A warehousing and logistics packing robot based on multi-agent collaboration

Abstract

A warehousing and logistics packing robot based on multi-agent cooperation relates to the technical field of strawberry seedling packing equipment. A positioning frame is installed on the main body board, and an equally spaced protective film winding mechanism is installed inside the positioning frame. A moving mechanism is installed on the main body board, and a seedling tray placing mechanism is installed on the moving end of the moving mechanism. The placement end of the seedling tray placing mechanism corresponds to the winding end of the protective film winding mechanism. For the warehousing and logistics packing robot based on multi-agent cooperation of the present invention, the seedling tray with strawberry seedlings is placed through the seedling tray placing mechanism, and the position of the seedling tray is adjusted according to the packing progress. The soil connecting the strawberry seedlings' roots in the seedling tray is packed through the protective film winding mechanism, avoiding completely sealing the strawberry seedlings in the protective film and at the same time preventing the soil in the seedling tray from spreading out.

Description

Technical Field

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

[0002] When strawberry seedlings are transported from the warehouse, they need to be packaged. During the packaging process, the strawberry seedlings need to be placed in the seedling trays of the strawberry seedlings for unified packaging. Since the roots of the strawberry seedlings are delicate and easily broken, support rods will be inserted around the seedling trays, and then the protective film will be used for winding protection. This packaging mode is very likely to suffocate the strawberry seedlings, and at the same time, the soil in the seedling trays will also scatter, which is not convenient for the long-distance transportation of strawberry seedlings. Summary of the Invention

[0003] In order to overcome the deficiencies in the background art, the present invention discloses a warehousing and logistics packaging robot based on multi-agent cooperation. The present invention places the seedling tray with strawberry seedlings through the seedling tray placement mechanism and adjusts the position of the seedling tray according to the progress of packaging. The protective film winding mechanism is used to package the seedling tray and the soil connected to the roots of the strawberry seedlings, avoiding damaging the strawberry seedlings by completely sealing them in the protective film and at the same time preventing the soil in the seedling tray from scattering.

[0004] In order to achieve the above-mentioned invention purpose, the present invention adopts the following technical solutions:

[0005] A warehousing and logistics packaging robot based on multi-agent cooperation includes a main body board. A positioning frame is installed on the main body board, and an equidistantly arranged protective film winding mechanism is installed in the positioning frame. A moving mechanism is installed on the main body board, and a seedling tray placement mechanism is installed on the moving end of the moving mechanism. The position of the placement end of the seedling tray placement mechanism corresponds to the winding end of the protective film winding mechanism, and the protective film winding mechanism is used to wind and package the seedling tray with planted seedlings on the seedling tray placement mechanism.

[0006] A groove is provided on the main body board, and two installation grooves are provided on the groove wall on one side of the groove. The moving mechanism is installed in the groove, and the fixed end of the moving mechanism is located in the installation groove.

[0007] The protective film winding mechanism includes a first electric telescopic rod, a guide frame, a micro two-axis servo motor, a motor gear, a limit plate, a connecting block, a pressing mechanism, and a mounting frame. The first electric telescopic rods are arranged equidistantly on the wall of the positioning frame on both the upper and lower sides and are fixedly connected. A guide frame is fixedly connected to the telescopic end of the first electric telescopic rod. A limit plate is slidably connected inside the guide frame, and a micro two-axis servo motor and a connecting block are fixedly connected to the upper and lower sides of the limit plate respectively. Motor gears are fixedly connected to the two motor shafts of the micro two-axis servo motor, and the motor gears are connected to the guiding components inside the guide frame. A mounting frame is installed on the connecting block, and a 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.

[0008] A sliding contact wire and two racks are installed inside the guide frame, and the two racks are located on both sides of the sliding contact wire. The position of the rack corresponds to the position of the motor gear and is meshed and connected.

[0009] 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. A telescopic rod and a return spring are fixedly connected to the connecting plate. The telescopic rod and the return spring are sleeved with each other, and a pressing wheel is fixedly connected to the telescopic ends of the telescopic rod and the return spring.

[0010] The pressing wheel is composed of a U-shaped frame and a pulley. The U-shaped frame is located at the telescopic ends of the telescopic rod and the return spring and is fixedly connected. A pulley is rotatably connected inside the U-shaped frame.

[0011] The moving mechanism includes a second electric telescopic rod, a moving frame, a moving plate, and a first servo motor. The number of the second electric telescopic rods is two. The two second electric telescopic rods are respectively located in two installation grooves and are fixedly connected. A moving frame is fixedly connected to the telescopic end of the second electric telescopic rod. A moving plate is slidably connected inside the moving frame, 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. The first servo motor is connected to the moving plate through the gear.

