Material conveying robot

Abstract

The invention discloses a material conveying robot, and relates to the technical field of conveying equipment. A material conveying robot comprises a workbench and further comprises a rotary table, a material conveying device, a material conveying device and a material conveying device, a plurality of circumferences of the mounting frame are mounted on the rotary table; agricultural products on the main conveying belt arranged in a single line can be conveyed in different directions through the rotary table, the production site can be fully utilized, the distances between the tail ends of the first-stage conveying area, the second-stage conveying area, the third-stage conveying area, the fourth-stage conveying area and the fifth-stage conveying area are increased, objects or other tools can be conveniently packaged, and in the conveying process, the conveying efficiency is improved. In addition, the agricultural products can be arranged in the special material containing disc in rows, the agricultural products in the special material containing disc can be conveniently selected and replaced by workers in a follow-up operation area, or the agricultural products in the special material containing disc are directly transferred into a packaging package by directly inversely buckling the special material containing disc, and then the conveying efficiency is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of conveying equipment, and in particular relates to a material conveying robot. Background Art

[0002] When sorting existing agricultural products, most of the workers operate on a production line, which leads to a production line that is too long and low utilization rate of the workshop area. In addition, the existing agricultural product conveyor belts only have a conveying function and a single function, which leads to the excessively long conveying production line being unable to effectively play other roles and unable to bring other added value. Secondly, the existing agricultural product conveyor belts only transport agricultural products in batches during the process of transporting agricultural products, and it is difficult to provide auxiliary assistance for the subsequent processing of agricultural products, which leads to a low economic value of the equipment. For this reason, a material conveying robot is proposed to improve the function of the conveying equipment and increase the added value of the conveying equipment in the process of transporting agricultural products. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a material conveying robot that can overcome the above problems or at least partially solve the above problems.

[0004] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: a material conveying robot, including a workbench, and also including: a turntable, which is rotatably arranged on the workbench; a mounting frame, multiple circles are installed on the turntable, and sensors are symmetrically installed on the mounting frame; a rotating shaft symmetrically connected to the mounting frame, and two groups of conveyor belts are symmetrically installed on the symmetrical rotating shaft; a special material receiving tray, a plurality of slots are opened on the bottom wall of the special material receiving tray, when the special material receiving tray is located on the two groups of conveyor belts, the conveyor belts rotate forward and reversely, so that the objects in the special material receiving tray are arranged in rows in the slots; multiple conveying areas, the conveying areas include primary, secondary, tertiary, fourth, and fifth conveying areas circumferentially arranged on the outer periphery of the turntable, which are used to grade and sort the objects in the special material receiving tray respectively.

[0005] Preferably, a visual camera is provided on the turntable located at the mounting frame for performing visual defect detection on objects in a special material tray located on the turntable, and performing multi-dimensional rollover detection in conjunction with the forward and reverse rotation of the conveyor belt.

[0006] Preferably, a connecting frame is installed at the bottom of the mounting frame, and a guide rod is slidably and rotatably connected to the connecting frame. The top end of the guide rod extends to the partition area formed between the two sets of conveyor belts. The special material tray is lifted up and rotated, and when it is rotated to 90 degrees, the special material tray is tilted toward the axis of the turntable, so as to be in a longitudinal comparison position with the visual camera.

[0007] Preferably, an annular electromagnet is arranged at the top end of the guide rod, and an iron block is arranged on the bottom surface in the middle of the special material receiving tray.

[0008] Preferably, a connecting shaft is rotatably connected to the connecting frame, and meshing bevel gear 1 and bevel gear 2 are respectively installed on the connecting shaft and the guide rod. The connecting shaft is transmission-connected to one of the rotating shafts, a cylinder is installed on the connecting frame, a connecting plate is installed on the actuator end of the cylinder, and the end of the guide rod is rotatably connected to the connecting plate.

[0009] Preferably, a support frame 1 is installed on the mounting frame, and a slide rod 1 is slidably connected to the support frame 1 through a spring 1. Both ends of the special material receiving tray are fixedly connected with mounting blocks, and the slide rod 1 corresponds to the mounting block.

