positioning shaft is arranged between the transfer platform and the rack, a first driving mechanism for driving the transfer platform to deflect around the positioning shaft in a reciprocating manner, a mechanical gripper comprises a support frame, a gripper frame and clamping arms, the gripper frame is lifted relative to the support frame, the clamping arms are oppositely and reciprocally moved and positioned at two sides of the bottom of the gripper frame, a second driving mechanism and a third driving mechanism for driving the mechanical gripper to reciprocate in the left-right and front-back directions of a horizontal plane are arranged between the support frame and the rack, a stack stacking platform which is lifted by the lifter and is moved in a reciprocating manner, the stack stacking of fertilizer packages which are staggered layer by layer is continuously carried, and the accuracy of the stack stacking is ensured, Reliability, avoid the risk of toppling, be favorable to increasing buttress sign indicating number height and size, improve the automatic efficiency of buttress sign indicating number processing after the fertilizer packing.)

1. An automatic high-position carrying and stacking device for fertilizer packaging comprises a rack (1) and is characterized in that a lifting machine (2) and a transferring platform (3) located at the tail end of the lifting machine (2) are arranged on one side of the rack (1), a positioning shaft (9) and a first driving mechanism (4) for driving the transferring platform (3) to deflect around the positioning shaft (9) in a reciprocating mode are arranged between the transferring platform (3) and the rack (1), and a mechanical gripper (5) is arranged at the top of the transferring platform (3);

mechanical gripper (5) including support frame (51), gripper frame (52) that goes up and down relatively with support frame (51), be located gripper frame (52) bottom both sides subtend reciprocating motion's arm lock (53), be equipped with between support frame (51) and frame (1) and be used for driving mechanical gripper (5) at horizontal plane left and right sides direction reciprocating motion's second actuating mechanism (6) and be used for driving mechanical gripper (5) at horizontal plane fore-and-aft direction reciprocating motion's third actuating mechanism (7), be equipped with in frame (1) and be located transport platform (3) one side, mechanical gripper (5) bottom lifting motion's buttress sign indicating number platform (14).

2. The automatic high-position conveying and stacking device for fertilizer packaging as claimed in claim 1, wherein a first roller conveyor (8) arranged in a V shape or a Z shape is arranged in the hoisting machine (2).

3. The automatic high-position carrying and stacking device for fertilizer packaging as claimed in claim 1, wherein the transfer platform (3) is provided with a second roller conveyor (10) and a push plate (11) positioned on one side of the top of the second roller conveyor (10), one side of the transfer platform (3) is provided with at least one first air cylinder (12), and an air cylinder rod of the first air cylinder (12) penetrates through the transfer platform (3) and is vertically connected with the push plate (11).

4. The automatic high-position conveying and stacking device for fertilizer packaging according to claim 1, wherein the first driving mechanism (4) comprises a hydraulic cylinder (41) and a U-shaped seat (42) positioned at the end part of the hydraulic rod of the hydraulic cylinder (41) and the hydraulic cylinder (41), and a connecting shaft (13) which is vertically parallel to the positioning shaft (9) and is connected with the transfer platform (3) or the frame (1) is arranged on the U-shaped seat (42).

5. The automatic high-position carrying and stacking device for fertilizer packaging as claimed in claim 1, wherein at least two second air cylinders (15) are arranged on the support frame (51), and air cylinder rods of the second air cylinders (15) penetrate through the support frame (51) to be vertically connected with the gripper frame (52).

6. The automatic high-position carrying stacking device for fertilizer packaging as claimed in claim 1, wherein a third cylinder (16) is arranged at the top of the gripper frame (52), a driving seat (17) vertically connected with a cylinder rod of the third cylinder (16) is arranged at the bottom of the gripper frame (52), two connecting plates (18) are arranged at the front end and the rear end of the driving seat (17), a first shaft body (19) is arranged between the corresponding connecting plate (18) at the front end and the rear end and the driving seat (17), a second shaft body (20) parallel to the first shaft body (19) is arranged between the first shaft body and the gripper arm (53), and a third shaft body (21) parallel to the second shaft body (20) is arranged between the gripper arm (53) and the gripper frame (52).

7. The automatic high-position carrying and stacking device for fertilizer packaging as claimed in claim 6, wherein the gripper frame (52) is of an inverted U-shaped structure, and the clamping arm (53) comprises a plurality of clamping plates (531) of a C-shaped structure and side plates (532) vertically connected with the clamping plates (531).

