Full-automatic flexible boxing and packaging robot system for sphere-like agricultural products

Abstract

The invention relates to the technical field of agricultural machinery, and provides a sphere-like agricultural product full-automatic flexible boxing and packaging robot system which comprises a feeding unit, a positioning unit, a boxing unit and a boxing unit. The feeding unit comprises a material conveying mechanism which is used for automatically conveying scattered spherical agricultural product materials to the positioning unit one by one according to needs. The positioning unit is used for positioning the spheroidic material and can adjust the spheroidic material to a preset state; the box feeding unit comprises a packaging box conveying mechanism used for automatically conveying empty packaging boxes containing materials to a box loading position according to needs. The boxing unit comprises a movement mechanism and a grabbing mechanism and is used for rapidly grabbing the positioned materials and accurately placing the materials in empty packaging boxes at the boxing position. Full-automatic flexible boxing operation of the tender and vulnerable sphere-like agricultural products is achieved, manual participation is not needed in the whole boxing process, the operation efficiency is improved, and meanwhile the operation cost is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a fully automatic flexible box packaging robot system for spherical agricultural products. Background Art

[0002] A large number of agricultural products need to be circulated, transported, and sold after harvesting, and packaging is an essential link to protect agricultural products from damage and reduce waste, playing a vital role in the entire agricultural product post-harvest supply chain. Manual packaging is currently the main packaging method, but for fresh agricultural products, the harvesting cycle is usually short and difficult to store. Therefore, after harvesting, a large number of people need to be concentrated in a short period of time to carry out packaging operations, and the high cost, difficult management, and insufficient production capacity during the peak season have become the pain points of the agricultural product packaging industry.

[0003] In the relevant technologies, most of the automatic packaging of agricultural products is a semi-automatic system, which requires the configuration of personnel for auxiliary operation. The lack of fully automated packaging technology and equipment has greatly restricted the development and improvement of the entire supply chain of agricultural products after harvest in my country. Summary of the invention

[0004] The present invention provides a fully automatic flexible boxing and packaging robot system for spherical agricultural products, which is used to solve the defects of the prior art of high manual boxing cost, high labor intensity and easy damage to agricultural products.

[0005] The present invention provides a fully automatic flexible box packaging robot system for spherical agricultural products, comprising: a loading unit, a positioning unit, a box loading unit and a box packaging unit; the loading unit comprises a material transmission mechanism, the material transmission mechanism has a conveying surface for conveying spherical materials, a positioning station is provided in the conveying direction of the material transmission mechanism, the positioning unit is arranged at the positioning station and is located below the conveying surface so that the spherical materials fall into the positioning unit, the positioning unit is used for positioning the spherical materials, and can adjust the spherical materials to a predetermined state ; The upper box unit includes a box conveying mechanism for conveying empty boxes, the box conveying mechanism is arranged on one side of the material conveying mechanism, a packing station is provided in the conveying direction of the box conveying mechanism, and the packing unit is arranged above the packing station; the packing unit includes a moving mechanism and a grabbing mechanism, the grabbing mechanism is arranged at the bottom of the moving mechanism, the moving mechanism is used to control the grabbing mechanism to move between the positioning station and the packing station, the grabbing mechanism is used to grab the spherical material in the positioning station and place the spherical material in the packing station.

[0006] According to the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention, the material transmission mechanism includes a first loading conveyor and a second loading conveyor, the first loading conveyor is connected to the second loading conveyor, and the positioning unit is arranged at the end of the second loading conveyor; wherein, the second loading conveyor includes at least one channel, partitions are provided between adjacent channels, and a driving system is provided in each channel so that each channel can independently transport materials.

[0007] According to the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention, the first drive system and the second drive system both include a drive component and a conveyor belt, the conveyor belt is transmission-connected to the drive component, and the drive component is used to drive the conveyor belt to rotate to realize material transportation.

[0008] According to the fully automatic flexible boxing and packaging robot system for spherical agricultural products provided by the present invention, the positioning unit includes a first visual recognition component and a mechanical positioning component, the mechanical positioning component is provided at the end of each channel, the mechanical positioning component is used to lift and position the spherical material, and sensors are provided on both sides of the mechanical positioning component, the sensors are used to sense whether the spherical material is lifted in the mechanical positioning component; the first visual recognition component is arranged on the second feeding conveyor and is located above the conveying surface, and the recognition end of the first visual recognition component is arranged toward the mechanical positioning component.

[0009] According to the fully automatic flexible boxing and packaging robot system for spherical agricultural products provided by the present invention, the mechanical positioning component includes a driving component, a base and at least three flexible rotating wheels, the base is fixedly connected with support columns arranged one-to-one corresponding to the flexible rotating wheels, each of the support columns is provided with the driving component, and the output end of each driving component is provided with the flexible rotating wheel, and multiple flexible rotating wheels are arranged in a radial circle, and multiple flexible rotating wheels form a lifting space for accommodating the spherical materials.

[0010] According to the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention, the positioning unit also includes a shell, the shell is connected to the second feeding conveyor, an installation space is formed in the shell, the mechanical positioning component is arranged in the installation space, and an opening is provided on the top of the shell, and the spherical material enters the mechanical positioning component through the opening.

[0011] According to the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention, the packaging box transmission mechanism includes a first upper box conveyor and a second upper box conveyor, and the first upper box conveyor is connected to the second upper box conveyor; the first upper box conveyor is provided with a first shooting switch on both sides close to one end of the second upper box conveyor; the second upper box conveyor is provided with a second shooting switch and a push plate clamping assembly on both sides close to one end of the first upper box conveyor, and the push plate clamping assembly is arranged downstream of the second shooting switch, and the push plate clamping assembly is used to clamp the empty packaging box.

[0012] According to the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention, the push plate clamping assembly includes a push plate cylinder, a movable push plate and a fixed push plate, the fixed push plate is arranged on one side of the second box conveyor, the push plate cylinder is arranged on the other side of the second box conveyor, and the movable push plate is connected to the output end of the push plate cylinder to form the box packaging station between the movable push plate and the fixed push plate.

