Automatic stacking manipulator for transferring edible agricultural products

Abstract

The invention discloses an automatic stacking manipulator for edible agricultural product transfer, relates to the technical field of edible agricultural product transfer and automatic stacking, and is used for solving the problem of poor subsequent material bag stacking regularity caused by lack of analysis and treatment of edible agricultural product material bag placement in a conveying process. The arrangement form of moving material bags on a first conveying belt is recognized through a regulation and control base table, for part of the material bags which are arranged in a deviated mode, a first motor drives a first rotating wheel on a first sliding block to rotate, and a second rotating wheel located on a side table is matched to conduct sleeving rotation of a second conveying belt; and secondly, for the problem that the material bags are abnormally placed on the first conveying belt, the abnormal material bags are arranged in independent intervals through rotation of the first conveying belt on the placing table in cooperation with pulling of the first rotating wheel on the second side table, and centralized processing of subsequent operators is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of edible agricultural product transportation and automatic stacking, and in particular to an automatic stacking manipulator for edible agricultural product transportation. Background Art

[0002] Edible agricultural products refer to various plants, livestock, fishery products and primary processed products that can be used as food. The end of the processing process of such products involves material packaging. At the same time, the packaged bagged edible agricultural products are randomly placed on the conveyor belt for operators on both sides to place and pack, or they are automatically stacked by robots. Usually, workstations are set up for the placement and flipping of materials on the conveyor belt to assist the work of the robots, in order to simplify the entire bagging and stacking process of edible agricultural products and improve the overall stacking efficiency of edible agricultural products; To this end, we propose an automatic stacking robot for the transportation of edible agricultural products. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic stacking robot for the transportation of edible agricultural products, so as to solve the problem proposed in the above-mentioned background technology that there is a lack of analysis and processing of the placement of edible agricultural product bags during the transmission process, resulting in poor regularity in the subsequent stacking of the bags, and at the same time there is a low overall stacking efficiency of the alternating robot arm.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic stacking manipulator for the transfer of edible agricultural products, comprising a conveyor cover, a conveyor belt 1 is rotatably installed on the inner walls of both sides of the conveyor cover, a movable frame is slidably connected to one side of the conveyor cover, and both sides of the movable frame are in contact with the bottom of the conveyor belt 1; A placing table is fixedly connected to one side of the movable frame, a transmission belt 1 is movably connected to one side of the placing table, a limiting mechanism is slidably connected to the bottom of the placing table, a conveyor belt 2 is installed on the conveying cover and located on one side of the movable frame, a partition is evenly fixed on the conveyor belt 2 by bolts, and a cylinder 3 is symmetrically fixed to the conveying cover and located on one side of the conveyor belt 2 by bolts.

[0005] Furthermore, a slide is fixed to one side of the top of the conveying cover by spot welding, a cylinder is fixed to one side of the slide by bolts, and one side of the movable frame passes through the through slot on the slide and is fixed to one side of the cylinder.

[0006] Furthermore, side platforms are symmetrically fixed to the inner walls of both sides of the conveying cover by bolts, a slider 2 is slidably connected in the groove on the side platform, a rotating wheel 2 is movably connected to the top of the slider 2 via a bearing, and a spring is installed in the side platform groove and on one side of the slider 2.

[0007] Furthermore, a motor 2 is fixed to the top of one side of the conveying cover by bolts, a threaded rod is fixedly connected to the output end of the motor 2, a slide box is slidably connected inside the conveying cover, and one end of the threaded rod passes through the slide box and is movably connected to an inner wall of one side of the conveying cover.

[0008] Furthermore, a motor three is installed in the slide box, a rotating column is installed at the bottom of the slide box, and one end of the rotating column passes through the slide box and is slidably connected to the output end of the motor three, a cylinder two is fixed in the slide box by bolts, and a jacket is slidably connected to the inner walls on both sides of the slide box, and the two sides of the jacket are clamped with the outer wall of the rotating column, and one end of the cylinder two is fixed to the jacket by bolts.