8. The automatic high-position carrying and stacking device for fertilizer packaging as claimed in claim 1, wherein a cross frame (22) slidably engaged with the bottoms of the two sides of the supporting frame (51) is arranged on the machine frame (1), the second driving mechanism (6) comprises at least one first servo motor (61) arranged on the supporting plate and a first rack (62) arranged on the cross frame (22), and a first gear (23) engaged with the first rack (62) is coaxially arranged on a motor shaft of the first servo motor (61).

9. The automatic high-position conveying and stacking device for fertilizer packaging according to claim 8, wherein the frame (1) is provided with side frames (24) which are in sliding fit with two ends of the cross frame (22), the third driving mechanism (7) comprises at least one second servo motor (71) arranged on the cross frame (22) and a second rack (72) which is positioned on the side frames (24) and perpendicular to the first rack (62), and a second gear (25) meshed with the second rack (72) is arranged on a motor shaft of the second servo motor (71).

10. The automatic high-position carrying and stacking device for fertilizer packaging as claimed in any one of claims 1 to 9, it is characterized in that a third roller conveyor (26) and a moving platform (27) positioned at the top of the third roller conveyor (26) are arranged on the stacking platform (14), two sides of the frame (1) are provided with first chains (28) which are vertically arranged at four corners of the stacking platform (14), first chain (28) inboard links to each other with buttress yard platform (14) is fixed, and the meshing of first chain both ends has first sprocket (29) fixed with frame (1), and the homonymy corresponds first sprocket (29) and coaxial two second sprockets (30) of being equipped with, and the heteronymy corresponds first sprocket (29) and coaxial transmission shaft (31) of being equipped with, and two second sprockets (30) outer meshing are by second chain (32), and at least one first sprocket (29) coaxial coupling has third servo motor (33).

Technical Field

The invention relates to an automatic high-position carrying and stacking device for fertilizer packaging, and belongs to the technical field of fertilizer production and processing equipment.

Background

The fertilizer is a substance which is necessary for one or more plants, improves the soil property and improves the soil fertility level, is one of the substance bases of agricultural production, has huge production and application amount, and comprises granulated, powder and other fertilizers with different shapes and particle sizes which are packed in bags and piled for storage and bulk sale, so that the piling processing equipment replaces manual transportation and is an important part for releasing labor and safely and efficiently producing and selling the fertilizer. Generally adopt the robotic arm that liftable and flex removed to grab the clamp and enter into the terminal fertilizer package of conveyer among the prior art, heighten the pile up neatly layer by layer in the fixed point position that shifts to moving platform or locomotive, exist: 1. when in stacking, the fertilizer bags face to be consistent, each row is heightened layer by layer to cause that stacked stacks integrally move or are subjected to inertia effect when stacked and heightened, and the single row, particularly the edge fertilizer bags have overturning risks; 2. when the mechanical gripping arms drive the gripping arms at two sides to grip by adopting independent cylinders which move in opposite directions, synchronous movement is not smooth, so that a carrying center is influenced, and accurate positioning and stacking are difficult; 3. the mechanical arm with the gripping hand needs to be transported and adjusted back and forth between a conveying point and a stacking point, so that the defects of long single transportation time, complicated operation design due to limitation of fertilizer packaging size, high cost and poor efficiency are caused.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an automatic high-position stack conveying device for fertilizer packaging, which can realize continuous automatic stack conveying of fertilizer packages staggered layer by layer through lifting of a lifting machine, transferring of a high-position transfer platform, conveying of a mechanical gripper and stacking of a stack stacking platform, ensures the accuracy and reliability of stack, avoids overturning risks, is beneficial to increase of the height and size of stack, and improves the automation efficiency of stack processing after fertilizer packaging

The invention is realized by the following technical scheme:

an automatic high-position carrying stacking device for fertilizer packaging comprises a rack, wherein one side of the rack is provided with a lifting machine and a transferring platform positioned at the tail end of the lifting machine, a first roller conveyor arranged in a V shape or a Z shape is arranged in the lifting machine, a positioning shaft and a first driving mechanism for driving the transferring platform to deflect around the positioning shaft in a reciprocating mode are arranged between the transferring platform and the rack, and the top of the transferring platform is provided with a mechanical gripper;

the transfer platform is provided with a second roller conveyor and a push plate positioned on one side of the top of the second roller conveyor, one side of the transfer platform is provided with at least one first air cylinder, and an air cylinder rod of the first air cylinder penetrates through the transfer platform and is vertically connected with the push plate;