[0013] According to the fully automatic flexible boxing and packaging robot system for spherical agricultural products provided by the present invention, the boxing unit also includes a second visual recognition component, which is arranged on the first box conveyor, and the recognition end of the second visual recognition component is arranged toward the boxing station; the motion mechanism includes a parallel robot, and the grasping mechanism includes a suction cup device, which is arranged at the end of the parallel robot, and the parallel robot can drive the suction cup device to move to the positioning station, and the suction cup device can absorb the spherical material at the positioning station, and the parallel robot can also drive the suction cup device to move to the boxing station, and the suction cup device can fill the spherical material into an empty packaging box.

[0014] According to the spherical agricultural product fully automatic flexible box packaging robot system provided by the present invention, the suction cup device includes a fixed frame, a first suction cup part, a second suction cup part and a distance adjustment component; the first suction cup part and the second suction cup part are slidably arranged in the fixed frame, and the distance adjustment component is arranged in the fixed frame, and the distance adjustment component is used to adjust the distance between the first suction cup part and the second suction cup part; the first suction cup part and the second suction cup part each include a telescopic cylinder and a suction cup part, and the suction cup part is arranged at the output end of the telescopic cylinder, and a connecting seat is provided on the top of each telescopic cylinder body, and a fixing rod is provided on the fixed frame, and the connecting seat is slidably connected to the fixing rod The pitch-adjusting assembly comprises a distance sensor, a pitch-adjusting driving unit and a pitch-adjusting screw, the pitch-adjusting screw is provided with a first thread segment and a second thread segment, the spiral directions of the first thread segment and the second thread segment are opposite, the first thread segment and the second thread segment are both threadedly connected with the connecting seat, the pitch-adjusting driving unit is provided at one end of the fixing frame, and the pitch-adjusting screw is connected to the output end of the pitch-adjusting driving unit to drive the connecting seat to move along the axial direction of the pitch-adjusting screw; the distance sensor is provided on one of the telescopic cylinders, and the distance measuring end of the distance sensor faces the other telescopic cylinder so as to be able to sense the distance between the two in real time.

[0015] The present invention provides a fully automatic flexible boxing and packaging robot system for spherical agricultural products. The loading unit can automatically transport the scattered spherical agricultural products to the positioning unit one by one as needed. The positioning unit can lift the spherical materials and adjust them to a preset state. The loading unit automatically transports the empty packaging box containing the materials to the packing station as needed. The packing unit can transfer the spherical materials into the packaging box through the cooperation of the motion mechanism and the grasping mechanism, thereby realizing the boxing operation for the spherical materials. The entire packaging process does not require manual participation, has a high degree of automation, and reduces the problem of poor quality stability caused by manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of the fully automatic flexible box packaging robot system for spherical agricultural products provided by the present invention; Figure 2 The present invention provides Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0018] Figure 3 It is a structural schematic diagram of the second feeding conveyor and the positioning unit in the feeding unit provided by the present invention.

[0019] Figure 4 It is a schematic diagram of the structure inside the second feeding conveyor in the feeding unit provided by the present invention.

[0020] Figure 5 It is a structural schematic diagram of the transmission shaft mechanism in the second feeding conveyor of the feeding unit provided by the present invention.

[0021] Figure 6 It is a schematic diagram of the lateral structure of the second feeding conveyor in the feeding unit provided by the present invention.

[0022] Figure 7 It is a specific structural schematic diagram of the mechanical positioning component in the positioning unit provided by the present invention.

[0023] Figure 8 It is one of the schematic diagrams of the overall arrangement structure of the upper box unit and the packing unit provided by the present invention.

[0024] Fig. 9 This is the second schematic diagram of the overall arrangement structure of the upper box unit and the packing unit provided by the present invention.

[0025] Fig.10 It is a schematic diagram of the overall structure of the motion mechanism in the packing unit provided by the present invention.

[0026] Fig.11 The present invention provides Fig.10 Schematic diagram of the specific structure of the grabbing mechanism at B in the middle.

[0027] Fig.12 The present invention provides Fig.11 Schematic diagram of the specific structure of the connecting socket at C in the middle.

[0028] Reference numerals: 1. Feeding unit; 11. First feeding conveyor; 12. Second feeding conveyor; 121. Conveyor belt; 122. Unpowered ball rod; 123. Transmission shaft mechanism; 1231. Main shaft; 1232. Toothed cylindrical sleeve; 1233. Driven sleeve; 1234. Bearing; 124. Driving assembly; 125. Synchronous pulley; 126. Tensioning roller; 127. Slotted through hole; 128. Partition plate; 2. Positioning unit; 21. First visual recognition component; 211. First camera; 212. First light source; 22. Housing; 23. Sensor; 24. Mechanical positioning component; 241. Driving component; 242. Flexible rotating wheel; 243. Support column; 244. Base; 25. Positioning station; 3. Box loading unit; 31. First box loading conveyor; 32. Second box loading conveyor; 33. First cross-shooting switch; 34. Push plate cylinder; 35. Movable push plate; 36. Fixed push plate; 37. Second cross-shooting switch; 38. Packing station; 4. Packing unit; 41. Second visual recognition component; 411. Second camera; 412. Second light source; 42. Movement mechanism; 43. Grasping mechanism; 431. Distance adjustment drive unit; 432. Distance adjustment screw; 433. Distance sensor; 434. Telescopic cylinder; 435. Suction cup; 436. Fixing rod; 437. Connecting seat; 438. Fixing frame; 5. Full box unloading conveyor; 6. Spherical materials; 7. Empty packaging box; 71. First empty packaging box; 72. Second empty packaging box. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0030] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of explaining the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0031] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0032] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 embodiment of the present invention. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] Spherical agricultural products, such as tomatoes, apples, and citrus fruits, are difficult to pack and box using conventional packaging mechanisms due to their spherical shape. In the related art, one method uses manual loading and boxing operations. Manual operation has low efficiency and is prone to product damage during the loading process, resulting in poor product quality stability. Another method uses semi-automatic packaging to achieve boxing, which will also increase manual labor intensity and also result in poor product quality consistency.