[0012] The upper surface of the moving plate is higher than the wall of the moving frame, and gear teeth arranged equidistantly are provided at 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.

[0013] The seedling tray placing mechanism includes a fixed frame, a placing plate, a support rod, and a second servo motor. The fixed frames are arranged equidistantly on the moving plate and are fixedly connected. A second servo motor is fixedly connected to the fixed frame. The second servo motor is fixedly connected to the placing plate through a motor shaft, and support rods arranged equidistantly are fixedly connected to the placing plate.

[0014] The fixing bracket is a T-shaped rod, and a second servo motor is installed on the cross bar of the fixing bracket.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0016] A warehousing and logistics packing robot based on multi-agent cooperation according to the present invention places a seedling tray with strawberry seedlings through a seedling tray placing mechanism, and adjusts the position of the seedling tray according to the progress of packing. The seedling tray and the soil connected to the roots of the strawberry seedlings are packed through a protective film winding mechanism, avoiding damage caused by completely sealing the strawberry seedlings in the protective film, and at the same time avoiding the scattering of the soil in the seedling tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0018] Figure 2 is a sectional view of the present invention;

[0019] Figure 3 is Figure 2 an enlarged schematic structural diagram of part A of the present invention;

[0020] Figure 4 is Figure 2 an enlarged schematic structural diagram of part B of the present invention;

[0021] 1. Main body board; 2. Positioning bracket; 3. Protective film winding mechanism; 301. First electric telescopic rod; 302. Guide bracket; 303. Micro double-shaft servo motor; 304. Motor gear; 305. Connecting plate; 306. Telescopic rod; 307. Return spring; 308. Pressing wheel; 309. Rack; 310. Slide wire; 311. Limit plate; 312. Connecting block; 313. Mounting bracket; 4. Moving mechanism; 401. Second electric telescopic rod; 402. Moving bracket; 403. Moving plate; 404. First servo motor; 5. Seedling tray placing mechanism; 501. Fixing bracket; 502. Placing plate; 503. Support rod; 504. Second servo motor. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0023] Combined with the attached Figures 1 - 4The described warehousing and logistics packing robot based on multi-agent collaboration includes a main board 1, on which a positioning frame 2 is installed, and an equidistantly arranged protective film winding mechanism 3 is installed inside the positioning frame 2. A moving mechanism 4 is installed on the main board 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. The protective film winding mechanism 3 winds and packs the seedling tray with planted seedlings on the seedling tray placing mechanism 5. All the electrical devices in the present invention are electrically connected to an external control device, and all the electrical devices in the present invention are controlled to work by the external control device.

[0024] There are grooves on the main board 1, and two installation grooves are provided on the groove wall on one side of the groove. The moving mechanism 4 is installed in the groove, and the fixed end of the moving mechanism 4 is located in the installation groove.

[0025] The protective film winding mechanism 3 includes a first electric telescopic rod 301, a guide frame 302, a micro two-axis servo motor 303, a motor gear 304, a limit plate 311, a connecting block 312, a pressing mechanism, and an installation frame 313. The first electric telescopic rods 301 are equidistantly arranged on the frame walls on the upper and lower sides of the positioning frame 2 and are fixedly connected. The telescopic end of the first electric telescopic rod 301 is fixedly connected with a guide frame 302. A limit plate 311 is slidably connected inside the guide frame 302, and a micro two-axis servo motor 303 and a connecting block 312 are respectively fixedly connected to the upper and lower sides of the limit plate 311. Motor gears 304 are respectively fixedly connected to the two motor shafts of the micro two-axis servo motor 303, and the motor gears 304 are connected to the guiding components inside the guide frame 302. An installation 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 installation frame 313. A protective film roll is installed inside the installation frame 313. The protective film is similar to a film such as a cling film and has a certain degree of adhesiveness.

[0026] A sliding contact wire 310 and two racks 309 are installed inside the guide frame 302, and the two racks 309 are located on both sides of the sliding contact wire 310. The position of the rack 309 corresponds to the position of the motor gear 304 and is meshed and connected. The sliding contact wire 310 supplies power to the micro two-axis servo motor 303 during the moving process. The sliding contact wire 310 is an existing device.

[0027] 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. 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 sleeved with each other, and the pressing wheel 308 is fixedly connected to the telescopic ends of the telescopic rod 306 and the return spring 307.