the first driving mechanism comprises a hydraulic cylinder and a U-shaped seat positioned at the end parts of the hydraulic cylinder and a hydraulic rod of the hydraulic cylinder, and the U-shaped seat is provided with a vertical parallel positioning shaft and a connecting shaft connected with the transfer platform or the rack;

the mechanical gripper comprises a support frame, a gripper frame and clamping arms, wherein the gripper frame is lifted relative to the support frame, the clamping arms are positioned on two sides of the bottom of the gripper frame and move in a reciprocating mode in opposite directions, a second driving mechanism and a third driving mechanism are arranged between the support frame and the rack, the second driving mechanism is used for driving the mechanical gripper to move in a reciprocating mode in the left-right direction of the horizontal plane, the third driving mechanism is used for driving the mechanical gripper to move in a reciprocating mode in the front-back direction of the horizontal plane, and a stacking platform is arranged on one side of the transfer platform and is used for lifting the bottom of the mechanical gripper;

the support frame is provided with at least two second cylinders, and cylinder rods of the second cylinders penetrate through the support frame and are vertically connected with the gripper frame;

the gripper frame is characterized in that a third air cylinder is arranged at the top of the gripper frame, a driving seat vertically connected with an air cylinder rod of the third air cylinder is arranged at the bottom of the gripper frame, two connecting plates are arranged at the front end and the rear end of the driving seat, a first shaft body parallel to the first shaft body is arranged between the driving seat and the corresponding connecting plate at the front end and the rear end, and a second shaft body parallel to the first shaft body is arranged between the clamping arms;

the rack is provided with a cross frame which is in sliding fit with the bottoms of the two sides of the support frame, the second driving mechanism comprises at least one first servo motor arranged on the support plate and a first rack positioned on the cross frame, and a first gear meshed with the first rack is coaxially arranged on a motor shaft of the first servo motor;

the rack is provided with side frames in sliding fit with two ends of the cross frame, the third driving mechanism comprises at least one second servo motor arranged on the cross frame and a second rack positioned on the side frames and vertical to the first rack, and a motor shaft of the second servo motor is provided with a second gear meshed with the second rack;

be equipped with third cylinder conveyer on the buttress sign indicating number platform, be located the moving platform at third cylinder conveyer top, the frame both sides are equipped with the first chain that is located the vertical setting of buttress sign indicating number platform four corners department, first chain inboard links to each other with buttress sign indicating number platform is fixed, and the meshing of first chain both ends has the first sprocket fixed with the frame, and the homonymy corresponds the coaxial two second sprockets that are equipped with of first sprocket, and the different side corresponds the coaxial transmission shaft that is equipped with of first sprocket, and two second sprocket outer meshes are by the second chain, and at least one first sprocket coaxial coupling has the third servo motor.

The invention has the beneficial effects that:

(1) the empty moving platform is conveyed to the stacking platform through a third roller conveyor, the fertilizer package is lifted to a high-position transferring platform through the first roller conveyor by a lifter, the fertilizer package is conveyed forwards continuously through a second roller conveyor of the transferring platform, and the fertilizer package is limited on the transferring platform by a push plate driven by the expansion and contraction of a cylinder rod of the first cylinder;

(2) the first driving mechanism, namely a hydraulic rod of a hydraulic cylinder, contracts or extends, pulls or pushes a transfer platform connected with a connecting shaft through a U-shaped plate, a U-shaped seat relatively deflects around the connecting shaft, the transfer platform reciprocally deflects around a positioning shaft of a rack, and fertilizer bags on the transfer platform are reversed so as to be conveniently paved layer by layer in a staggered manner;

(3) the cylinder rod of the second cylinder drives the gripper frame to move up and down relative to the support frame to a proper position for gripping, the cylinder rod of the third cylinder drives the driving seat to move down or up, push or pull the connecting plate connected through the first shaft body, and the second shaft body pushes or pulls the clamping arm, so that the clamping arm deflects around the third shaft body in a reciprocating manner and opens oppositely to avoid the fertilizer bag or approach to the fertilizer bag;

(4) the second driving mechanism drives the first gear to rotate through the first servo motor, the first gear is meshed with the first rack, the bottoms of the two sides of the support frame are in sliding fit with the cross frame, the support frame is driven to move on the cross frame, the third driving mechanism drives the second gear to rotate through the second servo motor, the second gear is meshed with the second rack, the two ends of the cross frame are in sliding fit with the side frames, the cross frame is driven to reciprocate along the vertical side frames, and the mechanical gripper is moved to a stacking platform fixed point through front-back and reciprocating movement;