[0009] Furthermore, the limiting mechanism includes a limiting cover, a slider and a turntable. A fixed limiting cover is provided at the bottom of the placing table and is located on the transmission belt. The inner wall of the limiting cover is symmetrically provided with sliding grooves, and a slider is slidably connected in the sliding groove. The inner wall of the limiting cover is movably connected to the turntable through a bearing. Rotating arms are symmetrically and movably connected on both sides of the turntable. One end of the rotating arm is movably connected to the slider, and a rotating wheel is movably connected to the bottom of the slider. A motor is fixed to one side of the limiting cover by bolts. A lock frame is symmetrically installed on the limiting cover, and a movable wheel is symmetrically and slidably connected at the bottom of the lock frame.

[0010] Furthermore, one end of the rotating wheel passes through the slider and is sleeved with a pulley, two pulleys are located on one side of the movable wheel and are sleeved with belts, a gear fixed on the pulley side of one end of the rotating wheel is meshed and connected with the gear on the telescopic rod at one end of the motor, and a transmission belt 2 is sleeved and connected on the rotating wheel 1 and the rotating wheel 2 on the same side of the conveying cover.

[0011] Furthermore, a control base is fixed to the top of the conveying cover by bolts, and the control base includes a dynamic data acquisition module, an optimization analysis module and a controller, and the controller is used for switching control of the electronic components on the conveying cover, the movable frame and the placement table; The dynamic data acquisition module is used for comprehensive data acquisition of edible agricultural products bagged through conveyor belt one, generating a front end scanning area of ​​conveyor belt one and completing edible agricultural products bagging alignment processing, dividing the front end scanning area into a plurality of acquisition sections, and performing deflection data acquisition when edible agricultural products bagged through a plurality of acquisition sections on conveyor belt one, wherein the deflection data is the angle data value between the edge corner first scanned and obtained when the center point of the edible agricultural products bag coincides and the edible agricultural products bagged through orientation processing, and the deflection data is marked as NP; At the same time, the comprehensive data of edible agricultural products in bags also includes the weight value NZ of complete edible agricultural products passing through the scanning area and the contact surface value NM of complete edible agricultural products in bags passing through the scanning area and the conveyor belt; The optimization analysis module is used to obtain the comprehensive data of edible agricultural product bags collected by the dynamic data collection module and make directional decisions based on the front and back edible agricultural product bag deflection angle data NP: Decision 1: When the edible agricultural product is bagged with the front side facing up and -90°<NP<90°, the transmission coefficient Y is obtained through formula processing and compared with the stored transmission coefficient threshold y: When Y≥y, a transmission signal is generated and sent to the controller, and the controller controls the motor 1 located in the limit cover to rotate, driving the transmission belt 2 located on the rotating wheel 1 and the rotating wheel 2 to rotate; when Y<y, no transmission signal is generated, and the conveyor belt 1 drives the bagged edible agricultural products to move normally; Decision 2: When the edible agricultural product bag is facing forward and 90°≤NP≤180° or -180°≤NP≤-90°, an auxiliary steering signal is directly generated and sent to the controller. The controller adjusts the position of the slide box according to the coordinate value obtained from the scanning area of ​​the edible agricultural product bag on the conveyor belt 1, and controls the motor 3 and the cylinder 2 to work, so that the movable rotating column moves to the corner side of the edible agricultural product bag; Decision three: When the edible agricultural products are placed on the reverse side of the bag, based on Decision one and Decision two, the controller also controls the rotation of the conveyor belt one on the placement table so that the outlet of the limit cover faces the center partition position on the conveyor belt two.

