Warehouse logistics packaging robot based on multi-agent cooperation

Abstract

A warehouse logistics packaging robot based on multi-agent cooperation relates to the technical field of strawberry seedling packaging equipment, and is characterized in that a positioning frame is mounted on a main body plate, protective film winding mechanisms arranged at equal intervals are mounted in the positioning frame, a moving mechanism is mounted on the main body plate, and a seedling tray placing mechanism is mounted at the moving end of the moving mechanism; the position of the placing end of the seedling tray placing mechanism corresponds to that of the winding end of the protective film winding mechanism; according to the warehouse logistics packaging robot based on multi-agent cooperation, the seedling raising disc containing strawberry seedlings is placed through the seedling raising disc containing mechanism, the position of the seedling raising disc is adjusted according to the packaging progress, soil, communicated with the roots of the strawberry seedlings, of the seedling raising disc is packaged through the protective film winding mechanism, and the packaging efficiency is improved. Strawberry seedlings are prevented from being completely sealed in the protective film, and meanwhile soil in the seedling raising plate is prevented from being scattered.

Description

Technical Field

[0001] The invention relates to the technical field of strawberry seedling packaging equipment, and in particular to a warehousing logistics packaging robot based on multi-agent collaboration. Background Art

[0002] When the strawberry seedlings are transported from the warehouse, they need to be packed. During the packing process, the strawberry seedlings need to be placed in the strawberry seedling seedling tray for unified packing. Because the roots of the strawberry seedlings are delicate and easily broken, support rods will be inserted around the seedling tray and then wrapped with protective film for protection. This packing mode can easily damage the strawberry seedlings. At the same time, the soil in the seedling tray will also scatter, which is not convenient for long-term transportation of the strawberry seedlings. Summary of the invention

[0003] In order to overcome the shortcomings in the background technology, the present invention discloses a warehouse logistics packaging robot based on multi-agent collaboration. The present invention places a seedling tray with strawberry seedlings through a seedling tray placing mechanism, adjusts the position of the seedling tray according to the progress of packaging, and packs the soil of the seedling tray connected to the roots of the strawberry seedlings through a protective film winding mechanism to avoid damage to the strawberry seedlings caused by being completely sealed in the protective film, and at the same time prevents the soil in the seedling tray from scattering.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: A storage logistics packaging robot based on multi-agent collaboration includes a main body plate, a positioning frame is installed on the main body plate, and protective film winding mechanisms arranged equidistantly are installed in the positioning frame, a moving mechanism is installed on the main body plate, and a seedling tray placing mechanism is installed on the moving end of the moving mechanism, the position of the placing end of the seedling tray placing mechanism corresponds to the winding end of the protective film winding mechanism, and the seedling tray on which seedlings are planted on the seedling tray placing mechanism is wound and packaged by the protective film winding mechanism.

[0005] The main body plate is provided with a groove, and two installation grooves are provided on a groove wall on one side of the groove. A moving mechanism is installed in the groove, and a fixed end of the moving mechanism is located in the installation groove.

[0006] The protective film winding mechanism includes a first electric telescopic rod, a guide frame, a micro dual-axis servo motor, a motor gear, a limit plate, a connecting block, a pressing mechanism and a mounting frame. The first electric telescopic rod is equidistantly arranged on the frame walls on the upper and lower sides of the positioning frame and fixedly connected, and the telescopic end of the first electric telescopic rod is fixedly connected to the guide frame, the limit plate is slidably connected in the guide frame, and the upper and lower sides of the limit plate are respectively fixedly connected to the micro dual-axis servo motor and the connecting block, the two motor shafts of the micro dual-axis servo motor are respectively fixedly connected with motor gears, and the motor gears are connected to the guide components in the guide frame, the connecting block is installed with the mounting frame, and the pressing mechanism is installed on one side of the connecting block, and the position of the pressing mechanism corresponds to that of the mounting frame.

[0007] A busbar and two racks are installed in the guide frame, and the two racks are located on both sides of the busbar. The positions of the racks correspond to the positions of the motor gears and are meshed and connected.

[0008] The pressing mechanism includes a connecting plate, a telescopic rod, a return spring and a pressing wheel. The connecting plate is located on one side of the connecting block and is fixedly connected, and the telescopic rod and the return spring are fixedly connected to the connecting plate. The telescopic rod and the return spring are sleeved with each other, and the pressing wheel is fixedly connected to the telescopic ends of the telescopic rod and the return spring.

