Large-capacity bag storage and bag delivery mechanism of the end effector of the trellis fruit and vegetable bagging robot

Abstract

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 with a bag discharge channel provided therethrough; a bag storage wheel controlled to rotate by a rotating mechanism and arranged at the bottom of the frame, the bag storage wheel having a plurality of bag storage slots, and windows being provided on the side walls of the bag storage slots; a bag delivery component is lifted and lowered in the bag discharge channel by a lifting component; the rotating mechanism drives the bag storage wheel to rotate, and when one of the bag storage slots is rotated to be connected to the bag discharge channel, the lifting mechanism drives the bag delivery component to one side of the window, and the bag delivery component brings the friction wheel into contact with the surface of the outermost fruit and vegetable bag through the window, and when the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage slot and the bag discharge channel, and the bag delivery component drives the friction wheel to continuously feed, 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 removed by friction, thereby realizing the storage and delivery of the fruit and vegetable bags.

Description

Technical Field

[0001] The present 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 shed fruit and vegetable bagging robot. Background Art

[0002] Bagging fruits and vegetables offers multiple benefits, including protection against birds, insects, disease, dust, and pesticides, and enhancing their appearance and commercial value. However, it's a time-consuming and labor-intensive process, particularly in my country, where fruit and vegetable production relies primarily on manual labor. For large-scale cultivation, concentrating a large workforce on bagging within a short period of time presents a significant challenge. The rise of trellis-style cultivation offers hope for resolving this issue. It distributes fruits and vegetables neatly in parallel layers across the orchard floor, reducing surrounding obstacles and creating favorable conditions for robotic bagging operations, potentially alleviating labor shortages. Existing automated bagging and storage technologies for fruit trees have limited storage capacity and require regular manual refilling, significantly impacting 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 an end-effector of a scaffolding fruit and vegetable bagging robot, comprising: a frame having a bag delivery channel extending therethrough; a bag storage wheel, which is controlled to rotate by a rotating mechanism and is arranged at the bottom of the frame, the bag storage wheel having a plurality of bag storage slots arranged circumferentially and opening outward, and windows being provided on the side walls of the bag storage slots; a bag delivery assembly, which is lifted and lowered in the bag delivery channel by a lifting assembly; stacked fruit and vegetable bags are stored in corresponding bag storage slots, and when one of the bag storage slots rotates to communicate with the bag delivery channel, the lifting assembly drives the bag delivery assembly to move to one side of the window, and the bag delivery assembly drives a friction wheel to pass through the window, contacting the surfaces of the stacked layers of fruit and vegetable bags, and sequentially discharges each fruit and vegetable bag from the bag storage slot and the bag delivery channel;

[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 tightly through the elastic members. In this way, 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 discharge channel, the lifting mechanism drives the bag feeding assembly to the side of the window. The bag feeding assembly makes the friction wheel contact 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 discharge 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 removed 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 discharge channel, and continues to discharge the fruit and vegetable bags, thus realizing the storage and feeding of fruit and vegetable bags.

[0009] To illustrate the specific structure of the rotating mechanism, the present invention adopts the rotating mechanism comprising: a motor fixed to the outer wall of the frame, with a first bevel gear fixed to its output end; a rotating shaft rotatably arranged on the frame, fixedly connected to the bag storage wheel, with a second bevel gear meshing with the first bevel gear provided 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 provided 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] To illustrate the specific structure of the lifting assembly, the present invention adopts the lifting assembly comprising: a support base, 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 base;

[0012] In this solution, the first cylinder works to drive the support seat to move up and down, thereby realizing the movement of the bag feeding assembly, avoiding interference between the bag storage wheel and the bag feeding assembly during the rotation process.

[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, limiting 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 presses the top of the top screw against the support seat, the support seat drops to the extreme position. This position can place the bag feeding assembly on one side of the window, facilitating the movement of the bag feeding assembly.

[0015] To illustrate the specific structure of the bag feeding assembly, the present invention adopts a bag feeding assembly comprising: a second cylinder, a cylinder body of which is fixed on the support base; a second movable plate, which is connected to the support base 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 move closer to or away from the window; two support arms, the support arms are correspondingly provided 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 away from the window, and the third movable plate can be driven by the third cylinder to move closer to or away 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 is in contact with 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 is always in contact with the surface of the outermost fruit and vegetable bag to discharge the fruit and vegetable bags.

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

[0019] When the third cylinder moves to cause the third movable plate to 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 feeding mechanism of the end effector of the scaffolding fruit and vegetable bagging robot, the rotating mechanism drives the bag storage wheel to rotate, and 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 the side of the window, and the bag feeding assembly contacts the surface of the outermost fruit and vegetable bag through the window, and when the friction wheel rotates, the fruit and vegetable bags are discharged from the bag storage slot and the bag outlet channel, and 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, thereby realizing the bag storage and bag feeding of the fruit and vegetable bags. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and examples.