[0012] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a conveyor belt connected to a movable frame is driven by a cylinder on a slide to carry out a conveying and lifting process, and through the guiding effect of a transmission belt 2 sleeved on a rotating wheel 1 and a rotating wheel 2 in a conveying cover, the material bags carried on the conveyor belt 1 are evenly stacked in the compartment on the conveyor belt 2. Compared with the use of a mechanical arm to grab and place the material bags on the conveyor belt one by one, the auxiliary conveyor belt guides and stacks the material bags, and the conveyor belt rotates faster, and the overall efficiency of material bag stacking is high; In the present invention, the placement form of the moving material bags on the conveyor belt 1 is identified and processed by adjusting the base platform. For some material bags that are placed offset, the motor 1 drives the rotary wheel 1 on the slider 1 to rotate, and the rotary wheel 2 on the side platform is coordinated to rotate the transmission belt 2. The rotation of the guide transmission belt 2 is utilized to realize the auxiliary reversal operation of the abutting material bags, thereby ensuring the uniformity of the stacking and stacking of the material bags. Secondly, for the problem of abnormal placement of material bags on the conveyor belt 1, the transmission belt 1 on the placement platform is rotated, and the rotary wheel 1 on the side platform is pulled in coordination with the rotary wheel 2, so that the entire limit cover outlet side is adjusted, thereby discharging the abnormal material bags into independent intervals, which is convenient for subsequent operators to handle in a centralized manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of the automatic stacking robot for edible agricultural product transportation according to the present invention; Figure 2 It is a schematic diagram of the cross-sectional structure of the limiting mechanism of the present invention from a top view; Figure 3 It is a schematic diagram of the top cross-sectional structure of the conveying cover of the present invention; Figure 4 It is a schematic diagram of the front cross-sectional structure of the slide box in the conveying cover of the present invention; Figure 5 It is a schematic diagram of the abutment structure between the slider 2 and the spring on the side platform of the present invention; Figure 6 It is a schematic diagram of the structure of turning over edible agricultural products in bags on a conveyor belt according to the present invention.

