Automatic basket changing transfer robot and control method

Abstract

The invention discloses an automatic basket changing transfer robot and a control method, and relates to the field of automatic equipment. The automatic basket changing transfer robot is composed of a travelling trolley, a multi-basket storage rack and a basket body collecting and conveying robot. Three orthogonal coordinate robots drive two inner supporting forks below to ascend. Full charging baskets at a production and operation area are raised through folded openings of the charging baskets, and the convex edges of the charging baskets are placed on supporting bars inside the multi-basket storage rack. The three orthogonal coordinate robots further drive two outer supporting forks above to extend out, and vacant charging baskets on trays of the multi-basket storage rack are raised to be conveyed to the production and operation area through the convex edges of the charging baskets. Only through up-down arrangement of the inner supporting forks and the outer supporting forks on one single orthogonal coordinate robot and structural matching of the upper convex edges and the lower folded openings of the charging baskets, the vacant baskets and the full baskets on one machine can be replaced automatically, multiple basket bodies can be carried automatically, the structure is simple, control is easy and convenient, and the replacement and field transfer operation requirements of the multiple basket bodies in harvesting and industrial production of agricultural fruits, vegetables and edible mushrooms are met.

Description

technical field [0001] The invention relates to the field of automatic equipment, in particular to an automatic basket-changing and handling robot and a control method. Background technique [0002] In the harvesting of fruits, vegetables and edible fungi in agriculture and industrial production, there are a large number of basket replacement and on-site transfer operations, which are labor-intensive and have a decisive impact on production efficiency. It is of great significance to realize the automation of basket replacement and transfer . All kinds of existing automatic handling vehicles only solve the problem of picking and transportation, while the frequent exchange of full and empty baskets in the operation still needs to be realized manually. Yawei Zhan and others have developed an intelligent fruit box transfer system (Yawei Zhang, YunxiangYe, Zhaodong Wang, Matthew E. Taylor, Geoffrey A. Hollinger, and Qin Zhang. Intelligent In-Orchard Bin-Managing System for Tree ...

AI Technical Summary

Problems solved by technology

The existing types of automatic handling vehicles only solve the problem of picking and transportation, but the frequent exchange of full and empty baskets in the operation still needs to be done manually

Yawei Zhan and others have developed an intelligent fruit box transfer system (Yawei Zhang, YunxiangYe, Zhaodong Wang, Matthew E. Taylor, Geoffrey A. Hollinger, and Qin Zhang. Intelligent In-Orchard Bin-Managing System for Tree Fruit Production. InProceedings of the Robotics in Agriculture workshop (at ICRA), May 2015.), it can only realize the picking and handling of fruit boxes on the ground

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