[0010] Furthermore, the bottom wall of the special material holding tray is provided with air jet holes on both sides of the slot, the mounting block is provided with a positioning slot, the positioning slot is provided with an air duct 2 connected with the air jet hole, a one-way valve is provided in the air duct 2, the sliding rod 1 is provided with an air duct 1, a sleeve is installed on the supporting frame 1, the sliding rod 1 slides in the sleeve, one end of the air duct 1 passes through the outer periphery of the sliding rod 1 and corresponds to the air pipe on the sleeve, and the other end of the air duct 1 passes through the end of the sliding rod 1.

[0011] Furthermore, the connecting shafts on the connecting frame are symmetrically arranged, and soft contact strips are installed on the two connecting shafts. A spacing area is formed between each group of conveyor belts. The soft contact strip is located in the spacing area, and the soft contact strip is adjacent to the cross arm on the connecting frame.

[0012] Furthermore, a row of warning lights is provided on one side of each slot on the special material holding tray, and a row of warning lights is provided with a plurality of lights for working in conjunction with the visual camera to indicate the position of the defective object in the special material holding tray.

[0013] Furthermore, the top end of the guide rod is rotatably connected to a mounting box via a torsion spring, the annular electromagnet is installed in the mounting box, and a wireless charging coil module 1 and a wireless charging coil module 2 are respectively installed in the mounting box and in the mounting plate.

[0014] After adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art: The present invention can convey agricultural products on the main conveyor belt set with a single line to different directions through a turntable, making full use of the production site, increasing the distance between the ends of the first-level conveyor area, the second-level conveyor area, the third-level conveyor area, the fourth-level conveyor area, and the fifth-level conveyor area, facilitating the prevention of packing objects or other tools. During the conveying process, the agricultural products can also be arranged in rows in a special material receiving tray, facilitating the manual selection and replacement of the agricultural products in the special material receiving tray in the subsequent operation area, or directly transferring the agricultural products in the special material receiving tray to the packing and packaging by inverting the special material receiving tray, thereby effectively improving the conveying efficiency and increasing the added value during the conveying process;

[0015] The shaking caused by the forward and reverse rotation of the conveyor belt forces the agricultural products to roll in the special material receiving tray, and cooperate with the vision camera to take multi-angle and multi-dimensional pictures, improving the damage detection rate; and through the forward and reverse amplitude compensation algorithm, the forward and reverse frequency of the conveyor belt is increased, the missed detection rate is reduced, and the detection rate of hidden defects is improved. Through intelligent grading response, the sorting is more intelligent, and the agricultural products in each special material receiving tray can be conveyed to different conveyor areas for subsequent processing, effectively ensuring the normal operation in each conveyor area;

[0016] By lifting and rotating the special material receiving tray by 90 degrees and tilting one end, the agricultural products in the special material receiving tray roll again in the slot, further improving the damage detection by the vision camera in multiple dimensions;

[0017] Through the linkage between the vision camera and the warning light, when the vision camera recognizes that there is damage to the agricultural products at a certain position in the slot, the corresponding warning light will light up, so as to enable the operator to quickly locate the damaged agricultural products in the special material receiving tray after conveying to a certain conveyor area.

[0018] The following further describes in detail the specific embodiments of the present invention with reference to the accompanying drawings. Description of the Drawings

[0019] In the accompanying drawings:

[0020] Figure 1 is a three-dimensional structural schematic diagram of a material conveying robot proposed by the present invention;

[0021] Figure 2 is a top view of a material conveying robot proposed by the present invention;

[0022] Figure 3 is a structural schematic diagram of the mounting frame and conveyor belt of a material conveying robot proposed by the present invention;

[0023] Figure 4 is a structural schematic diagram of a special material receiving tray of a material conveying robot proposed by the present invention;

[0024] Figure 5 Schematic diagram of the first sliding rod of a material conveying robot proposed by the present invention;

[0025] Figure 6 Schematic diagram of the sensor of a material conveying robot proposed by the present invention;

[0026] Figure 7 Schematic diagram of the guide rod, connecting shaft and soft contact strip of a material conveying robot proposed by the present invention;

[0027] Figure 8 Schematic diagram of the vision camera of a material conveying robot proposed by the present invention;

[0028] Fig. 9 Schematic diagram of the mounting block and positioning groove of a material conveying robot proposed by the present invention;

[0029] Fig.10 Schematic diagram of the second air duct of a material conveying robot proposed by the present invention.