[0014] In the figure: 1. conveying cover; 2. regulating base; 3. conveyor belt 1; 4. slide; 5. cylinder 1; 6. movable frame; 7. placing table; 8. transmission belt 1; 9. limiting mechanism; 901. limiting cover; 902. slide; 903. slider 1; 904. rotating wheel 1; 905. turntable; 906. rotating arm; 907. locking frame; 908. movable wheel; 909. motor 1; 10. side table; 11. slider 2; 12. rotating wheel 2; 13. spring; 14. transmission belt 2; 15. motor 2; 16. threaded rod; 17. slide box; 18. motor 3; 19. rotating column; 20. cylinder 2; 21. jacket; 22. conveyor belt 2; 23. partition; 24. cylinder 3. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] See also Figure 1-6 , the present invention provides a technical solution: The automatic stacking robot for the transfer of edible agricultural products drives the material bags to move with the help of the conveyor belt 1 3, lifts them up and places them automatically in the independent compartment formed by the partition 23 on the conveyor belt 2 2. At the same time, the material bags moving on the conveyor belt 1 3 can be oriented and corrected, and the front and back material bags can be separated and placed to ensure the uniformity of the material bag stacking. Compared with the robot identifying and stacking one by one, the processing efficiency is improved; like Figure 1As shown, the automatic stacking manipulator for the entire edible agricultural product transfer is installed at the end of the conveyor belt 3, and the unilaterally turned conveyor belt 3 in the conveyor cover 1 is connected to the conveyor belt on the production line. The edible agricultural products are bagged and packaged in bags, and will be placed on the conveyor belt. The bags are placed in different shapes, and there are bags with different front and back sides and different front and back directions. In order to avoid affecting the subsequent stacking, they need to be processed uniformly. Usually, a manual adjustment station is set on the side of the conveyor belt 3, and the bags are placed manually, while the bags are located in the conveyor cover 1 for specific analysis and processing according to the placement of the bags; A control base 2 is installed on the top of the conveyor cover 1, and the control base 2 includes a dynamic data acquisition module, an optimization analysis module and a controller, wherein the dynamic data acquisition module is used for comprehensive data acquisition of edible agricultural products in bags passing through the conveyor belt 3; First, the front scanning area of ​​the conveyor belt 3 is generated and the edible agricultural product bagging alignment processing is completed. The front scanning area is divided into several collection sections, and the angular data is collected when the edible agricultural product bag passes through several collection sections on the conveyor belt 3. Here, the scanning area is usually divided into three sections. When the bag passes through the three scanning areas after deflection, the bag points that enter the scanning area successively are obtained, and the straight line between the two points is taken. The corresponding comparison is made with the specified bag placement state pre-set in the dynamic data acquisition module. The front CCD camera is used to continuously capture the image of the bag placement on the conveyor belt 3, and the front and back sides of the bag can be determined. The photographed bag and the specified placement bag are centered, and the angle between the contact point of the photographed bag and the corresponding point of the specified placement bag is observed, that is, the angular data NP; Secondly, the comprehensive data acquired by the dynamic data acquisition module also includes the weight value NZ of the material bag in the scanning area and the contact surface value NM of the complete material bag in the scanning area and the conveyor belt 3 acquired by the gravity sensor; After obtaining the comprehensive data collected by the dynamic data collection module, the optimization analysis module makes directional decisions based on the front and back fabric bag deflection angle data NP: Decision 1: When the edible agricultural products are packed in the front and -90°<NP<90°, the formula The transmission coefficient Y is obtained by processing, where β1, β2 and β3 are all proportional coefficients, and β3>β2>β1>1, and is compared with the stored transmission coefficient threshold y: When Y≥y, a transmission signal is generated and sent to the controller, that is, the forward-placed bag has a large deflection angle, and is easily blocked between the conveyor belts 22 under the transmission of the conveyor belt 1 3, causing subsequent bag blockage problems. At this time, the conveyor belt 22 is needed to assist the bag in turning, such as Figure 2As shown, a slider 903 is symmetrically slidably connected in the limiting mechanism 9, and the slider 903 slides freely in the slide groove 902. At the same time, a turntable 905 is movably connected in the limiting cover 901, and a rotating arm 906 movably connected on the turntable 905 is connected to the slider 903. When the turntable 905 rotates, the distance between the sliders 903 in the slide groove 902 is driven to change, which is suitable for controlling the position of different material bags and preventing the material bags from being blocked at the outlet side of the limiting cover 901. At the same time, a lock frame 907 is symmetrically installed above the turntable 905, and a movable wheel 908 is symmetrically slidably connected to the bottom of the lock frame 907. An elastic component is arranged between the two movable wheels 908, so that the movable wheel 908 squeezes the passing belt inward, and the belt is wound around the pulley fixed at the end of the rotating wheel 904. The movable wheel 908 constrains the belt so that the belt will closely fit on the surface of the rotating wheel 904 after the position is adjusted. A motor 909 is installed on one side of the limit cover 901, and a gear is installed on the end of the telescopic rod fixed on the output end of the motor 909. The gear moves with the single-sided slider 903. At the same time, the gear sleeved on the pulley side of the slider 903 is meshed with the gear on the telescopic rod, that is, after the motor 909 rotates, the rotating wheels on both sides are driven to rotate in the same direction; After receiving the transmission signal, the controller controls the motor 1 909 in the limit cover 901 to rotate, driving the transmission belt 2 14 on the rotating wheel 1 904 and the rotating wheel 2 12 to rotate. Figure 3 As shown, when the two wheels 1 904 