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

[0023] Figure 2 This 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 This is a structural diagram of the bag feeding 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 feeding 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 base, 52-first cylinder. DETAILED DESCRIPTION

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

[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 scaffolding fruit and vegetable bagging robot, comprising: a frame 1, which has a bag outlet channel 11 extending therethrough; a bag storage wheel 2, which is controlled to rotate by a rotating mechanism 3 and is arranged at the bottom of the frame 1, the bag storage wheel 2 having a plurality of circumferentially arranged bag storage slots 21 opening outward, and a window 22 being provided on the side wall of the bag storage slot 21; a bag delivery assembly 4, which is lifted and lowered in the bag outlet channel 11 by a lifting assembly 5; the stacked fruit and vegetable bags are stored in the corresponding bag storage slots 21, when one of the bag storage slots 21 rotates to communicate with the bag outlet channel 11, the lifting assembly 5 drives the bag delivery assembly 4 to move to the side of the window 22, and the bag delivery assembly 4 drives the friction wheel 41 to pass through the window 22, contacting the surface of the stacked multiple layers of the fruit and vegetable bags, and sequentially discharging each of the fruit and vegetable bags from the bag storage slots 21 and the bag outlet channel 11;

[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 tightly through the elastic members. In this way, 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 discharge channel, the lifting mechanism drives the bag feeding assembly to the side of the window. The bag feeding assembly makes the friction wheel contact 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 discharge 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 removed 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 discharge channel, and continues to discharge the fruit and vegetable bags, thus realizing the storage and feeding of 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 to the outer wall of the frame 1, and a first bevel gear is fixed to the output end thereof; a rotating shaft 32, which is rotatably arranged on the frame 1, is fixedly connected to the bag storage wheel 1, and a second bevel gear meshing with the first bevel gear is provided 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 provided 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 used in the present invention includes: a support base 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 base 52;

[0034] In this solution, the first cylinder works to drive the support seat to move up and down, thereby realizing the movement of the bag feeding assembly, avoiding interference between the bag storage wheel and the bag feeding assembly during the rotation process.

[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 provided 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, limiting 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 presses the top of the top screw against the support seat, the support seat drops to the extreme position. This position can place the bag feeding assembly on one side of the window, facilitating the movement of the bag feeding assembly.

[0037] like Figure 3-4 As shown, in order to illustrate the specific structure of the bag feeding assembly, the present invention adopts a bag feeding assembly 4 including: a second cylinder 42, a cylinder body of which is fixed on the support base 51; a second movable plate 43, which is connected to the support base 51 through a linear rail assembly, and is connected to the movable end of the second cylinder 42; a third cylinder 44, a cylinder body of which 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 move closer to or away from the window 22; two support arms 46, the support arms 46 are correspondingly provided on both sides of the third movable plate 45, and the support arms 46 extend toward the window 22; a rotating motor 47, a body of which 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 away from the window, and the third movable plate can be driven by the third cylinder to move closer to or away 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 is in contact with 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 is always in contact with the surface of the outermost fruit and vegetable bag to discharge the fruit and vegetable bags.

[0040] like Figure 3-4 As shown, in order to limit the maximum movement 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 cause the third movable plate to abut against the limit block, the third movable plate is away from the limit position of the window.

[0042] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. The end effector of the scaffolding fruit and vegetable bagging robot has a large-capacity bag storage and bag delivery mechanism, which is characterized by: 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 opened on the side walls of the bag storage slots; A bag feeding assembly, which is lifted and lowered by a lifting assembly and is disposed in the bag outlet channel; The stacked fruit and vegetable bags are stored in the corresponding bag storage slots. When one of the bag storage slots rotates to connect with the bag discharge channel, the lifting assembly drives the bag feeding assembly to move to the side of the window. The bag feeding assembly drives the friction wheel to pass through the window, contacts the surface of the stacked multiple layers of fruit and vegetable bags, and discharges each fruit and vegetable bag from the bag storage slot and the bag discharge channel in turn.

2. The large-capacity bag storage and bag delivery mechanism of the end effector of the scaffolding 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, is 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 scaffolding 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 scaffolding fruit and vegetable bagging robot according to claim 3 is characterized in that: A limiting top screw is also provided in the bag outlet channel; When the first cylinder drives the support base to descend, the support base is pressed against the limiting screw to limit the support base from continuing to descend.

5. The large-capacity bag storage and bag delivery mechanism of the end effector of the scaffolding fruit and vegetable bagging robot according to claim 3 is characterized in that: The bag delivery assembly comprises: a second cylinder, the cylinder body of which is fixed on the support seat; A second movable plate, connected to the support base via a linear rail assembly, and connected to the movable end of the second cylinder; a third cylinder, the cylinder body of which is fixed on the top of the second movable plate; A third movable plate is connected to the top of the second movable plate via a linear rail assembly, which is connected to the movable end of the third cylinder. The third movable plate and the second movable plate are both driven by the corresponding cylinders to move closer to or away from the window; Two support arms, the support arms being correspondingly provided on both sides of the third movable plate, and the support arms extending 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 support 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 scaffolding fruit and vegetable bagging robot according to claim 5 is characterized in that: A limit block is provided 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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