[0030] In the figure: 1, workbench; 100, main conveyor belt; 10, primary conveying area; 20, secondary conveying area; 30, tertiary conveying area; 40, quaternary conveying area; 50, quinary conveying area; 2, turntable; 3, mounting frame; 31, rotating shaft; 32, conveyor belt; 321, interval area; 33, partition area; 34, sensor; 4, special material receiving tray; 41, slotted opening; 42, mounting block; 43, positioning groove; 44, second air duct; 45, air jet hole; 46, indicator light; 47, mounting plate; 48, limiting groove; 5, connecting frame; 51, connecting shaft; 511, soft contact strip; 52, first bevel gear; 53, guide rod; 54, second bevel gear; 55, cylinder; 56, connecting plate; 57, mounting box; 58, annular electromagnet; 59, first wireless charging coil module; 6, first support frame; 61, first sliding rod; 62, first spring; 63, sleeve; 64, first air duct; 65, limiting rod; 7, second support frame; 71, vision camera; 8, third support frame; 81, second sliding rod; 82, third spring. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0032] The following combines the attached Figure 1 - attached Fig.10 , and details the technical solutions provided by each embodiment of the present invention.

[0033] Example 1: Reference Figure 1-Figure 10 A material conveying robot includes a workbench 1, and also includes: a turntable 2, which is rotatably arranged on the workbench 1; a mounting frame 3, multiple circumferences of which are mounted on the turntable 2, and sensors 34 are symmetrically mounted on the mounting frame 3 to detect whether a special material tray 4 is located between conveyor belts 32, and effectively monitor the position of the special material tray 4 on the conveyor belt 32 when the conveyor belt 32 is reversed in real time to prevent the special material tray 4 from falling from the conveyor belt 32; a rotating shaft 31 symmetrically rotatably connected to the mounting frame 3, and two sets of conveyor belts 32 are symmetrically mounted on the symmetrical rotating shaft 31; a special material tray 4, and multiple sensors are provided on the bottom wall of the special material tray 4 There are slots 41, and the width of the slots 41 is set according to the size of the specific agricultural products. When the special material tray 4 is located on the two sets of conveyor belts 32, the conveyor belts 32 rotate forwards and reverses, so that the objects in the special material tray 4 are arranged in rows in the slots 41. According to the surface quality of the agricultural products, soft pads can be provided on the bottom wall of the special material tray 4 to protect the surface of the agricultural products; the first, second, third, fourth, and fifth conveying areas 10, 20, 30, 40, and 50 are circumferentially arranged on the outer periphery of the turntable 2, for graded and sorted objects in the special material tray 4, respectively. It should be understood that each conveying area is controlled to rotate by a separate motor.

[0034] The device is suitable for agricultural products including potatoes, hard tomatoes (tomatoes with a harder overall texture and not easily damaged on the surface), apples, small watermelons, oranges, nectarines, melons and other round fruits, as well as for the needs of high-quality agricultural products.

[0035] The device preferably has six mounting racks 3 arranged on the circumference of the turntable 2, and the primary conveying area 10, the secondary conveying area 20, the tertiary conveying area 30, the quaternary conveying area 40, and the quintuple conveying area 50 are respectively arranged on the outer side of the workbench 1 in a circular shape with the turntable 2 as the center, and one end of the primary conveying area 10, the secondary conveying area 20, the tertiary conveying area 30, the quaternary conveying area 40, and the quintuple conveying area 50 is close to the mounting rack 3 on the turntable 2, and a main conveyor belt 100 is arranged to uniformly transport the agricultural products to the turntable 2;

[0036] When in use, agricultural products are manually sorted into the special material tray 4 on the main conveyor belt 100, and the special material tray 4 is continuously approached to the turntable 2 under the conveyance of the main conveyor belt 100. The turntable 2 aligns the mounting frame 3 with one end of the main conveyor belt 100, and drives two sets of conveyor belts 32 to rotate in the same direction as the main conveyor belt 100 through a motor, so that a special material tray 4 is transferred from the main conveyor belt 100 to the conveyor belt 32, and the position of the special material tray 4 on the conveyor belt 32 is detected in real time through two sensors 34 on one side of the mounting frame 3, so as to avoid one end of the special material tray 4 being suspended at one end of the conveyor belt 32, causing the special material tray 4 to fall from the conveyor belt 32;

[0037] It should be understood that the outer surface of the conveyor belt 32 is provided with anti-skid patterns, which can increase the friction with the bottom surface of the dedicated material tray 4.