rotate in the same direction, the opposite surface of the transmission belt 2 14 mounted on the wheel 2 12 rotates in the opposite direction, the left side is downward and the right side is upward. According to the positive and negative values ​​of NP, that is, the left side is positive and the right side is negative. When NP is a positive number, the belt on the wheel 1 904 rotates counterclockwise. When NP is a negative number, the wheel 1 904 rotates clockwise. Figure 6 As shown, the transmission belts 14 on the adjacent sides of the two rotating circles turn in opposite directions, the left side is upward and the right side is downward. When the material bag contacts the left transmission belt 14, it is guided by the transmission belt 14 and accompanied by the rolling of the conveyor belt 1 3, and the deviation-corrected material belt is discharged, thereby avoiding the material bag from being blocked on the conveyor belt 1 3. When Y<y, no transmission signal is generated, and the conveyor belt 13 drives the edible agricultural product bags to move normally, that is, a small deviation will not affect the normal discharge of the bags; Decision 2: When the edible agricultural product bag is facing forward and 90°≤NP≤180° or -180°≤NP≤-90°, an auxiliary steering signal is directly generated and sent to the controller. The controller adjusts the position of the slide box 17 according to the coordinate values ​​obtained in the scanning area of ​​the edible agricultural product bag on the conveyor belt 3, such as Figure 4As shown, a slide box 17 is slidably connected in the conveying cover 1, and the motor 2 15 is used to drive the threaded rod 16 to rotate to realize the left and right movement of the entire slide box 17 in the conveying cover 1. At the same time, a rotating column 19 is arranged at the bottom of the slide box 17, and a rubber sleeve is arranged on the surface of the rotating column 19. The rotating column 19 is slidably connected with the output end of the motor 3 18 in the slide box 17, and a chuck is arranged on the rotating column 19 at the contact end of the two. The jacket 21 in the slide box 17 clamps the two sides of the chuck, but does not affect the normal rotation of the rotating column 19. The cylinder 2 20 in the slide box 17 is connected with the jacket 21, so as to control the entire rotating column 19 to extend and retract at the bottom of the slide box 17; When the controller receives the auxiliary steering signal, it controls the motor 3 18 and the cylinder 2 20 to work, so that the movable rotating column 19 moves to the corner side of the edible agricultural product bag. After the reversely placed bag contacts the rotating column 19, the rotating column 19 is controlled to rotate in which direction according to the reverse offset angle of the bag, such as Figure 6 As shown, the bag faces rightward, and the rotating column 19 rotates clockwise to complete the abutment and turning of the bag; Decision 3: When the edible agricultural products are placed on the reverse side, the bag is turned based on Decision 1 and Decision 2 to prevent it from blocking the conveyor belt 3. The controller also controls the conveyor belt 8 on the placement table 7 to rotate so that the outlet of the limit cover 901 faces the center partition 23 on the conveyor belt 22. like Figure 1 As shown, a conveyor belt 22 is installed on the discharge side of the conveyor cover 1. The conveyor belt 22 is vertically arranged with the conveyor belt 1 3. After the conveyor belt 1 3 is driven and the bag in the conveyor cover 1 is corrected, the bag discharged from the side of the limit cover 901 falls into the corresponding partition 23 on the conveyor belt 22, as shown in FIG. Figure 6 As shown, the conveyor belt 22 is divided into five compartments by six partitions 23, wherein the compartments on both sides are used for stacking bags, and the middle compartment is used for bags with front and back misaligned. Subsequently, modules such as material sampling inspection will be set in the control base 2, and bags that fail the sampling inspection can also be placed in the middle compartment; The entire conveyor belt 22 performs left-right alternating motions, and cylinders 3 24 are also installed on both sides of the conveyor cover 1. Cylinders 3 24 are located on the top of the conveyor belt 22 and are fixed with push plates. When the stacking of the two compartments on the left is completed, the conveyor belt 22 moves left at this time, so that the two compartments on the right can perform the stacking operation. At the same time, the left compartment is pushed by the cylinder 3 24 to push out the stacked bags, and the bags are packed uniformly. Through the alternating material receiving process of the conveyor belt 22, the automatic stacking manipulator for the entire edible agricultural product transfer can unload materials without stopping the machine, and keep the conveyor belt 1 3 rotating at a high speed. Compared with the fixed manipulator for grabbing and placing, there is a time difference in the back and forth placement, which requires the conveyor belt to rotate slowly to avoid leakage problems. After the material bags on the conveyor belt 3 in the conveyor cover 1 are placed, the cylinder 5 on the slide 4 continuously lifts the conveyor belt 3 against which the entire movable frame 6 abuts, so that the height of the outlet side of the conveyor belt 3 is continuously increased, so that the material bags discharged from the limiting cover 901 are automatically stacked on the conveyor belt 2 22, and compared with grabbing material bags one by one, the overall efficiency is improved; For the identified reversed fabric bag, the two normally oriented conveyor belts 14 need to change direction so as to discharge the material belt into the middle compartment. Therefore, the conveyor belt 8 on the placement table 7 needs to rotate to drive the entire limit cover 901 to move left and right. Figure 3 As shown, the second rotating wheel 12 on the side platforms 10 on both sides needs to move to cooperate with the movement of the first rotating wheel 904 to prevent the transmission belt 2 14 between the first rotating wheel 904 and the second rotating wheel 12 from breaking; Side platforms 10 are symmetrically fixed on the inner walls on both sides of the conveying cover 1, and a slider 11 is slidably connected to the side platform 10. A rotating wheel 12 is installed on the slider 11. The slider 11 is located at the inner edge of the side platform 10 and a spring 13 is installed. When the rotating wheel 1 904 moves translationally, the rotating wheel 12 on the slider 11 squeezes the spring 13.

