Large-capacity bag storing and conveying mechanism of end effector of greenhouse frame fruit and vegetable bagging robot

Abstract

The invention relates to a large-capacity bag storing and conveying mechanism of an end effector of a greenhouse frame fruit and vegetable bagging robot. The large-capacity bag storing and conveying mechanism comprises a rack, wherein the rack is provided with a through bag outlet channel; the bag storage wheel disc is controlled by a rotating mechanism to be rotationally arranged at the bottom of the rack and provided with a plurality of bag storage grooves, and windows are formed in the side walls of the bag storage grooves. The bag conveying assembly is arranged in the bag outlet channel in a lifting mode through the lifting assembly. The rotating mechanism drives the bag storage wheel disc to rotate, when one bag storage groove rotates to be communicated with the bag outlet channel, the lifting mechanism drives the bag conveying assembly to one side of the window, the bag conveying assembly enables the friction wheel to make contact with the surface of the fruit and vegetable bag on the outermost side through the window, and when the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage grooves and the bag outlet channel. The bag feeding assembly drives the friction wheel to feed continuously, the friction wheel makes contact with the bag feeding assembly all the time, and after the fruit and vegetable bags in the bag storage groove are completely rubbed and moved out, bag storage and feeding of the fruit and vegetable bags are achieved.

Description

Technical Field

[0001] The invention relates to the field of fruit and vegetable bag transportation, in particular to a large-capacity bag storage and bag delivery mechanism of an end effector of a shelf fruit and vegetable bagging robot. Background Art

[0002] Fruit and vegetable bagging has multiple benefits, including protection from birds, insects, diseases, dust and pesticide pollution, and can improve the appearance and commodity value of fruits and vegetables; however, this work is time-consuming and labor-intensive, especially in my country, where fruit and vegetable production mainly relies on manual labor. For large-scale planting, it is a major problem to concentrate a large number of workers for bagging in a short period of time. The rise of trellis planting has brought hope for solving this problem. It allows fruits and vegetables to be neatly distributed in parallel layers on the ground of the orchard, reduces surrounding obstacles, and creates favorable conditions for fruit and vegetable robots to intervene in bagging operations, which may effectively alleviate the problem of labor shortage; in the existing automated fruit tree bagging and storage technology, the storage bag capacity is limited, and manual bagging is required at irregular intervals, which greatly affects the efficiency of automated bagging.

[0003] In summary, how to realize the storage and delivery of fruit and vegetable bags has become an urgent problem that researchers in this field need to solve. Summary of the invention

[0004] The technical problem to be solved by the present invention is: how to realize the storage and delivery of fruit and vegetable bags;

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] The present invention is a large-capacity bag storage and bag delivery mechanism of the end effector of a scaffolding fruit and vegetable bagging robot, comprising: a frame having a bag outlet passage that is opened through; a bag storage wheel that is controlled to rotate and arranged at the bottom of the frame by a rotating mechanism, the bag storage wheel having a plurality of bag storage slots that are arranged circumferentially and open outward, and a window is opened on the side wall of the bag storage slot; a bag delivery component that is lifted and arranged in the bag outlet passage by a lifting component; stacked fruit and vegetable bags are stored in the corresponding bag storage slots, when one of the bag storage slots is rotated to be connected with the bag outlet passage, the lifting component drives the bag delivery component to move to one side of the window, and the bag delivery component drives a friction wheel to pass through the window, contacts the surface of the stacked multiple layers of the fruit and vegetable bags, and discharges each of the fruit and vegetable bags from the bag storage slot and the bag outlet passage in turn;

[0007] In this solution, stacked fruit and vegetable bags are placed in each bag storage slot. Since elastic members and pressing blocks are provided in the bag storage slot, the pressing blocks press the fruit and vegetable bags through the elastic members, so that the fruit and vegetable bags will not be thrown out of the bag storage slot when they move with the bag storage slot.