[0038] After the dedicated material tray 4 on the main conveyor belt 100 is transferred to the turntable 2, the turntable 2 continues to rotate by a certain angle (the angle needs to be set according to the number of mounting racks 3 provided. For example, in this embodiment, six mounting racks 3 are provided on the turntable 2, so the rotation angle of the turntable 2 is 60 degrees. Secondly, the number of transmission areas is set to the number of mounting racks 3 minus one, that is, when the mounting rack 3 is X and the transmission area is Y, Y=X-1);

[0039] In another embodiment, the mounting frame 3 is X, the conveying area is Y, and the number of conveying areas is Y=X-2, that is, two main conveyor belts 100 are provided. In this embodiment, the main conveyor belts 100 can be symmetrically arranged, thereby improving the efficiency of conveying and sorting agricultural products.

[0040] When the special material tray 4 is located on the conveyor belt 32, the motor driving the conveyor belt 32 to rotate forward and reversely makes the conveyor belt 32 drive the special material tray 4 to shake horizontally on the mounting frame 3. Since the bottom wall of the special material tray 4 is provided with a slot 41, the agricultural products will be located in the slot 41 one by one during the shaking process, so that the agricultural products in the special material tray 4 are arranged in rows in the special material tray 4. On the one hand, the agricultural products in the special material tray 4 can be arranged neatly, which is convenient for conveying to the primary conveying area 10, the secondary conveying area 20, the tertiary conveying area 30, the quaternary conveying area 40 or After being transported in the five-level conveying area 50, the workers in the first-level conveying area 10, the second-level conveying area 20, the third-level conveying area 30, the fourth-level conveying area 40 or the fifth-level conveying area 50 can quickly select and replace the agricultural products in the special material tray 4, thereby reducing the operating pressure of the workers in the subsequent operation area. Secondly, the special material tray 4 shakes on the conveyor belt 32, so that the agricultural products roll and tumble in the special material tray 4 and roll in the slot 41, and contact and rub at the corner between the side wall of the slot 41 and the bottom wall of the special material tray 4, which is conducive to cleaning foreign matter attached to the agricultural products.

[0041] Therefore, the device can transport the agricultural products on the single-line main conveyor belt 100 to different directions through the turntable 2, and can make full use of the production site, so that the distance between the ends of the first-level conveying area 10, the second-level conveying area 20, the third-level conveying area 30, the fourth-level conveying area 40, and the fifth-level conveying area 50 is increased, which is convenient for preventing packaging objects or other tools, and in the process of transportation, the agricultural products can also be arranged in rows in the special material tray 4, which is convenient for manual selection and replacement of the agricultural products in the special material tray 4 in the subsequent operation area, or directly by turning the special material tray 4 upside down, the agricultural products in the special material tray 4 can be directly transferred to the packaging, thereby effectively improving efficiency.

[0042] Example 2: Reference Figure 3 , Figure 5 , Figure 7-10 , a material conveying robot, which is basically the same as the embodiment 1, and further comprises: a visual camera 71 is installed on the turntable 2 located at the mounting frame 3 through the support frame 2 7, so as to perform visual defect detection on the objects in the special material tray 4 located on the turntable 2, and perform multi-dimensional rollover detection in linkage with the forward and reverse rotation of the conveyor belt 32;

[0043] In an embodiment in which a main conveyor belt 100 is provided, when the dedicated material tray 4 is located on the conveyor belt 32, the surface damage of the agricultural product is detected by the visual camera 71, and according to the completion of the detection, the dedicated material tray 4 is conveyed to the corresponding conveying area;

[0044] The delivery method is:

[0045]

[0046] Wherein, S(d) is the target conveying area, d: the proportion of damaged agricultural products in the special material tray 4 (damaged number / total number × 100%);

[0047] And set the exception handling response. The exception handling method is:

[0048]

[0049] n is the number of consecutive abnormal cycles, d is the damage ratio, and d does not converge means that the damage ratio does not show a downward trend;

[0050] Level 1 Response (Primary Anomaly):

[0051] The yellow warning light is activated, the video stream of the previous 3 minutes (recorded by visual camera 71) is automatically retrieved, and the abnormal time node is marked.