(5) the third servo motor drives the first chain wheel to rotate, the stacking platform is lifted and stacked layer by driving the transmission shaft, the second chain wheel and the meshed second chain wheel to drive the vertical first chains at the four corners to synchronously rotate, and the third roller conveyor transfers the whole transfer platform to discharge materials;

to sum up, realize the crisscross fertilizer package automatic handling buttress sign indicating number of continuous successive layer, guaranteed accurate nature, the reliability of buttress sign indicating number, avoided the risk of toppling, be favorable to increasing buttress sign indicating number height and size, improve the automatic efficiency of buttress sign indicating number processing after the fertilizer packing.

Drawings

Fig. 1 is a top perspective view of the present invention.

Fig. 2 is a bottom perspective view of the present invention.

Fig. 3 is a front view structural diagram of the present invention.

FIG. 4 is a top view of the present invention.

Fig. 5 is a perspective view of the mechanical gripper of the present invention.

The labels in the figure are: the device comprises a frame 1, a lifter 2, a transfer platform 3, a first roller conveyor 8, a positioning shaft 9, a first driving mechanism 4, a mechanical gripper 5, a second roller conveyor 10, a push plate 11, a first air cylinder 12, a hydraulic cylinder 41, a U-shaped seat 42, a connecting shaft 13, a supporting frame 51, a gripper frame 52, a clamping arm 53, a second driving mechanism 6, a third driving mechanism 7, a stacking platform 14, a second air cylinder 15, a third air cylinder 16, a driving seat 17, a connecting plate 18, a first shaft 19, a second shaft 20, a third shaft 21, a clamping plate 531, a side plate 532, a cross frame 22, a first servo motor 61, a first rack 62, a first gear 23, a side frame 24, a second servo motor 71, a second rack 72, a second gear 25, a third roller conveyor 26, a moving platform 27, a first chain 28, a first chain wheel transmission shaft 29, a second chain wheel 30, a second chain wheel 31, a second chain 32 and a third servo motor 33, fertilizer package 34.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings.

An automatic high-position carrying stacking device for fertilizer packaging comprises a rack 1, wherein one side of the rack 1 is provided with a lifting machine 2 and a transferring platform 3 positioned at the tail end of the lifting machine 2, a first roller conveyor 8 arranged in a V shape or a Z shape is arranged in the lifting machine 2, a positioning shaft 9 and a first driving mechanism 4 for driving the transferring platform 3 to deflect around the positioning shaft 9 in a reciprocating mode are arranged between the transferring platform 3 and the rack 1, and the top of the transferring platform 3 is provided with a mechanical gripper 5;

the transfer platform 3 is provided with a second roller conveyor 10 and a push plate 11 positioned on one side of the top of the second roller conveyor 10, one side of the transfer platform 3 is provided with at least one first air cylinder 12, and an air cylinder rod of the first air cylinder 12 penetrates through the transfer platform 3 and is vertically connected with the push plate 11;

the first driving mechanism 4 comprises a hydraulic cylinder 41 and a U-shaped seat 42 positioned at the end parts of the hydraulic rods of the hydraulic cylinder 41 and the hydraulic cylinder 41, and the U-shaped seat 42 is provided with a connecting shaft 13 which is vertically parallel to the positioning shaft 9 and is connected with the transfer platform 3 or the frame 1;

the mechanical gripper 5 comprises a support frame 51, a gripper frame 52 which is lifted relative to the support frame 51, and clamping arms 53 which are positioned on two sides of the bottom of the gripper frame 52 and move in a reciprocating manner in opposite directions, a second driving mechanism 6 for driving the mechanical gripper 5 to move in a reciprocating manner in the left-right direction of the horizontal plane and a third driving mechanism 7 for driving the mechanical gripper 5 to move in a reciprocating manner in the front-back direction of the horizontal plane are arranged between the support frame 51 and the rack 1, and a stacking platform 14 which is positioned on one side of the transfer platform 3 and is lifted and moved at the bottom of the mechanical gripper 5 is arranged in the rack 1;

at least two second air cylinders 15 are arranged on the supporting frame 51, and air cylinder rods of the second air cylinders 15 penetrate through the supporting frame 51 to be vertically connected with the gripper frame 52;