[0009] The pressing wheel is composed of a U-shaped frame and a pulley, and the U-shaped frame is located on and fixedly connected to the telescopic end of the telescopic rod and the return spring, and the pulley is rotatably connected inside the U-shaped frame.

[0010] The moving mechanism includes a second electric telescopic rod, a moving frame, a moving plate and a first servo motor. There are two second electric telescopic rods, which are respectively located in two mounting grooves and fixedly connected. The telescopic end of the second electric telescopic rod is fixedly connected to the moving frame. The moving frame is slidably connected to the moving plate, and a seedling tray placing mechanism is installed on the moving plate. A first servo motor is installed on one side of the moving frame, and the first servo motor is connected to a gear through a motor shaft, and the first servo motor is connected to the moving plate through a gear.

[0011] The upper surface of the moving plate is higher than the frame wall of the moving frame, and gear teeth arranged equidistantly are arranged on one end of the moving plate outside the moving frame. The moving plate is meshed with the gear on the first servo motor through the gear teeth.

[0012] The seedling tray placement mechanism includes a fixed frame, a placement plate, support rods and a second servo motor. The fixed frame is equidistantly arranged on the movable plate and fixedly connected, and the second servo motor is fixedly connected to the fixed frame. The second servo motor is fixedly connected to the placement plate through a motor shaft, and the placement plate is fixedly connected to support rods equidistantly arranged.

[0013] The fixing frame is a T-shaped rod, and a second servo motor is installed on the cross bar of the fixing frame.

[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: The storage logistics packaging robot based on multi-agent collaboration described in the present invention places a seedling tray with strawberry seedlings through a seedling tray placing mechanism, adjusts the position of the seedling tray according to the progress of packaging, and packs the soil of the seedling tray connected to the roots of the strawberry seedlings through a protective film winding mechanism, thereby avoiding damage to the strawberry seedlings caused by being completely sealed in the protective film and preventing the soil in the seedling tray from scattering. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 is a cross-sectional view of the present invention; Figure 3 for Figure 2 A schematic diagram of the enlarged structure of the present invention; Figure 4 for Figure 2 A schematic diagram of the enlarged structure of position B of the present invention; 1. Main body plate; 2. Positioning frame; 3. Protective film winding mechanism; 301. First electric telescopic rod; 302. Guide frame; 303. Micro dual-axis servo motor; 304. Motor gear; 305. Connecting plate; 306. Telescopic rod; 307. Reset spring; 308. Pressing wheel; 309. Rack; 310. Busbar; 311. Limiting plate; 312. Connecting block; 313. Mounting frame; 4. Moving mechanism; 401. Second electric telescopic rod; 402. Moving frame; 403. Moving plate; 404. First servo motor; 5. Seedling tray placement mechanism; 501. Fixed frame; 502. Placement plate; 503. Support rod; 504. Second servo motor. DETAILED DESCRIPTION

[0016] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0017] Combined with Figures 1 to 4The storage logistics packaging robot based on multi-agent collaboration includes a main body plate 1, a positioning frame 2 is installed on the main body plate 1, and a protective film winding mechanism 3 arranged equidistantly is installed in the positioning frame 2, a moving mechanism 4 is installed on the main body plate 1, and a seedling tray placing mechanism 5 is installed on the moving end of the moving mechanism 4, the position of the placing end of the seedling tray placing mechanism 5 corresponds to the winding end of the protective film winding mechanism 3, and the seedling tray on which the seedlings are planted on the seedling tray placing mechanism 5 is wound and packaged by the protective film winding mechanism 3. All electrical equipment in the present invention is electrically connected to an external control device, and all electrical equipment in the present invention is controlled to work by the external control device.

[0018] The main body plate 1 is provided with a groove, and two mounting grooves are provided on a groove wall on one side of the groove. A moving mechanism 4 is installed in the groove, and a fixed end of the moving mechanism 4 is located in the mounting groove.