[0052] Level 2 response (intermediate exception):

[0053] Control the rotation speed of turntable 2 to v=max(v 0 ×0.5,10rpm),(V 0 is the original set speed);

[0054] Start the forward and reverse amplitude compensation algorithm of conveyor belt 32:

[0055] A 0 is the initial positive and negative amplitude, A new is the forward and reverse vibration amplitude of the conveyor belt 32 after compensation, d-60% is the incremental part of the damage ratio exceeding the threshold value of the fourth-level conveying area 40, and 20% is the span of the linear compensation interval (60% to 80% damage ratio), which is used to enhance the shaking amplitude and promote secondary detection;

[0056] A stop command is sent to the main conveyor belt 100 to block the dedicated material tray 4 on the main conveyor belt 100 from entering the turntable 2 .

[0057] Level 3 response (advanced exception):

[0058] Stop the turntable 2 from rotating and stop the machine to check the quality of the agricultural products at the position of the main conveyor belt 100.

[0059] To summarize, the agricultural products are forced to roll in the dedicated tray 4 through the forward and reverse shaking of the conveyor belt 32, and multi-angle and multi-dimensional shooting is performed with the visual camera 71 to improve the damage detection rate; and the forward and reverse amplitude compensation algorithm is used to increase the forward and reverse frequency of the conveyor belt 32, reduce the missed detection rate, and improve the detection rate of hidden defects. The intelligent grading response makes sorting smarter, and the agricultural products in each dedicated tray 4 can be transported to different conveying areas for subsequent processing, effectively ensuring the normal operation of each conveying area.

[0060] Example 3: Reference Figure 3-Figure 10 , a material conveying robot, which is basically the same as that of Example 2, and further comprises: a connecting frame 5 is installed at the bottom of the mounting frame 3, a guide rod 53 is slidably and rotatably connected to the connecting frame 5, and the top of the guide rod 53 extends to the partition area 33 formed between the two sets of conveyor belts 32, and the special material tray 4 is lifted up and rotated, and when it is rotated to 90 degrees, the special material tray 4 is tilted toward the axis of the turntable 2, and is in a longitudinal comparison position with the visual camera 71;

[0061] An annular electromagnet 58 is arranged on the top of the guide rod 53 , and an iron block is arranged on the bottom surface in the middle of the special material receiving tray 4 .

[0062] A connecting shaft 51 is rotatably connected to the connecting frame 5, and meshing bevel gears 1 52 and 2 54 are respectively installed on the connecting shaft 51 and the guide rod 53. The connecting shaft 51 is transmission-connected to one of the rotating shafts 31. A cylinder 55 is installed on the connecting frame 5, and a connecting plate 56 is installed at the execution end of the cylinder 55. The end of the guide rod 53 is rotatably connected to the connecting plate 56. The top end of the guide rod 53 is rotatably connected to a mounting box 57 through a torsion spring, and a ring-shaped electromagnet 58 is installed in the mounting box 57. It should be understood that the rotation angle of the mounting box 57 at the top end of the guide rod 53 is 3°.

[0063] A support frame 6 is installed on the mounting frame 3, and a slide bar 61 is slidably connected to the support frame 6 through a spring 62. Both ends of the special material receiving tray 4 are fixedly connected to the mounting blocks 42, and the slide bar 61 corresponds to the mounting block 42. A limiting rod 65 is fixedly connected to the outer periphery of the slide bar 61, and a limiting groove 48 is provided on the mounting block 42, which can prevent the special material receiving tray 4 from tilting on the conveyor belt 32; at the same time, a support frame three 8 is symmetrically installed on the mounting frame 3, and a slide bar two 81 is slidably connected to the support frame three 8 through a spring three 82, so as to correct the position of the special material receiving tray 4 located on the conveyor belt 32, and the conveyor belt 32 rotates in one direction, driving the special material receiving tray 4 to press against one end of the slide bar two 81 to correct its position.

[0064] During use, after the special material tray 4 shakes on the conveyor belt 32, the guide rod 53 is driven upward by the cylinder 55, and the bevel gear 2 54 is meshed with the bevel gear 1 52, driving the guide rod 53 to rotate. When the guide rod 53 moves upward, the annular electromagnet 58 is energized, and when it contacts the iron block at the bottom of the special material tray 4, the special material tray 4 is adsorbed (it should be understood that the suction force between the annular electromagnet 58 and the iron block is strong), and when the guide rod 53 moves upward, the special material tray 4 is lifted up, and under the rotation of the guide rod 53, the special material tray 4 is driven to rotate 90 degrees, thereby changing the position between the agricultural products in the special material tray 4 and the visual camera 71, and further improving the accuracy of visual inspection.