the top of the gripper frame 52 is provided with a third air cylinder 16, the bottom of the gripper frame 52 is provided with a driving seat 17 vertically connected with an air cylinder rod of the third air cylinder 16, the front end and the rear end of the driving seat 17 are respectively provided with two connecting plates 18, a first shaft body 19 is arranged between the corresponding connecting plate 18 at the front end and the rear end and the driving seat 17, a second shaft body 20 parallel to the first shaft body 19 is arranged between the corresponding connecting plate 18 at the front end and the rear end and the clamping arm 53, and a third shaft body 21 parallel to the second shaft body 20 is arranged between the clamping arm 53 and the gripper frame 52;

the gripper frame 52 is of an inverted U-shaped structure, and the clamping arm 53 comprises a plurality of clamping plates 531 in a C-shaped structure and side plates 532 vertically connected with the clamping plates 531;

a cross frame 22 in sliding fit with the bottoms of the two sides of the support frame 51 is arranged on the rack 1, the second driving mechanism 6 comprises at least one first servo motor 61 arranged on the support plate and a first rack 62 positioned on the cross frame 22, and a first gear 23 meshed with the first rack 62 is coaxially arranged on a motor shaft of the first servo motor 61;

the rack 1 is provided with side frames 24 which are in sliding fit with two ends of the cross frame 22, the third driving mechanism 7 comprises at least one second servo motor 71 arranged on the cross frame 22 and a second rack 72 which is positioned on the side frames 24 and is vertical to the first rack 62, and a motor shaft of the second servo motor 71 is provided with a second gear 25 meshed with the second rack 72;

be equipped with third cylinder conveyer 26 on the buttress sign indicating number platform 14, be located the moving platform 27 at third cylinder conveyer 26 top, frame 1 both sides are equipped with the first chain 28 that is located the vertical setting in buttress sign indicating number platform 14 four corners department, first chain 28 inboard links to each other with buttress sign indicating number platform 14 is fixed, and the meshing of first chain both ends has the first sprocket 29 fixed with frame 1, and the homonymy corresponds first sprocket 29 and coaxial be equipped with two second sprocket 30, and the heteropleural corresponds first sprocket 29 and coaxial be equipped with transmission shaft 31, and two second sprocket 30 outer meshes are by second chain 32, and at least one first sprocket 29 coaxial coupling has third servo motor 33.

The working principle of the invention is as follows:

referring to the drawings, an empty moving platform 27 is conveyed to the stacking platform 14 from the tail end of the machine frame 1 through a third roller conveyor 26, a motor shaft of a third servo motor 33 drives a coaxial first chain wheel 29 to rotate, the coaxial first chain wheel 29 is synchronously driven to rotate by a transmission shaft 31 and is synchronously driven to rotate to the first chain wheel 29 on the opposite side, the coaxial second chain wheel 30 is synchronously driven to rotate and is driven to rotate to the first chain wheel 29 on the same side through a second chain 32, the first chain wheel 29 drives vertical first chains 28 at four corners to synchronously rotate, and the stacking platform 14 is driven to ascend and descend in the forward or reverse rotation process of the first chains 28;

the empty stacking platform 14 is lifted to be close to the mechanical gripper 5, the fertilizer bags 34 to be stacked and packaged are lifted to a high-position transfer platform 3 by a lifter 2 through a first roller conveyor 8 arranged in a V shape or a Z shape, the fertilizer bags 34 are continuously conveyed forwards through a second roller conveyor 10 of the transfer platform 3, a push plate 11 is driven by the extension of an air cylinder rod of a first air cylinder 12 to move so as to push the fertilizer bags 34 with different sizes to one side of the transfer platform 3, the mechanical gripper 5 is convenient to pick up positioning claws, and similarly, when the air cylinder rod of the first air cylinder 12 is contracted, the push plate 11 is driven to retract, so that the fertilizer bags 34 are loaded to be on the upper position;

when grabbing, the cylinder rod of the second cylinder 15 stretches and retracts to drive the grabbing hand frame 52 to move up and down relative to the support frame 51 to a proper position for grabbing, the cylinder rod of the third cylinder 16 stretches and retracts to drive the driving seat 17 to move down or up, push or pull the connecting plate 18 connected through the first shaft body 19, the connecting plate 18 pushes or pulls the clamping arms 53 through the second shaft body 20, two ends of the connecting plate 18 deflect relative to the first shaft body 19 and the second shaft body 20 around the first shaft body 19, the clamping arms 53 deflect around the third shaft body 21 in a reciprocating mode, the grabbing hand frame 52 in an inverted U-shaped structure enables the structure to be compact, the grabbing hand frame comprises a plurality of clamping plates 531 in a C-shaped structure, the clamping strength is guaranteed through side plates 532, and the two clamping arms 53 open oppositely and are in the reciprocating motion process corresponding to the third shaft body 21 to be in a position of being receded from the fertilizer bag 34 or approaching to the fertilizer bag 34;