[0008] The rotating mechanism drives the bag storage wheel to rotate. When one of the bag storage slots rotates to be connected with the bag outlet channel, the lifting mechanism drives the bag feeding assembly to one side of the window. The bag feeding assembly makes the friction wheel contact with the surface of the outermost fruit and vegetable bag through the window. When the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage slot and the bag outlet channel. The bag feeding assembly drives the friction wheel to feed continuously, and keeps the friction wheel in contact with the bag feeding assembly until the fruit and vegetable bags in the bag storage slot are completely moved out by friction; the bag feeding assembly resets the friction wheel, and the lifting mechanism drives the bag feeding assembly to rise, waiting for the next bag storage slot to rotate to be connected with the bag outlet channel, and continues to discharge the fruit and vegetable bags, thus realizing the bag storage and bag feeding of the fruit and vegetable bags.

[0009] In order to illustrate the specific structure of the rotating mechanism, the present invention adopts the rotating mechanism comprising: a motor, which is fixed on the outer side wall of the frame, and a first bevel gear is fixed on its output end; a rotating shaft, which is rotatably arranged on the frame, is fixedly connected to the bag storage wheel, and a second bevel gear meshing with the first bevel gear is arranged at its end;

[0010] In this solution, the motor drives the first bevel gear to rotate; the rotating shaft is rotatably arranged at the bottom of the frame, and a second bevel gear is arranged at the end of the rotating shaft. The motor rotates, driving the rotating shaft to rotate, and then driving the bag storage wheel fixed to the rotating shaft to rotate.

[0011] In order to illustrate the specific structure of the lifting assembly, the lifting assembly adopted by the present invention includes: a support seat, which is slidably arranged on the inner wall of the frame through a linear rail assembly and is located in the bag outlet channel; a first cylinder, whose cylinder body is fixed to the inner wall of the frame and whose movable end is fixedly connected to the support seat;

[0012] In this solution, the first cylinder works to drive the support seat to perform lifting movement, thereby realizing the movement of the bag delivery assembly, thereby preventing the bag storage wheel from interfering with the bag delivery assembly during its rotation.

[0013] In order to limit the maximum descending distance of the support seat, the present invention adopts a limit screw provided in the bag outlet channel; when the first cylinder drives the support seat to descend, the support seat and the limit screw are pressed against each other to limit the support seat from continuing to descend;

[0014] The top screw is fixed in the bag outlet channel. When the first cylinder drives the support seat downward and the top of the top screw is against the support seat, the support seat drops to the extreme position. This position can place the bag delivery assembly on one side of the window to facilitate the movement of the bag delivery assembly.

[0015] To illustrate the specific structure of the bag feeding assembly, the bag feeding assembly adopted by the present invention includes: a second cylinder, a cylinder body of which is fixed on the support seat; a second movable plate, which is connected to the support seat through a linear rail assembly, and is connected to the movable end of the second cylinder; a third cylinder, a cylinder body of which is fixed on the top of the second movable plate; the third movable plate is connected to the top of the second movable plate through a linear rail assembly, and is connected to the movable end of the third cylinder, and the third movable plate and the second movable plate are both driven by the corresponding cylinders to approach or move away from the window; two support arms, the support arms are correspondingly arranged on both sides of the third movable plate, and the support arms extend toward the window; a rotating motor, a body of which is connected to one of the support arms; a rotating shaft, one end of which is connected to the output end of the rotating motor, and the other end is rotatably connected to the other support arm, and the friction wheel is fixed on the rotating shaft;

[0016] In this solution, the second movable plate can be driven by the second cylinder to move closer to or farther from the window, and the third movable plate can be driven by the third cylinder to move closer to or farther from the window. A friction wheel is provided on the side of the third movable plate close to the window, and the friction wheel is driven by a motor to rotate.

[0017] Specifically, first adjust the second cylinder until the friction wheel abuts against the surface of the outermost stacked fruit and vegetable bag, and then keep the second cylinder different. The third cylinder feeds in real time as the fruit and vegetable bags are discharged (the thickness of the stacked fruit and vegetable bags gradually decreases), so that the friction wheel always abuts against the surface of the outermost fruit and vegetable bag to discharge.