[0035] Regarding the problems in related technologies, such as Figure 1-Figure 10As shown, this embodiment provides a fully automatic flexible box packaging robot system for spherical agricultural products, including a feeding unit 1, a positioning unit 2, a box loading unit 3 and a box loading unit 4; the feeding unit 1 includes a material transmission mechanism, the material transmission mechanism has a conveying surface for conveying spherical materials 6, a positioning station 25 is provided in the conveying direction of the material transmission mechanism, the positioning unit 2 is arranged at the positioning station 25, and is located below the conveying surface, so that the spherical materials 6 fall into the positioning unit 2, the positioning unit 2 is used for positioning the spherical materials 6, and can adjust the spherical materials 6 to a predetermined state; The box unit 3 includes a box conveying mechanism for conveying empty boxes 7, the box conveying mechanism is arranged on one side of the material conveying mechanism, a boxing station 38 is arranged in the conveying direction of the box conveying mechanism, and the boxing unit 4 is arranged above the boxing station 38; the boxing unit 4 includes a moving mechanism 42 and a grabbing mechanism 43, the grabbing mechanism 43 is arranged at the bottom of the moving mechanism 42, the moving mechanism 42 is used to control the grabbing mechanism 43 to move between the positioning station 25 and the boxing station 38, and the grabbing mechanism 43 is used to grab the spherical material 6 in the positioning station 25 and place the spherical material 6 in the boxing station 38. When the spherical agricultural products are packaged, the products need to be automatically transported to the box to realize their automatic boxing operation. In this embodiment, through the cooperation of the feeding unit 1, the positioning unit 2, the boxing unit 3 and the boxing unit 4, the automatic feeding and automatic boxing of the materials can be realized, and the whole process can realize full automation, improve the degree of automation, reduce the labor intensity of manual labor, and improve the quality consistency of the final packaged product.

[0036] Specifically, the material transmission mechanism uses the material transmission of the loading material to realize the transmission of the spherical material 6 to the positioning station 25, and realizes the posture adjustment and positioning of the material through the positioning unit 2 in the positioning station 25, and the positioned material has a certain position. At the same time, the empty packaging box 7 is transmitted on the adjacent packaging box transmission mechanism and transmitted to the boxing station 38, and the empty packaging box 7 can maintain a stable position after the boxing station 38. Then, the material is transported to the empty packaging box 7 through the cooperation of the motion mechanism 42 and the grabbing mechanism 43, and the boxing operation of the spherical agricultural products is realized.

[0037] Among them, the positioning station 25 is a specific position of the material transmission mechanism in the transmission direction, such as Figure 2 , Figure 3 As shown, the specific position is used to install the positioning unit 2, and the positioning unit 2 can realize the positioning of the spherical agricultural products. For example, the positioning station 25 is set as the end position of the material conveying mechanism. The packing station 38 is a specific position of the packaging box conveying mechanism in the conveying direction, which is used to maintain the position of the empty packaging box 7 stable, and the grabbed material can be placed in the empty packaging box 7 by the packing unit 4.

[0038] Furthermore, in this embodiment, a controller is also provided, and the controller can control the specific actions of the loading unit 1, the positioning unit 2, the box loading unit 3 and the box packing unit 4 according to the built-in control logic, so as to realize automatic operation.

[0039] It is understandable that the entire system can be controlled by an automated control system, and can simultaneously realize the loading of spherical agricultural products and convey them to the positioning unit 2 of the positioning station 25, as well as the conveying of the empty packaging box 7 and conveying them to the packing station 38, and then can realize the transfer of the spherical material 6 through the packing unit 4, so that it is transferred from the positioning unit 2 to the empty packaging box 7, thereby realizing the packing of the product. The entire process is fully automated, which improves the packaging quality of the product.

[0040] According to the embodiment provided by the present invention, Figure 1-Figure 3 As shown, the material transmission mechanism includes a first feeding conveyor 11 and a second feeding conveyor 12, the first feeding conveyor 11 is connected to the second feeding conveyor 12, and the positioning unit 2 is arranged at the end of the second feeding conveyor 12; wherein, the second feeding conveyor 12 includes at least one channel, a partition 128 is provided between adjacent channels, and a driving system is provided in each channel so that each channel can independently transport materials. When performing the feeding operation, the material needs to be stably conveyed to the positioning unit 2 so that the material can be stably positioned, and subsequent grasping operations can be performed based on the stable positioning. In this embodiment, the material feeding operation is realized by the first feeding conveyor 11 and the second feeding conveyor 12, and the interference between adjacent channels can be avoided by the partition 128, thereby improving the stability of the feeding.

[0041] Specifically, in terms of the material conveying direction, the second feeding conveyor 12 is located downstream of the first feeding conveyor 11. The first feeding conveyor 11 is a flexible plate chain conveyor to reduce damage to agricultural products during transportation. During the packaging operation, the first feeding conveyor 11 is always in a slow conveying state, which is used to slowly convey the scattered spherical materials 6 to be packed to the second feeding conveyor 12.

[0042] like Figure 3 , Figure 6 As shown, the second feeding conveyor 12 includes two parallel first channels and second channels, a partition 128 is provided between the first channel and the second channel, a first driving system is provided in the first channel, a second driving system is provided in the second channel system, and the first driving system and the second driving system drive the feeding independently. The independent driving system can make each channel convey independently, improve the flexibility of feeding, and ensure that there is material in the positioning unit 2.

[0043] In some embodiments, the drive system includes a drive assembly 124 and a conveyor belt 121, the conveyor belt 121 is in transmission connection with the drive assembly 124, and the drive assembly 124 is used to drive the conveyor belt 121 to rotate to realize material transportation. That is, the second feeding conveyor 12 is a belt conveyor, whose belt is driven by a driving member, and the material is transported to the positioning unit 2 while the belt rotates.