[0017] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0018] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0019] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic stacking robot for transporting edible agricultural products, comprising a conveyor cover (1), characterized in that: A conveyor belt 1 (3) is rotatably mounted on the inner walls of both sides of the conveyor cover (1); a movable frame (6) is slidably connected to one side of the conveyor cover (1); and both sides of the movable frame (6) are in contact with the bottom of the conveyor belt 1 (3); A placing table (7) is fixedly connected to one side of the movable frame (6), a transmission belt 1 (8) is movably connected to one side of the placing table (7), a limiting mechanism (9) is slidably connected to the bottom of the placing table (7), a conveyor belt 2 (22) is installed on the conveyor cover (1) and located on one side of the movable frame (6), a partition plate (23) is evenly fixed on the conveyor belt 2 (22) by bolts, and a cylinder 3 (24) is symmetrically fixed to the conveyor cover (1) and located on one side of the conveyor belt 2 (22) by bolts.

2. The automatic stacking robot for edible agricultural products transportation according to claim 1, characterized in that: A slide (4) is fixed to one side of the top of the conveying cover (1) by spot welding, a cylinder (5) is fixed to one side of the slide (4) by bolts, and one side of the movable frame (6) passes through the through slot on the slide (4) and is fixed to one side of the cylinder (5).

3. The automatic stacking robot for edible agricultural product transportation according to claim 2, characterized in that: Side platforms (10) are symmetrically fixed to the inner walls of both sides of the conveying cover (1) by bolts, a second slider (11) is slidably connected in a groove on the side platform (10), a second rotating wheel (12) is movably connected to the top of the second slider (11) via a bearing, and a spring (13) is installed in the groove of the side platform (10) and on one side of the second slider (11).

4. The automatic stacking robot for edible agricultural products transportation according to claim 3, characterized in that: A second motor (15) is fixed to the top of one side of the conveying cover (1) by means of bolts, a threaded rod (16) is fixedly connected to the output end of the second motor (15), a sliding box (17) is slidably connected inside the conveying cover (1), and one end of the threaded rod (16) passes through the sliding box (17) and is movably connected to the inner wall of one side of the conveying cover (1).

5. The automatic stacking robot for edible agricultural product transportation according to claim 4, characterized in that: A motor three (18) is installed in the slide box (17), a rotating column (19) is installed at the bottom of the slide box (17), and one end of the rotating column (19) passes through the slide box (17) and is slidably connected to the output end of the motor three (18), a cylinder two (20) is fixed in the slide box (17) by bolts, and a jacket (21) is slidably connected to the inner walls of both sides of the slide box (17), and both sides of the jacket (21) are clamped with the outer wall of the rotating column (19), and one end of the cylinder two (20) is fixed to the jacket (21) by bolts.