the second driving mechanism 6 drives the coaxial first gear 23 to rotate through a motor shaft of the first servo motor 61, the first gear 23 drives the support frame 51 to move on the cross frame 22 in the meshing with the first rack 62 and the sliding fit between the bottoms of the two sides of the support frame 51 and the cross frame 22, and the mechanical gripper 5 is driven to reciprocate in the left and right directions of the horizontal plane;

the third driving mechanism 7 drives the coaxial second gear 25 to rotate through a motor shaft of the second servo motor 71, the second gear 25 is meshed with the second rack 72, and the two ends of the cross frame 22 are in sliding fit with the side frames 24 to drive the cross frame 22 to reciprocate along the vertical side frames 24, so that the mechanical gripper 5 is driven to reciprocate in the front-rear direction of the horizontal plane;

after the mechanical gripper 5 clamps the fertilizer bags 34 on the transferring platform 3, the fertilizer bags are moved to the corresponding stacking positions of the stacking platform 14 in a left-right and front-back reciprocating manner, the clamping arms 53 of the mechanical gripper 5 are oppositely opened, so that the fertilizer bags 34 naturally fall at the corresponding positions, and after the fertilizer bags are repeatedly loaded, clamped and transferred to be fully paved with one layer, the stacking platform 14 moves downwards so as to stack layer by layer;

referring to fig. 1, the clamping arms 53 clamp both sides of the long sides of the fertilizer bags 34, after each fertilizer bag 34 is vertically paved with one layer, the first driving mechanism 4, i.e., the hydraulic rod of the hydraulic cylinder 41, contracts or extends, pulls or pushes the transfer platform 3 connected with the connecting shaft 13 through the U-shaped plate, the U-shaped seat 42 of the hydraulic cylinder 41 deflects around the connecting shaft 13 of the rack 1, the U-shaped seat 42 of the hydraulic rod deflects around the connecting shaft 13 of the transfer platform 3, so that the transfer platform 3 deflects around the positioning shaft 9 of the rack 1 by 90 degrees in a reciprocating manner, the fertilizer bags 34 clamped by the push plate 11 on the transfer platform 3 rotate by 90 degrees, the gripper frame 52 descends relative to the support frame 51, the clamping arms 53 of the gripper frame 52 clamp both ends of the wide sides of the fertilizer bags 34, and then the fertilizer bags are transversely paved;

in the laying process of the mechanical gripper 5, the transfer platform 3 returns to the butt joint state with the hoister 2 and deflects to turn the fertilizer bags 34, so that time is saved, efficiency is improved, and the mechanical gripper 5 returns to clamp one by one and pave one layer;

one layer of fertilizer bags 34 are vertically and transversely paved in a reciprocating mode, so that the gap between every two adjacent layers of fertilizer bags 34 is clamped by the main bodies of the adjacent upper layer or lower layer of fertilizer bags 34, stacking in a layer-by-layer mode is completed in a staggered mode, the risks of overturning and falling are avoided, the overall stacking height is increased, finally, when the stacking platform 14 descends to the bottom of the rack 1 to complete stacking, the moving platform 27 is integrally conveyed and transported out through the third roller conveyor 26 on the stacking platform 14, and stacking again is facilitated;

in conclusion, this application adopts lifting machine 2 to promote fertilizer package 34 in succession to high-order transportation platform 3, transportation platform 3 with can reciprocating deflection realizes fertilizer package 34 transports and/or turns to, realize fertilizer package 34 with synchronous subtend reciprocating motion mechanical gripper 5 arm lock 53 on liftable gripper frame 52 and grab the clamp, through the front and back, reciprocating motion transports to pile up neatly yard platform 14 fixed point and removes the centre gripping, pile up neatly platform lift pile sign indicating number layer by layer, realize the crisscross fertilizer package 34 automatic handling pile sign indicating number of continuous layer by layer, the precision of pile up neatly is guaranteed, reliability, avoid the risk of toppling, be favorable to increasing pile up neatly height and size, improve the pile up neatly processing automation efficiency after the fertilizer packing. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.