[0044] It can be understood that the use of a belt conveyor can achieve stable transportation of materials, prevent materials from being damaged during transportation, and provide a good transportation environment for material transportation.

[0045] Specifically, the second feeding conveyor 12 is a two-channel baffle conveyor, which is used to separately arrange the scattered materials conveyed by the first feeding conveyor 11 and load them into the positioning unit 2 in the positioning station 25 as needed. The conveyor belt 121 is a baffle belt, and the baffles on the baffle belt are arranged at equal intervals. Only one spherical agricultural product material can be placed between adjacent baffles, so as to realize the separate conveyance of the spherical materials 6 one by one, thereby realizing the sorting of materials.

[0046] Furthermore, in order to prevent the material from entering two or more channels of the second feeding conveyor 12 and causing blockage during the conveying process, a non-powered ball bar 122 is provided on the partition 128 near one end of the first feeding conveyor 11. The non-powered ball bar 122 rotates when it contacts the spherical material 6, thereby having a diversion effect, thereby avoiding accumulation and blockage at the location where the two feeding conveyors are connected.

[0047] It is understandable that, considering that it is impossible to ensure that there are materials between each baffle on the two-channel baffle conveyor belt 121 at any time when the scattered materials are transported from the first feeding conveyor 11 to the second feeding conveyor 12, in order to ensure that the grabbing mechanism 43 grabs two materials to be boxed in the positioning unit 2 before boxing each time. In this embodiment, the two channels are provided with independent driving systems, which can be independently operated and transported, so as to realize on-demand loading.

[0048] When setting specific Figure 3 , Figure 4 and Figure 5As shown, in order to realize that the two channels of the second feeding conveyor 12 can be independently operated and conveyed, there is a set of driving components 124 at the front and rear of the second feeding conveyor 12, and the driving component 124 includes a transmission shaft mechanism 123 and a driving motor. The transmission shaft mechanism 123 includes a main shaft 1231, a toothed cylindrical sleeve 1232, a driven sleeve 1233 and a plurality of bearings 1234. The toothed cylindrical sleeve 1232 and the driven sleeve 1233 are respectively sleeved on both sides of the main shaft 1231, and a bearing 1234 is provided between the main shaft 1231 and the cylindrical sleeve. The toothed cylindrical sleeve 1232 is connected to the driving motor in a transmission manner, so that the driving motor can drive the toothed cylindrical sleeve 1232 to rotate, and then drive the baffle belt to rotate, thereby realizing the transmission of materials.

[0049] Furthermore, a partition 128 is provided at the bottom of the second feeding conveyor 12, and two sets of transmission shaft mechanisms 123 are respectively provided at the front and rear ends of the partition 128. The two driving motors are reduction motors, and the two reduction motors are staggeredly installed in the middle area of ​​the bottom of the second feeding conveyor 12. A synchronous pulley 125 is installed at the output shaft end of each reduction motor. When the second feeding conveyor 12 transports materials, the baffle belt in any channel can be controlled by the corresponding reduction motor. The synchronous pulley 125 at the output shaft end of the reduction motor is connected to the teeth of the synchronous pulley 125 in the middle of the toothed cylindrical sleeve 1232 on the transmission shaft mechanism 123 of the corresponding channel through a synchronous belt, so that the rotation of the reduction motor drives the synchronous pulley 125 to rotate, and then drives the toothed cylindrical sleeve 1232 to rotate, so as to drive the rotation of the baffle belt. The material is placed on the baffle belt, and when the baffle belt rotates, the material can be transported to the positioning unit 2.

[0050] Due to this unique design, the synchronous belt and the baffle conveyor belt connecting the synchronous pulley 125 and the toothed cylindrical sleeve 1232 cannot be tensioned synchronously. In order to solve this problem, the front, rear and middle parts of the partitions 128 on both sides of the second feeding conveyor 12 are provided with groove-shaped through holes 127, such as Figure 3 , Figure 6 As shown, the slot-shaped through holes 127 at the front and rear ends are horizontally arranged, and the slot-shaped through holes 127 at the middle position are vertically arranged. The front and rear slot-shaped through holes 127 are used to fix the transmission shaft mechanism 123 and adjust the tension of the synchronous belt. The middle slot hole is used to fix the tensioning roller 126. The tensioning roller 126 is fixed between two adjacent partitions 128 by bolts. The tensioning roller 126 is used to adjust the tension of each channel baffle belt, and its tension is adjusted by bolts.

[0051] It can be understood that the baffle belt is an annular structure, and its two ends are wound between two sets of transmission shaft mechanisms 123. When the baffle belt needs to be tensioned, the tension of the ends can be achieved by adjusting the horizontal distance between the two sets of transmission shaft mechanisms 123. Similarly, the middle part of the baffle belt can adjust the position of the tensioning roller 126 up and down, so as to achieve the tension adjustment of the baffle belt.

[0052] According to the embodiment provided by the present invention, the positioning unit 2 includes a first visual recognition component 21 and a mechanical positioning component 24. The mechanical positioning component 24 is provided at the end of each channel. The mechanical positioning component 24 is used to lift and position the spherical material 6, and sensors 23 are provided on both sides of the mechanical positioning component 24. The sensors 23 are used to sense whether there is a spherical material 6 lifted in the mechanical positioning component 24. The first visual recognition component 21 is arranged on the second feeding conveyor 12 and is located above the conveying surface. The recognition end of the first visual recognition component 21 is arranged toward the mechanical positioning component 24. The first visual recognition component 21 is used to identify the position of the spherical material and to confirm whether the spherical material 6 is in a preset posture. In order to ensure the packing quality and to achieve accurate grasping when the spherical material 6 is packed, the first visual recognition component 21 is used in this embodiment. The first visual recognition component 21 can improve the accuracy of position positioning, which is beneficial to the subsequent grasping operation.