[0018] In order to limit the maximum moving distance of the third movable plate, the present invention adopts a limit block provided on the second movable plate; the limit block is suitable for abutting against a side of the third movable plate away from the window;

[0019] When the third cylinder moves to make the third movable plate abut against the limit block, the third movable plate is away from the limit position of the window.

[0020] The beneficial effects of the present invention are as follows: the present invention is a large-capacity bag storage and bag delivery mechanism of the end effector of the scaffolding fruit and vegetable bagging robot, the rotating mechanism drives the bag storage wheel to rotate, when one of the bag storage slots rotates to be connected with the bag outlet channel, the lifting mechanism drives the bag delivery component to one side of the window, the bag delivery component makes the friction wheel contact with the surface of the outermost fruit and vegetable bag through the window, when the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage slot and the bag outlet channel, the bag delivery component drives the friction wheel to feed continuously, and keeps the friction wheel in contact with the bag delivery component until the fruit and vegetable bags in the bag storage slot are completely moved out by friction; the bag delivery component resets the friction wheel, and the lifting mechanism drives the bag delivery component to rise, waiting for the next bag storage slot to rotate to be connected with the bag outlet channel, and continues to discharge the fruit and vegetable bags, thus realizing the bag storage and bag delivery of the fruit and vegetable bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the present invention in which the frame is omitted;

[0024] Figure 3 It is a structural schematic diagram of the bag delivery assembly of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the bag delivery component from another perspective;

[0026] In the figure: 1-frame, 11-bag outlet channel, 12-limiting top screw, 2-bag storage wheel, 21-bag storage slot, 22-window, 3-rotating mechanism, 31-motor, 32-rotating shaft, 4-bag delivery assembly, 41-friction wheel, 42-first cylinder, 43-second movable plate, 44-third cylinder, 45-third movable plate, 46-support arm, 47-rotating motor, 48-rotating shaft, 49-limiting block, 5-lifting assembly, 51-support seat, 52-first cylinder. DETAILED DESCRIPTION

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0028] like Figure 1-4 As shown, the present invention is a large-capacity bag storage and bag delivery mechanism of the end effector of the shed fruit and vegetable bagging robot, comprising: a frame 1, which has a bag outlet channel 11 opened through; a bag storage wheel 2, which is controlled by a rotating mechanism 3 to rotate and is arranged at the bottom of the frame 1, the bag storage wheel 2 has a plurality of circumferentially arranged bag storage slots 21 with openings facing outward, and a window 22 is opened on the side wall of the bag storage slot 21; a bag delivery component 4, which is lifted and arranged in the bag outlet channel 11 by a lifting component 5; the stacked fruit and vegetable bags are stored in the corresponding bag storage slots 21, when one of the bag storage slots 21 is rotated to communicate with the bag outlet channel 11, the lifting component 5 drives the bag delivery component 4 to move to the side of the window 22, and the bag delivery component 4 drives the friction wheel 41 to pass through the window 22, contacts the surface of the stacked multiple layers of the fruit and vegetable bags, and discharges each of the fruit and vegetable bags from the bag storage slots 21 and the bag outlet channel 11 in turn;

[0029] In this solution, stacked fruit and vegetable bags are placed in each bag storage slot. Since elastic members and pressing blocks are provided in the bag storage slot, the pressing blocks press the fruit and vegetable bags through the elastic members, so that the fruit and vegetable bags will not be thrown out of the bag storage slot when they move with the bag storage slot.