[0065] It should be understood that when the guide rod 53 moves upward, the conveyor belt 32 rotates in the same direction and does not rotate forward or reverse, thereby avoiding causing the guide rod 53 to rotate forward or reverse.

[0066] When the special material tray 4 rotates 90 degrees, the mounting block 42 will abut against the end of the slide bar 61, causing the slide bar 61 to rise and squeeze the spring 62, while causing the limit rod 65 to abut against the bottom of the support frame 6, which will cause the end of the special material tray 4 close to the slide bar 61 to tilt, thereby causing the agricultural products in the special material tray 4 to roll again in the slot 41, further improving the damage detection of the visual camera 71 in multiple dimensions;

[0067] It should be understood that, since the rotation angle of the mounting box 57 is limited, when the agricultural products in the dedicated material tray 4 roll and concentrate toward one end, the dedicated material tray 4 will not rotate at an angle again;

[0068] Furthermore, a position sensor is added to the mounting frame 3 to monitor whether the special material tray 4 is rotated 90 degrees to the correct position, thereby stopping the motor that controls the rotation of the conveyor belt 32.

[0069] Example 4: Reference Figure 4 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , a material conveying robot, which is basically the same as Example 3, and further: the bottom wall of the special material holding tray 4 is provided with jet holes 45 on both sides of the slot 41, and the mounting block 42 is provided with a positioning slot 43, and the positioning slot 43 is provided with an air channel 2 44 connected with the jet hole 45, and the air channel 2 44 is provided with a one-way valve, and the slide bar 1 61 is provided with an air channel 1 64, and a sleeve 63 is installed on the support frame 1 6, and the slide bar 1 61 slides in the sleeve 63, one end of the air channel 1 64 passes through the outer periphery of the slide bar 1 61 and corresponds to the air pipe on the sleeve 63, and the other end of the air channel 1 64 passes through the end of the slide bar 1 61.

[0070] When in use, the connecting pipe on the sleeve 63 is connected to the external air pipe. When the special material tray 4 rotates 90 degrees and tilts, and pushes the slide bar 1 61 to move upward, the end of the air channel 1 64 that passes through the outer periphery of the slide bar 1 61 coincides with the connecting pipe on the sleeve 63. Since the end of the slide bar 1 61 is located in the positioning groove 43, the gas is filled into the air channel 2 44 through the air channel 1 64, and is sprayed from the air jet hole 45 onto the agricultural products in the special material tray 4, so as to assist in cleaning the surface of the agricultural products and remove attachments, thereby providing auxiliary assistance for subsequent transportation to various conveying areas.

[0071] The one-way valve in the air passage 2 44 on the mounting block 42 can only allow gas to enter the air passage 2 44 , so when one of the mounting blocks 42 is inflated against the end of the slide rod 1 61 , leakage of the air passage 2 44 on the other mounting block 42 can be avoided.

[0072] The connecting shafts 51 on the connecting frame 5 are symmetrically arranged, and soft contact strips 511 are installed on the two connecting shafts 51. A spacing area 321 is formed between each group of conveyor belts 32. The soft contact strips 511 are located in the spacing area 321, and the soft contact strips 511 are adjacent to the cross arm on the connecting frame 5.

[0073] Furthermore, during the rotation of the conveyor belt 32, the two connecting shafts 51 rotate, thereby driving the soft contact strip 511 to rotate, and the soft contact strip 511 contacts the bottom of the special material tray 4 to clean the bottom of the special material tray 4, thereby avoiding damage to the conveyor belt 32 caused by dirt on the bottom of the special material tray 4;

[0074] At the same time, the soft contact strip 511 contacts the cross arm on the connecting frame 5 , so that the stains on the soft contact strip 511 can be scraped off.

[0075] Example 5: Reference Figure 4 , Fig. 9, a material conveying robot, which is basically the same as Example 4, and further: a row of warning lights 46 are set on the special material tray 4 on one side of each slot 41, and a row of warning lights 46 is set with multiple lights, which are used to work with the visual camera 71 to indicate the position of the defective object in the special material tray 4.