[0053] Among them, a door-shaped support frame is provided in the middle of the second loading conveyor 12, and the first visual recognition component 21 includes a first camera 211 and a first light source 212, and the first camera 211 and the first light source 212 are both installed on the support frame, and the first camera 211 is located directly above the first light source 212, and the first camera 211 and the first light source 212 are both facing the mechanical positioning component 24, so as to be able to collect the position information and posture information of the material in the mechanical positioning component 24 in real time.

[0054] Specifically, the sensor 23 includes a beam switch, which is disposed on both sides of the mechanical positioning assembly 24, and can output different electrical signals when there is material and when there is no material, so as to control the second feeding conveyor 12 to convey. For example, when the beam sensor 23 senses that there is material in the mechanical positioning assembly 24, the feeding is stopped. On the contrary, when the beam sensor 23 senses that no material is detected, the second feeding conveyor 12 needs to be turned on for feeding.

[0055] In some embodiments, the mechanical positioning assembly 24 includes a driving component 241, a base 244 and at least three flexible rotating wheels 242. The base 244 is fixedly connected with a support column 243 corresponding to the flexible rotating wheel 242. Each support column 243 is provided with a driving component 241. The output end of each driving component 241 is provided with a flexible rotating wheel 242, and multiple flexible rotating wheels 242 are arranged in a radial circumference. Multiple flexible rotating wheels 242 surround a lifting space for accommodating spherical materials 6. When positioning the spherical material 6, it is necessary to ensure its stability and facilitate the operation of the grasping mechanism 43. In this embodiment, an open lifting space is formed by multiple flexible rotating wheels 242. The spherical material 6 is placed in the lifting space to have a stable position and avoid damage to the material. Further, the setting of the driving component 241 can realize the rotation of each flexible rotating wheel 242, so that the posture of the product can be adjusted by the rotation of different flexible rotating wheels 242, so that it can be packed as a predetermined posture.

[0056] In some embodiments, the flexible rotating wheel 242 is a rubber wheel, and the driving component 241 is a driving motor. Figure 3 , Figure 7 As shown, the mechanical positioning assembly 24 includes four drive motors, four rubber wheels, four support columns 243 and a circular base 244. Each drive motor can rotate forward and reverse, so that it can drive the four rubber wheels to rotate forward and reverse independently. The four drive motor bodies are arranged on the corresponding support columns 243 in a radial structure, and the rubber wheels are arranged at the output end of the drive motor to form a stable lifting space. The bottom surface of the base 244 is provided with a strip hole, and the support column 243 is arranged in the strip hole, so that the distance between the four rubber wheels can be adjusted through the strip hole to achieve adaptation for materials of different specifications.

[0057] In some embodiments, the positioning unit 2 further includes a housing 22, which is connected to the second feeding conveyor 12. An installation space is formed in the housing 22, and a mechanical positioning assembly 24 is disposed in the installation space. An opening is disposed at the top of the housing 22, and the spherical material 6 enters the mechanical positioning assembly 24 through the opening. When the spherical material 6 enters the lifting space, it may fall. In this embodiment, the housing 22 can play a blocking role, thereby preventing the material entering the mechanical positioning assembly 24 from falling, thereby improving the stability of the material lifting.

[0058] Specifically, a U-shaped opening is provided at the top of the housing 22, and the end of the U-shaped opening is facing the incoming material direction, so as to protect the material. The sensor 23 is provided on the housing 22 on both sides of the U-shaped opening, so as to detect whether there is material.

[0059] According to the embodiment provided by the present invention, the packaging box transmission mechanism includes a first upper box conveyor 31 and a second upper box conveyor 32, the first upper box conveyor 31 is connected to the second upper box conveyor 32; the first upper box conveyor 31 is provided with a first shooting switch 33 on both sides of one end of the second upper box conveyor 32; the second upper box conveyor 32 is provided with a second shooting switch 37 and a push plate clamping assembly on both sides of one end of the first upper box conveyor 31, the push plate clamping assembly is arranged downstream of the second shooting switch 37, and the push plate clamping assembly is used to clamp the empty packaging box. While the material is being transported, the empty packaging box 7 needs to be transported to the packing station 38 so that the packing operation can be realized at the position of the packing station 38. In this embodiment, the empty packaging box 7 is transported by the cooperation of the first upper box conveyor 31 and the second upper box conveyor 32, and the empty packaging box 7 can be positioned by the push plate clamping assembly, so as to facilitate the subsequent packing operation.

[0060] Specifically, the conveying speed of the first box conveyor 31 is lower than that of the second box conveyor 32, and the box loading can be realized on demand through the coordinated setting of the first beam switch 33 and the second beam switch 37. That is, the first beam switch 33 can sense whether an empty packaging box 7 passes through, and can generate an electrical signal to control the start and stop of the first box conveyor 31, and the corresponding second beam switch 37 can also sense whether an empty packaging box 7 passes through, and can generate an electrical signal to control the start and stop of the second box conveyor 32.

[0061] In some embodiments, the push plate clamping assembly includes a push plate cylinder 34, a movable push plate 35 and a fixed push plate 36. The fixed push plate 36 is arranged on one side of the second upper box conveyor 32, and the push plate cylinder 34 is arranged on the other side of the second upper box conveyor 32. The movable push plate 35 is connected to the output end of the push plate cylinder 34 to form a box packing station 38 between the movable push plate 35 and the fixed push plate 36. The movable push plate 35 can extend or retract toward the fixed push plate 36, so that the packaging box can be compressed and released in this way, thereby achieving stable positioning of the packaging box.

[0062] Specifically, the length of the movable push plate 35 and the fixed push plate 36 is greater than or equal to the length of the packaging box, and has a certain width, which can increase the contact area between the movable push plate 35 and the fixed push plate 36 and the packaging box, thereby avoiding stress concentration during the compression process and causing damage to the packaging box.