[0019] The protective film winding mechanism 3 includes a first electric telescopic rod 301, a guide frame 302, a micro dual-axis servo motor 303, a motor gear 304, a limit plate 311, a connecting block 312, a pressing mechanism and a mounting frame 313. The first electric telescopic rod 301 is equidistantly arranged on the upper and lower sides of the positioning frame 2 and fixedly connected, and the telescopic end of the first electric telescopic rod 301 is fixedly connected to the guide frame 302, and the limit plate 311 is slidably connected in the guide frame 302, and the upper and lower sides of the limit plate 311 are respectively fixedly connected to It is connected to a micro dual-axis servo motor 303 and a connecting block 312, the two motor shafts of the micro dual-axis servo motor 303 are respectively fixedly connected with motor gears 304, and the motor gears 304 are connected to the guide components in the guide frame 302, a mounting frame 313 is installed on the connecting block 312, a pressing mechanism is installed on one side of the connecting block 312, and the position of the pressing mechanism corresponds to that of the mounting frame 313, a protective film roll is installed in the mounting frame 313, and the protective film is similar to a film such as plastic wrap, and has a certain degree of adhesion.

[0020] A busbar 310 and two racks 309 are installed in the guide frame 302, and the two racks 309 are located on both sides of the busbar 310. The positions of the racks 309 correspond to the positions of the motor gears 304 and are meshedly connected. The busbar 310 is used to power the micro dual-axis servo motor 303 during the movement, and the busbar 310 is an existing device.

[0021] The pressing mechanism includes a connecting plate 305, a telescopic rod 306, a return spring 307 and a pressing wheel 308. The connecting plate 305 is located on one side of the connecting block 312 and is fixedly connected, and the telescopic rod 306 and the return spring 307 are fixedly connected to the connecting plate 305. The telescopic rod 306 and the return spring 307 are mutually sleeved, and the pressing wheel 308 is fixedly connected to the telescopic ends of the telescopic rod 306 and the return spring 307.

[0022] The pressing wheel 308 is composed of a U-shaped frame and a pulley, and the U-shaped frame is located on the telescopic end of the telescopic rod 306 and the return spring 307 and is fixedly connected, and a pulley is rotatably connected inside the U-shaped frame.

[0023] The moving mechanism 4 includes a second electric telescopic rod 401, a moving frame 402, a moving plate 403 and a first servo motor 404. The number of the second electric telescopic rod 401 is two. The two second electric telescopic rods 401 are respectively located in two mounting grooves and fixedly connected, and the telescopic end of the second electric telescopic rod 401 is fixedly connected with the moving frame 402, and the moving plate 403 is slidably connected in the moving frame 402, and the mobile plate 403 is installed with a seedling tray placing mechanism 5, and a first servo motor 404 is installed on one side of the moving frame 402, and the first servo motor 404 is connected to the gear through the motor shaft, and the first servo motor 404 is connected to the moving plate 403 through the gear.

[0024] The upper surface of the moving plate 403 is higher than the wall of the moving frame 402 , and gear teeth arranged equidistantly are provided on one end of the moving plate 403 outside the moving frame 402 . The moving plate 403 meshes with the gears on the first servo motor 404 through the gear teeth.

[0025] The seedling tray placement mechanism 5 includes a fixed frame 501, a placement plate 502, a support rod 503 and a second servo motor 504. The fixed frame 501 is equidistantly arranged on the movable plate 403 and fixedly connected, and the fixed frame 501 is fixedly connected to the second servo motor 504. The second servo motor 504 is fixedly connected to the placement plate 502 through a motor shaft, and the placement plate 502 is fixedly connected to the support rods 503 that are equidistantly arranged, and the bottom of the seedling hole on the seedling tray is supported by the support rods 503.

[0026] The fixing frame 501 is a T-shaped bar, and a second servo motor 504 is installed on the cross bar of the fixing frame 501 .

[0027] The described storage logistics packaging robot based on multi-agent collaboration, when in use, the staff will place the strawberry seedlings and seedling trays to be packaged on the support rod 503 on the placement plate 502, so as to facilitate the guide frame 302 to be inserted into the bottom of the seedling tray, and the spacing between the two guide frames 302 is controlled by the extension of the first electric telescopic rod 301, and the position of the seedling tray is controlled by the extension of the second electric telescopic rod 401, and the guide frame 302 is inserted into the gap between the strawberry seedlings on the seedling tray, and the two guide frames 302 are controlled to be closed by the first electric telescopic rod 301 to form a complete track frame, and the micro dual-axis servo motor 303 is powered by the busbar 310, and the mounting frame 313 is driven to move by the micro dual-axis servo motor 303. During the movement of the mounting frame 313, the protective film inside the mounting frame 313 will stick to the seedling tray The protective film is pressed onto the seedling tray by the pressing wheel 308, and the mounting frame 313 surrounds the seedling tray along the track frame to wrap the seedling tray. After wrapping a gap, the first electric telescopic rod 301 drives the guide frame 302 to be lifted to prevent the guide frame 302 from pressing the strawberry seedlings on the seedling tray during movement. The seedling tray is driven to separate from the guide frame 302 by the second electric telescopic rod 401, and the position of the seedling tray is adjusted by the first servo motor 404. After the adjustment is completed, the seedling tray is inserted into the guide frame 302 and the packaging operation is repeated. After the horizontal winding is completed, the direction of the seedling tray is adjusted by the second servo motor 504, and longitudinal winding is performed to wrap the protective film around the seedling tray to protect the soil in the seedling tray. At the same time, the branches and leaves on the strawberry seedlings can also breathe with oxygen.