6. The automatic stacking robot for edible agricultural product transportation according to claim 1, characterized in that: The limiting mechanism (9) comprises a limiting cover (901), a slider (903) and a turntable (905); a limiting cover (901) is fixedly mounted on the bottom of the placing platform (7) and located on the transmission belt (8); a slide groove (902) is symmetrically provided on the inner wall of the limiting cover (901); a slide groove (903) is slidably connected in the slide groove (902); the inner wall of the limiting cover (901) is movably connected to the turntable (905) via a bearing; the turntable (905) The two sides of the limit cover (901) are symmetrically and movably connected with rotating arms (906), one end of the rotating arm (906) is movably connected to a slider (903), the bottom of the slider (903) is movably connected to a rotating wheel (904), one side of the limit cover (901) is fixed with a motor (909) by bolts, a locking frame (907) is symmetrically installed on the limit cover (901), and a movable wheel (908) is symmetrically and slidably connected at the bottom of the locking frame (907).

7. The automatic stacking robot for edible agricultural products transportation according to claim 6, characterized in that: The end of the rotating wheel 1 (904) passes through the slider 1 (903) and is sleeved with a pulley, and two pulleys are sleeved and connected with belts on one side of the movable wheel (908). A gear fixed on the pulley side of the end of the rotating wheel 1 (904) is meshed and connected with a gear on the telescopic rod at the end of the motor 1 (909). The rotating wheel 1 (904) and the rotating wheel 2 (12) on the same side in the conveying cover (1) are sleeved and connected with a transmission belt 2 (14).

8. The automatic stacking robot for edible agricultural product transportation according to claim 7, characterized in that: A control base (2) is fixed to the top of the conveying cover (1) by bolts, and the control base (2) comprises a dynamic data acquisition module, an optimization analysis module and a controller, and the controller is used for switching electronic components on the conveying cover (1), the movable frame (6) and the placement table (7); The dynamic data acquisition module is used for comprehensive data acquisition of edible agricultural products passing through the conveyor belt 1 (3), generating a front scanning area of ​​the conveyor belt 1 (3) and completing the edible agricultural products bag alignment processing, dividing the front scanning area into a plurality of acquisition sections, and performing deflection data acquisition when the edible agricultural products bag passes through the plurality of acquisition sections on the conveyor belt 1 (3), wherein the deflection data is the angle data value between the edge corner first scanned and obtained when the center point of the edible agricultural products bag coincides with the edible agricultural products bag after the orientation processing, and the deflection data is marked as NP; At the same time, the comprehensive data of edible agricultural products in bags also includes the weight value NZ of the complete edible agricultural products passing through the scanning area and the contact surface value NM of the complete edible agricultural products in bags passing through the scanning area and the conveyor belt one (3); The optimization analysis module is used to obtain the comprehensive data of edible agricultural product bags collected by the dynamic data collection module and make directional decisions based on the front and back edible agricultural product bag deflection angle data NP: Decision 1: When the edible agricultural product is bagged with the front side facing up and -90°<NP<90°, the transmission coefficient Y is obtained through formula processing and compared with the stored transmission coefficient threshold y: When Y≥y, a transmission signal is generated and sent to the controller, and the controller controls the motor 1 (909) located in the limit cover (901) to rotate, driving the transmission belt 2 (14) located on the rotating wheel 1 (904) and the rotating wheel 2 (12) to rotate; when Y<y, no transmission signal is generated, and the conveyor belt 1 (3) drives the bagged edible agricultural products to move normally; Decision 2: When the edible agricultural product bag is facing forward and 90°≤NP≤180° or -180°≤NP≤-90°, an auxiliary steering signal is directly generated and sent to the controller, and the controller adjusts the position of the slide box (17) according to the coordinate value obtained from the scanning area of ​​the edible agricultural product bag on the conveyor belt (3), and controls the motor (18) and the cylinder (20) to work, so that the movable rotating column (19) moves to the corner side of the edible agricultural product bag; Decision three: When the edible agricultural products are placed with the bagged product facing upside down, based on decision one and decision two, the controller also controls the first conveyor belt (8) on the placement table (7) to rotate so that the outlet of the limit cover (901) faces the center partition (23) on the second conveyor belt (22).

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