[0063] It is understandable that when spherical materials are placed in a packaging box, a part of the force will be transmitted to the packaging box. The setting of the push plate clamping assembly can make the position of the packaging box more stable, avoid the movement of the packaging box during the packing process, and improve the accuracy and quality of packing.

[0064] In some embodiments, Figure 1 , Fig.10 As shown, the packing unit 4 also includes a second visual recognition component 41, which is arranged on the first upper box conveyor 31, and the recognition end of the second visual recognition component 41 is arranged toward the packing station 38; the motion mechanism 42 includes a parallel robot, and the gripping mechanism 43 includes a suction cup device, which is arranged at the end of the parallel robot. The parallel robot can drive the suction cup device to move to the positioning station 25, and the suction cup device can absorb the spherical material 6 at the positioning station 25. The parallel robot can also drive the suction cup device to move to the packing station 38, and the suction cup device can fill the spherical material 6 into the empty packaging box 7. When packing, it is necessary to determine the position of the fruit nest in the empty packaging box 7 to improve the efficiency and accuracy of packing. In this embodiment, the second visual recognition component 41 can realize the accurate recognition of the position of the fruit nest, thereby improving the packing efficiency, the accuracy of packing and the quality of packing.

[0065] Among them, the second visual recognition component 41 includes a second camera 411 and a second light source 412, the second camera 411 and the second light source 412 are both installed above the end of the first box conveyor 31, and the second camera 411 is located directly above the second light source 412, the second camera 411 and the second light source 412 are both facing the packing station 38, and the second visual recognition component 41 is used to detect the position of the fruit nest of the material placed in the empty packaging box 7 positioned on the second box conveyor 32, so as to assist in the accurate packing of the material.

[0066] It is understandable that while the material is being positioned, the empty packaging box 7 will also be positioned in the packing station 38. The second visual recognition component 41 is facing the packing station 38, which can identify the specific fruit nest position and send it to the controller, which can achieve precise placement based on the position information.

[0067] It should be known that the parallel robot in this embodiment is a conventional mature device in the art, and its end is connected to the gripping mechanism 43, and the gripping of materials is achieved through the gripping mechanism 43. Therefore, the specific structure of the parallel robot is not described in detail here.

[0068] In the specific setting, the spherical agricultural product fully automatic flexible box packaging robot system also includes a full box unloading conveyor 5, which is connected to the end of the second box loading conveyor 32. The full box unloading conveyor 5 is used to move the packaging box filled with materials to the next process.

[0069] According to the embodiment provided by the present invention, Fig.11 , Fig.12As shown, the suction cup device includes a fixing frame 438, a first suction cup part, a second suction cup part and a distance adjustment component; the first suction cup part and the second suction cup part are slidably arranged in the fixing frame 438, and the distance adjustment component is arranged in the fixing frame 438, and the distance adjustment component is used to adjust the distance between the first suction cup part and the second suction cup part; the first suction cup part and the second suction cup part each include a telescopic cylinder 434 and a suction cup member 435, and the suction cup member 435 is arranged at the output end of the telescopic cylinder 434, and a connecting seat 437 is arranged on the top of each telescopic cylinder 434 body, and a fixing rod 436 is arranged on the fixing frame 438, and the connecting seat 437 is slidably connected with the fixing rod 436; the distance adjustment component includes a distance sensor 43 3. The pitch-adjusting drive unit 431 and the pitch-adjusting screw 432. The pitch-adjusting screw 432 is provided with a first thread segment and a second thread segment. The spiral directions of the first thread segment and the second thread segment are opposite. The first thread segment and the second thread segment are both threadedly connected with a connecting seat 437. The pitch-adjusting drive unit 431 is provided at one end of the fixing frame 438, and the pitch-adjusting screw 432 is connected to the output end of the pitch-adjusting drive unit 431 to drive the connecting seat 437 to move along the axial direction of the pitch-adjusting screw 432. The distance sensor 433 is provided on one of the telescopic cylinders 434, and the distance measuring end of the distance sensor 433 faces the other telescopic cylinder 434, so as to be able to sense the distance between the two in real time. The provision of two suction cups can improve the grasping efficiency, can grasp two spherical agricultural products at the same time, and can correspond to their respective fruit nests, thereby improving the packaging efficiency.

[0070] Specifically, the spacing between the first suction cup and the second suction cup can be adjusted by setting the spacing adjustment assembly, so that it can be applied to the packing operation of products of different specifications, and its flexibility is improved. In the specific adjustment, the first suction cup and the second suction cup can be moved simultaneously by driving the spacing adjustment screw 432, so as to improve the adjustment efficiency, and maintain the stability of the center of gravity of the suction cup device, thereby improving the stability of the suction cup device. Furthermore, the two ends of the spacing adjustment screw 432 are connected to the fixed frame 438 through a rotating bearing, so as to realize the efficient rotation of the spacing adjustment screw 432.

[0071] In a specific configuration, the distance adjustment driving unit 431 includes a stepping motor, which can achieve precise distance adjustment, thereby improving the accuracy of grasping.

[0072] Here, taking tomatoes as an example, the spherical material 6 in the packaging box is briefly described through a specific example: The equipment starts to pack and package. The first feeding conveyor 11 slowly transports the tomato material forward to the second feeding conveyor 12. Each channel in the second feeding conveyor 12 is a baffle conveying system. There can be at most one tomato between the two baffles of each channel. The two channels can operate independently driven by the reduction motor. In this way, it can be ensured that the tomatoes in each channel are transported one at a time to the mechanical positioning assembly 24 as needed. The four rubber wheels of the mechanical positioning assembly 24 hold the tomatoes. It is particularly important to note that each time the box is packed, there is a tomato on the two mechanical positioning assemblies 24 (in order to ensure that this specific on-demand fruit loading can be achieved, the two channels of the second feeding conveyor 12 must be designed to be able to be transported independently).