[0030] The rotating mechanism drives the bag storage wheel to rotate. When one of the bag storage slots rotates to be connected with the bag outlet channel, the lifting mechanism drives the bag feeding assembly to one side of the window. The bag feeding assembly makes the friction wheel contact with the surface of the outermost fruit and vegetable bag through the window. When the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage slot and the bag outlet channel. The bag feeding assembly drives the friction wheel to feed continuously, and keeps the friction wheel in contact with the bag feeding assembly until the fruit and vegetable bags in the bag storage slot are completely moved out by friction; the bag feeding assembly resets the friction wheel, and the lifting mechanism drives the bag feeding assembly to rise, waiting for the next bag storage slot to rotate to be connected with the bag outlet channel, and continues to discharge the fruit and vegetable bags, thus realizing the bag storage and bag feeding of the fruit and vegetable bags.

[0031] like Figure 2 As shown, in order to illustrate the specific structure of the rotating mechanism, the present invention adopts the rotating mechanism 3 comprising: a motor 31, which is fixed on the outer wall of the frame 1, and a first bevel gear is fixed on its output end; a rotating shaft 32, which is rotatably arranged on the frame 1, and is fixedly connected to the bag storage wheel 1, and a second bevel gear meshing with the first bevel gear is arranged at its end;

[0032] In this solution, the motor drives the first bevel gear to rotate; the rotating shaft is rotatably arranged at the bottom of the frame, and a second bevel gear is arranged at the end of the rotating shaft. The motor rotates, driving the rotating shaft to rotate, and then driving the bag storage wheel fixed to the rotating shaft to rotate.

[0033] like Figure 2 As shown, in order to illustrate the specific structure of the lifting assembly, the lifting assembly 5 adopted in the present invention includes: a support seat 51, which is slidably arranged on the inner wall of the frame 1 through a linear rail assembly and is located in the bag outlet channel 11; a first cylinder 52, whose cylinder body is fixed to the inner wall of the frame 1, and whose movable end is fixedly connected to the support seat 52;

[0034] In this solution, the first cylinder works to drive the support seat to perform lifting movement, thereby realizing the movement of the bag delivery assembly, thereby preventing the bag storage wheel from interfering with the bag delivery assembly during its rotation.

[0035] like Figure 2 As shown, in order to limit the maximum descending distance of the support seat, the present invention adopts a limit screw 12 to be further arranged in the bag outlet channel 11; when the first cylinder 42 drives the support seat 41 to descend, the support seat 41 is abutted against the limit screw 12 to limit the support seat 41 from continuing to descend;

[0036] The top screw is fixed in the bag outlet channel. When the first cylinder drives the support seat downward and the top of the top screw is against the support seat, the support seat drops to the extreme position. This position can place the bag delivery assembly on one side of the window to facilitate the movement of the bag delivery assembly.

[0037] like Figure 3-4 As shown, in order to illustrate the specific structure of the bag feeding assembly, the bag feeding assembly 4 adopted by the present invention includes: a second cylinder 42, whose cylinder body is fixed on the support seat 51; a second movable plate 43, which is connected to the support seat 51 through a linear rail assembly, and is connected to the movable end of the second cylinder 42; a third cylinder 44, whose cylinder body is fixed on the top of the second movable plate 43; a third movable plate 45, which is connected to the top of the second movable plate 43 through a linear rail assembly, and is connected to the movable end of the third cylinder 44, and the third movable plate 45 and the second movable plate 43 are both driven by the corresponding cylinders to approach or move away from the window 22; two support arms 46, and the support arms 46 are correspondingly arranged on both sides of the third movable plate 45, and the support arms 46 extend toward the window 22; a rotating motor 47, whose body is connected to one of the support arms 46; a rotating shaft 48, one end of which is connected to the output end of the rotating motor 47, and the other end is rotatably connected to the other support arm 46, and the friction wheel 41 is fixed on the rotating shaft 48;

[0038] In this solution, the second movable plate can be driven by the second cylinder to move closer to or farther from the window, and the third movable plate can be driven by the third cylinder to move closer to or farther from the window. A friction wheel is provided on the side of the third movable plate close to the window, and the friction wheel is driven by a motor to rotate.