[0028] The pressing wheel 308 is composed of a U-shaped frame and a pulley. The U-shaped frame is located on the telescopic ends of the telescopic rod 306 and the return spring 307 and is fixedly connected. A pulley is rotatably connected inside the U-shaped frame.

[0029] 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 rods 401 is two. The two second electric telescopic rods 401 are respectively located in two installation grooves and are fixedly connected. The telescopic end of the second electric telescopic rod 401 is fixedly connected with the moving frame 402. A moving plate 403 is slidably connected inside the moving frame 402. A seedling tray placing mechanism 5 is installed on the moving plate 403. A first servo motor 404 is installed on one side of the moving frame 402, and the first servo motor 404 is connected to a gear through a motor shaft. The first servo motor 404 is connected to the moving plate 403 through the gear.

[0030] The upper surface of the moving plate 403 is higher than the wall of the moving frame 402. The end of the moving plate 403 outside the moving frame 402 is provided with equally spaced gear teeth. The moving plate 403 is meshed with the gear on the first servo motor 404 through the gear teeth.

[0031] The seedling tray placing mechanism 5 includes a fixing frame 501, a placing plate 502, a support rod 503 and a second servo motor 504. The fixing frames 501 are arranged at equal intervals on the moving plate 403 and are fixedly connected. The second servo motor 504 is fixedly connected to the fixing frame 501. The second servo motor 504 is fixedly connected to the placing plate 502 through a motor shaft. The equally spaced support rods 503 are fixedly connected to the placing plate 502. The bottom of the seedling holes on the seedling tray is supported by the support rods 503.

[0032] The fixing frame 501 is a T-shaped rod, and the second servo motor 504 is installed on the cross bar of the fixing frame 501.

[0033] 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.

[0034] 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 a protective film winding mechanism is installed in the positioning frame at equal distances. 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 planted with seedlings on the seedling tray placing mechanism is wrapped and packaged by the protective film winding mechanism. 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 positioning frame The upper and lower sides of the frame walls are fixedly connected, and the telescopic end of the first electric telescopic rod is fixedly connected to a guide frame, a protective film roll is installed in the mounting frame, a limit plate is slidably connected in the guide frame, and the upper and lower sides of the limit plate are respectively fixedly connected to a micro dual-axis servo motor and a 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 mounting frame is installed on the connecting block, a pressing mechanism is installed on one side of the connecting block, and the pressing mechanism corresponds to the position of the mounting frame, the moving mechanism includes a second electric telescopic rod, a moving frame, a moving frame, and a moving frame. The movable plate and the first servo motor are provided, the number of the second electric telescopic rods is two, and the telescopic end of the second electric telescopic rod is fixedly connected with a movable frame, the movable plate is slidably connected in the movable frame, and a seedling tray placing mechanism is installed on the movable plate, a first servo motor is installed on one side of the movable frame, and the first servo motor is connected to the gear through the motor shaft, and the first servo motor is connected to the movable plate through the gear, the seedling tray placing mechanism comprises a fixed frame, a placing plate, a support rod and a second servo motor, the fixed frames are equidistantly arranged on the movable plate and fixedly connected, and a second servo motor is fixedly connected to the fixed frame, the The second servo motor is fixedly connected to the placement plate through a motor shaft, and the placement plate is fixedly connected with support rods arranged equidistantly. The strawberry seedlings and seedling trays to be packaged are placed on the support rods on the placement plate, so that the guide frame is inserted into the bottom of the seedling tray for convenience. The spacing between the two guide frames is controlled by the extension and retraction of the first electric telescopic rod, and the position of the seedling tray is controlled by the extension and retraction of the second electric telescopic rod. The guide frame is inserted into the gap between the strawberry seedlings on the seedling tray, and the two guide frames are controlled to be closed by the first electric telescopic rod to form a complete track frame. The mounting frame surrounds the seedling tray along the track frame to wrap the seedling tray for packaging.

2. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized by: The main body plate is provided with a groove, and two mounting grooves are provided on a groove wall on one side of the groove. A moving mechanism is installed in the groove, and the fixed end of the moving mechanism is located in the mounting groove. The two second electric telescopic rods are respectively located in the two mounting grooves and fixedly connected.

3. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 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.

4. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 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.

5. The warehousing logistics packaging robot based on multi-agent collaboration according to claim 4 is characterized in that: 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.

6. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 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.

7. The warehouse logistics packaging robot based on multi-agent collaboration according to claim 1 is characterized by: The fixing frame is a T-shaped rod, and a second servo motor is installed on the cross bar of the fixing frame.

Images