[0073] When there are tomatoes on both mechanical positioning components 24, the sensors 23 on both sides of the opening of the U-shaped shell 22 of the mechanical positioning component 24 will detect the presence of tomatoes, and then immediately transmit the signal to the first visual recognition component 21. The first visual recognition component 21 will detect whether the position and posture of the two tomatoes on the mechanical positioning component 24 are correct (in practice, for the beauty of packaging, all packaged materials need to have a consistent orientation as much as possible, for example, in this example, tomatoes need to be packaged with the stems facing upward). In this embodiment, if the first visual recognition component 21 detects that the tomato stems are not facing upward, the signal is transmitted to the four driving motors of the mechanical positioning component 24. The driving motors rotate to drive the four rubber wheels to rotate, and then drive the corresponding tomatoes to rotate slowly. During the rotation process, the first visual recognition component 21 detects and analyzes the position of the stems in real time. At the same time, since the four rubber wheels are driven by independent motors, the forward and reverse rotation of each rubber wheel can be independently controlled during the rotation positioning process. In this way, with the assistance of the first visual recognition component 21, the tomatoes can be quickly and accurately positioned. If the two tomatoes are positioned well (that is, the tomato stems face upward), the four rubber wheels of the mechanical positioning component 24 stop rotating immediately.

[0074] At the same time, Figure 1 , Figure 8 and Fig. 9As shown, the first upper box conveyor 31 of the upper box unit 3 slowly conveys the empty packaging box 7 forward to the second upper box conveyor 32 (the second upper box conveyor 32 is in the open state at this time, and the conveying speed is faster than that of the first upper box conveyor 31). After the first empty packaging box 71 passes through the first upper box shooting switch 33, the first upper box shooting switch 33 starts counting, as long as it detects the arrival of the next empty packaging box 7 (here, the second empty packaging box 72) (it should be particularly noted that the conveying speed of the second upper box conveyor 32 is slightly faster than that of the first upper box conveyor 31. In this way, when the first empty packaging box 71 conveyed by the first upper box conveyor 31 just reaches the second upper box conveyor 32, due to the faster conveying speed of the latter, between the first empty packaging box 71 and the second empty packaging box 72 A certain distance will be pulled between them, and when the first shooting switch 33 of the upper box detects the gap, the signal is then blocked by the second empty packaging box 72, which means that the second box has reached the first shooting switch 33, and the first box conveyor 31 stops conveying, and so on, the first box conveyor 31 performs automatic empty box loading operation), a signal will be sent to the controller of the first box conveyor 31, thereby controlling the first box conveyor 31 to stop conveying. At the same time, when the second shooting switch 37 of the upper box detects that there is no packaging box, that is, all the empty packaging boxes 7 have passed the second shooting switch 37 and are located on the second box conveyor 32, the second shooting switch 37 of the upper box will send a signal to the controller of the second box conveyor 32, and the second box conveyor 32 will stop conveying.

[0075] After the second box conveyor 32 stops conveying, the push plate cylinder 34 starts to start and pushes forward a certain distance, so that the movable push plate 35 pushes the first empty packaging box 71 on the second box conveyor 32 to move forward to the fixed push plate 36. In this way, the movable push plate 35 and the fixed push plate 36 can effectively fix the first empty packaging box 71 by clamping, so that the box body will not shake during the tomato packing process.

[0076] When the first empty packaging box 71 and the two tomatoes on the mechanical positioning component 24 are positioned, the packing unit 4 starts packing. First, the second visual recognition component 41 detects the exact position of the fruit nest in the first empty packaging box 71 (because the empty packaging box 7 is conveyed to the second upper box conveyor 32, it cannot be guaranteed that it will be accurately parked every time, so the visual system is required to assist in detection), and sends the position information to the motion mechanism 42, that is, the parallel robot body. The parallel robot body drives the end grasping mechanism 43 to synchronously and quickly grasp the two positioned tomatoes. Before grasping, the first visual recognition component 21 needs to calculate the center distance of the two tomatoes in advance. During grasping, the distance adjustment drive unit 431, that is, the stepping motor drives the distance adjustment screw 432 to rotate, and the adjustment While the distance screw 432 rotates, the telescopic cylinder 434 will move centrally or outwardly along the fixed rod 436 at the same time. With the assistance of the distance sensor 433, the two telescopic cylinders 434 will quickly adjust to a spacing that matches the center distance of the two tomatoes to be grasped, and finally achieve accurate grasping through the suction cup 435; after the tomatoes are grasped, the two tomatoes need to be placed in the appropriate fruit nest position in the first empty packaging box 71. Similarly, according to the accurate position information of the fruit nest in the empty packaging box 7 provided by the second visual recognition component 41, with the assistance of the distance sensor 433, the two telescopic cylinders 434 are adjusted to a suitable spacing to achieve accurate packing.

[0077] Each time two tomatoes are grabbed and packed, after a box is full, the push plate cylinder 34 retracts, the first box loading conveyor 31 and the second box loading conveyor 32 start conveying, and the full box of tomatoes is conveyed to the full box unloading conveyor 5 to complete the unloading. At the same time, the second empty packaging box 72 is conveyed from the first box loading conveyor 31 to the second box loading conveyor 32, and the above operations are repeated in sequence. In the entire tomato box packaging process, the tomato loading, posture positioning, empty box loading, robot grabbing and packing, and full box unloading functional modules work together and efficiently cooperate to complete the fully automated tomato packaging operation.