[0039] Specifically, first adjust the second cylinder until the friction wheel abuts against the surface of the outermost stacked fruit and vegetable bag, and then keep the second cylinder different. The third cylinder feeds in real time as the fruit and vegetable bags are discharged (the thickness of the stacked fruit and vegetable bags gradually decreases), so that the friction wheel always abuts against the surface of the outermost fruit and vegetable bag to discharge.

[0040] like Figure 3-4 As shown, in order to limit the maximum moving distance of the third movable plate, the present invention adopts a limit block 49 provided on the second movable plate 43; the limit block 49 is suitable for abutting against the side of the third movable plate 45 away from the window 22;

[0041] When the third cylinder moves to make the third movable plate abut against the limit block, the third movable plate is away from the limit position of the window.

[0042] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. The end effector of the shed fruit and vegetable bagging robot has a large-capacity bag storage and bag delivery mechanism, characterized in that: include: A frame having a bag discharging passage extending therethrough; A bag storage wheel, which is controlled to rotate by a rotating mechanism and is arranged at the bottom of the frame, wherein the bag storage wheel has a plurality of bag storage slots arranged circumferentially and opening outward, and windows are provided on the side walls of the bag storage slots; A bag delivery assembly, which is lifted and lowered by a lifting assembly and disposed in the bag outlet passage; The stacked fruit and vegetable bags are stored in the corresponding bag storage slots. When one of the bag storage slots is rotated to be connected to the bag outlet channel, the lifting assembly drives the bag delivery assembly to move to one side of the window. The bag delivery assembly drives the friction wheel to pass through the window to contact the surfaces of the stacked multiple layers of fruit and vegetable bags, and discharges each of the fruit and vegetable bags from the bag storage slot and the bag outlet channel in turn.

2. The large-capacity bag storage and bag delivery mechanism of the end effector of the shelf fruit and vegetable bagging robot according to claim 1 is characterized in that: The rotating mechanism comprises: A motor, which is fixed on the outer side wall of the frame, and a first bevel gear is fixed on the output end of the motor; A rotating shaft is rotatably arranged on the frame, fixedly connected to the bag storage wheel, and has an end portion provided with a second bevel gear meshing with the first bevel gear.

3. The large-capacity bag storage and bag delivery mechanism of the end effector of the shelf fruit and vegetable bagging robot according to claim 1 is characterized in that: The lifting assembly comprises: A support seat, which is slidably arranged on the inner wall of the frame through a linear rail assembly and is located in the bag outlet channel; The first cylinder has a cylinder body fixed to the inner wall of the frame and a movable end fixedly connected to the support seat.

4. The large-capacity bag storage and bag delivery mechanism of the end effector of the shelf fruit and vegetable bagging robot according to claim 3 is characterized in that: A limiting top screw is also arranged in the bag outlet passage; When the first cylinder drives the support seat to descend, the support seat is abutted against the limit screw to limit the support seat from continuing to descend.

5. The large-capacity bag storage and bag delivery mechanism of the end effector of the shelf fruit and vegetable bagging robot according to claim 3 is characterized in that: The bag delivery assembly comprises: A second cylinder, a cylinder body of which is fixed on the support seat; A second movable plate, which is connected to the support seat via a linear rail assembly and is connected to the movable end of the second cylinder; A third cylinder, a cylinder body of which is fixed on the top of the second movable plate; A third movable plate, which is connected to the top of the second movable plate through a linear rail assembly, and is connected to the movable end of the third cylinder. The third movable plate and the second movable plate are driven by the corresponding cylinders to move closer to or away from the window; Two support arms, the support arms are correspondingly arranged on both sides of the third movable plate, and the support arms extend toward the window; A rotating motor, the body of which is connected to one of the support arms; A rotating shaft, one end of which is connected to the output end of the rotating motor, and the other end of which is rotatably connected to the other supporting arm, and the friction wheel is fixed on the rotating shaft.

6. The large-capacity bag storage and bag delivery mechanism of the end effector of the shelf fruit and vegetable bagging robot according to claim 5, characterized in that: A limit block is arranged on the second movable plate; The limiting block is suitable for abutting against a side of the third movable plate away from the window.

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