[0028] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. A warehouse logistics packaging robot based on multi-agent collaboration, including a main body plate, characterized by: A positioning frame is installed on the main body plate, and protective film winding mechanisms are installed in the positioning frame at equal intervals. A moving mechanism is installed on the main body plate, and a seedling tray placing mechanism is installed on the moving end of the moving mechanism. The position of the placing end of the seedling tray placing mechanism corresponds to the winding end of the protective film winding mechanism. The seedling tray on which the seedlings are planted on the seedling tray placing mechanism is wound and packaged by the protective film winding mechanism.

2. The warehousing logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized in that: The main body plate is provided with a groove, and two installation grooves are provided on a groove wall on one side of the groove. A moving mechanism is installed in the groove, and a fixed end of the moving mechanism is located in the installation groove.

3. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized by: The protective film winding mechanism includes a first electric telescopic rod, a guide frame, a micro dual-axis servo motor, a motor gear, a limit plate, a connecting block, a pressing mechanism and a mounting frame. The first electric telescopic rod is equidistantly arranged on the frame walls on the upper and lower sides of the positioning frame and fixedly connected, and the telescopic end of the first electric telescopic rod is fixedly connected to the guide frame, the limit plate is slidably connected in the guide frame, and the upper and lower sides of the limit plate are respectively fixedly connected to the micro dual-axis servo motor and the connecting block, the two motor shafts of the micro dual-axis servo motor are respectively fixedly connected with motor gears, and the motor gears are connected to the guide components in the guide frame, the connecting block is installed with the mounting frame, and the pressing mechanism is installed on one side of the connecting block, and the position of the pressing mechanism corresponds to that of the mounting frame.

4. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 3 is characterized by: A busbar and two racks are installed in the guide frame, and the two racks are located on both sides of the busbar. The positions of the racks correspond to the positions of the motor gears and are meshed and connected.

5. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 3 is characterized by: The pressing mechanism includes a connecting plate, a telescopic rod, a return spring and a pressing wheel. The connecting plate is located on one side of the connecting block and is fixedly connected, and the telescopic rod and the return spring are fixedly connected to the connecting plate. The telescopic rod and the return spring are sleeved with each other, and the pressing wheel is fixedly connected to the telescopic ends of the telescopic rod and the return spring.

6. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 5 is characterized by: The pressing wheel is composed of a U-shaped frame and a pulley, and the U-shaped frame is located on and fixedly connected to the telescopic end of the telescopic rod and the return spring, and the pulley is rotatably connected inside the U-shaped frame.

7. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized by: The moving mechanism includes a second electric telescopic rod, a moving frame, a moving plate and a first servo motor. There are two second electric telescopic rods, which are respectively located in two mounting grooves and fixedly connected. The telescopic end of the second electric telescopic rod is fixedly connected to the moving frame. The moving frame is slidably connected to the moving plate, and a seedling tray placing mechanism is installed on the moving plate. A first servo motor is installed on one side of the moving frame, and the first servo motor is connected to a gear through a motor shaft, and the first servo motor is connected to the moving plate through a gear.

8. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 7 is characterized by: The upper surface of the moving plate is higher than the frame wall of the moving frame, and gear teeth arranged equidistantly are arranged on one end of the moving plate outside the moving frame. The moving plate is meshed with the gear on the first servo motor through the gear teeth.

9. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized by: The seedling tray placement mechanism includes a fixed frame, a placement plate, support rods and a second servo motor. The fixed frame is equidistantly arranged on the movable plate and fixedly connected, and the second servo motor is fixedly connected to the fixed frame. The second servo motor is fixedly connected to the placement plate through a motor shaft, and the placement plate is fixedly connected to support rods equidistantly arranged.

10. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 9 is characterized in that: The fixing frame is a T-shaped rod, and a second servo motor is installed on the cross bar of the fixing frame.

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