[0078] Through the description of the above embodiments, the technicians in this field can clearly understand that in each embodiment, the feeding unit 1 realizes the automatic delivery of scattered spherical agricultural products to the positioning unit 2 one by one as needed. The positioning unit 2 realizes the accurate positioning of the materials by controlling the rotation angle of the four positioning wheels with the assistance of the visual system. The box loading unit 3 is used to automatically deliver the empty packaging box 7 containing the materials to the packing position as needed, and then the parallel robot quickly grabs the positioned materials and places them in the empty packaging box 7 at the packing position under the guidance of the visual system. The whole packaging process does not require human participation. The invented system is of great significance to the development of the automated packaging industry of fresh agricultural products, reducing the packaging costs of enterprises, and improving quality and efficiency.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fully automatic flexible box packaging robot system for spherical agricultural products, characterized in that: include: Loading unit, positioning unit, box loading unit and packing unit; The loading unit includes a material conveying mechanism, the material conveying mechanism has a conveying surface for conveying spherical materials, a positioning station is provided in the conveying direction of the material conveying mechanism, the positioning unit is arranged at the positioning station and is located below the conveying surface so that the spherical materials fall into the positioning unit, the positioning unit is used to position the spherical materials and can adjust the spherical materials to a predetermined state; The upper box unit comprises a box conveying mechanism for conveying empty boxes, the box conveying mechanism is arranged on one side of the material conveying mechanism, a box packing station is arranged in the conveying direction of the box conveying mechanism, and the box packing unit is arranged above the box packing station; The packing unit includes a motion mechanism and a grabbing mechanism, wherein the grabbing mechanism is arranged at the bottom of the motion mechanism, and the motion mechanism is used to control the grabbing mechanism to move between a positioning station and a packing station, and the grabbing mechanism is used to grab the spherical material in the positioning station and place the spherical material in the packing station.

2. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 1 is characterized in that: The material transmission mechanism comprises a first feeding conveyor and a second feeding conveyor, the first feeding conveyor is connected to the second feeding conveyor, and the positioning unit is arranged at the end of the second feeding conveyor; Wherein, the second loading conveyor includes at least one channel, partitions are arranged between adjacent channels, and a driving system is arranged in each channel so that each channel can independently convey materials.

3. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 2 is characterized in that: The driving system includes a driving component and a conveyor belt. The conveyor belt is drivingly connected to the driving component. The driving component is used to drive the conveyor belt to rotate to realize material transportation.

4. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 2 is characterized in that: The positioning unit includes a first visual recognition component and a mechanical positioning component. The end of each channel is provided with the mechanical positioning component, and the mechanical positioning component is used to lift and position the spherical material. Sensors are provided on both sides of the mechanical positioning component, and the sensors are used to sense whether the spherical material is lifted in the mechanical positioning component. The first visual recognition component is arranged on the second feeding conveyor and is located above the conveying surface, and the recognition end of the first visual recognition component is arranged toward the mechanical positioning component.

5. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 4 is characterized in that: The mechanical positioning assembly includes a driving component, a base and at least three flexible rotating wheels. The base is fixedly connected to support columns arranged one by one corresponding to the flexible rotating wheels. Each of the support columns is provided with the driving component. The output end of each driving component is provided with the flexible rotating wheel, and multiple flexible rotating wheels are arranged in a radial circle. The multiple flexible rotating wheels form a lifting space for accommodating the spherical material.

6. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 4 is characterized in that: The positioning unit also includes a shell, which is connected to the second feeding conveyor. An installation space is formed in the shell. The mechanical positioning component is arranged in the installation space. An opening is provided on the top of the shell, and the spherical material enters into the mechanical positioning component through the opening.

7. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 1 is characterized in that: The packaging box transmission mechanism comprises a first box loading conveyor and a second box loading conveyor, wherein the first box loading conveyor is connected to the second box loading conveyor; A first shooting switch is provided on both sides of the first box conveyor near one end of the second box conveyor; a second shooting switch and a push plate clamping assembly are provided on both sides of the second box conveyor near one end of the first box conveyor, and the push plate clamping assembly is provided downstream of the second shooting switch, and the push plate clamping assembly is used to clamp the empty packaging box.

8. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 7 is characterized in that: The push plate clamping assembly includes a push plate cylinder, a movable push plate and a fixed push plate. The fixed push plate is arranged on one side of the second box conveyor, and the push plate cylinder is arranged on the other side of the second box conveyor. The movable push plate is connected to the output end of the push plate cylinder to form the packing station between the movable push plate and the fixed push plate.

9. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 7 is characterized in that: The box packing unit further comprises a second visual recognition component, which is disposed on the first box loading conveyor, and the recognition end of the second visual recognition component is disposed toward the box packing station; The motion mechanism includes a parallel robot, and the grasping mechanism includes a suction cup device. The suction cup device is arranged at the end of the parallel robot. The parallel robot can drive the suction cup device to move to the positioning station, and the suction cup device can absorb the spherical material at the positioning station. The parallel robot can also drive the suction cup device to move to the packing station, and the suction cup device can fill the spherical material into an empty packaging box.

10. The fully automatic flexible box packaging robot system for spherical agricultural products according to claim 9 is characterized in that: The suction cup device comprises a fixing frame, a first suction cup part, a second suction cup part and a distance adjustment component; the first suction cup part and the second suction cup part are slidably arranged in the fixing frame, the distance adjustment component is arranged in the fixing frame, and the distance adjustment component is used to adjust the distance between the first suction cup part and the second suction cup part; The first suction cup part and the second suction cup part each include a telescopic cylinder and a suction cup member, the suction cup member is arranged at the output end of the telescopic cylinder, a connecting seat is arranged on the top of each telescopic cylinder body, and a fixing rod is arranged on the fixing frame, and the connecting seat is slidably connected with the fixing rod; The pitch-adjusting assembly includes a distance sensor, a pitch-adjusting driving unit and a pitch-adjusting screw. The pitch-adjusting screw is provided with a first thread segment and a second thread segment. The spiral directions of the first thread segment and the second thread segment are opposite. The first thread segment and the second thread segment are both threadedly connected with the connecting seat. The pitch-adjusting driving unit is provided at one end of the fixing frame, and the pitch-adjusting screw is connected to the output end of the pitch-adjusting driving unit to drive the connecting seat to move along the axial direction of the pitch-adjusting screw. The distance sensor is provided on one of the telescopic cylinders, and the distance measuring end of the distance sensor faces the other telescopic cylinder so as to be able to sense the distance between the two in real time.

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