[0076] The visual camera 71 is linked with the warning light 46. When the visual camera 71 identifies that the agricultural product at a certain position in the slot 41 is damaged, the corresponding warning light 46 will be turned on, so that after being transported to a certain conveying area, the damaged agricultural product in the special material tray 4 can be manually and quickly located;

[0077] A control module and a wireless transceiver module electrically connected to the control module are installed in the dedicated material tray 4, a prompt light 46 is connected to the control module, and a power supply module is also provided. The control module is electrically connected to the power supply module, the wireless transceiver module is wirelessly connected to the external main control module, and the visual camera 71 is electrically connected to the external main control module. After the visual camera 71 recognizes, the main control module transmits the signal to the wireless transceiver module, and the control module processes it, so that the corresponding prompt light 46 is lit. The lighting time of the prompt light 46 is preset. When the dedicated material tray 4 is located on the main conveyor belt 100 again, the prompt light 46 is in the off state;

[0078] The power supply module has a charging interface and can be charged through an external charger;

[0079] The installation box 57 and the installation plate 47 are respectively installed with a wireless charging coil module 1 59 and a wireless charging coil module 2;

[0080] The guide rod 53 can also be moved upward so that the installation box 57 contacts the bottom of the dedicated material tray 4, and the power supply module is charged through the wireless charging coil module 1 59 and the wireless charging coil module 2 to improve the battery life;

[0081] The wires of the wireless charging coil module 59 located in the installation box 57 pass through the middle of the guide rod 53, which can avoid entanglement when the guide rod 53 rotates 90 degrees. In addition, when the special material tray 4 is lifted up and rotated 90 degrees, it will flip over and fall on the conveyor belt 32 again, so the wires of the wireless charging coil module 59 will not be entangled.

[0082] The wires of the electrical equipment on the turntable 2 and the external air pipe are connected to the outside through a rotary connector, so that the wires and the air pipe will not be entangled.

[0083] The present invention can transport the agricultural products on the main conveyor belt 100 arranged in a single line to different directions through the turntable 2, and can make full use of the production site, so that the distance between the ends of the primary conveying area 10, the secondary conveying area 20, the tertiary conveying area 30, the quaternary conveying area 40, and the quintuple conveying area 50 is increased, which is convenient for preventing packaging objects or other tools, and in the process of transportation, the agricultural products can be arranged in a special material tray 4 in a row, which is convenient for manual selection and replacement of the agricultural products in the special material tray 4 in the subsequent operation area, or directly by turning the special material tray 4 upside down, the agricultural products in the special material tray 4 are directly transferred to the packaging, thereby effectively improving the transportation efficiency;

[0084] The agricultural products are forced to roll in the special material tray 4 by shaking the conveyor belt 32 in forward and reverse directions, and the visual camera 71 is used to perform multi-angle and multi-dimensional shooting to improve the damage detection rate; and the forward and reverse frequency of the conveyor belt 32 is increased through the forward and reverse amplitude compensation algorithm, the missed detection rate is reduced, and the detection rate of hidden defects is improved. The intelligent classification response makes the sorting more intelligent, and the agricultural products in each special material tray 4 can be transported to different conveying areas for subsequent processing, effectively ensuring the normal operation of each conveying area;

[0085] By lifting up the dedicated material tray 4 and rotating it 90 degrees, and tilting one end, the agricultural products in the dedicated material tray 4 are rolled again in the slot 41, further improving the damage detection of the visual camera 71 in multiple dimensions;

[0086] By linking the visual camera 71 with the warning light 46, when the visual camera 71 recognizes that the agricultural products at a certain position in the slot 41 are damaged, the corresponding warning light 46 will light up, so that the damaged agricultural products can be quickly located manually in the special material tray 4 after being transported to a certain conveying area.

[0087] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the present invention can make some changes or modify the technical contents suggested above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the solution of the present invention.

Claims

1. A material conveying robot, comprising a workbench (1), characterized in that: Also includes: A turntable (2) rotatably disposed on the workbench (1); A mounting frame (3), with multiple circumferences mounted on the turntable (2), and sensors (34) symmetrically mounted on the mounting frame (3); A rotating shaft (31) symmetrically rotatably connected to the mounting frame (3), wherein two sets of conveyor belts (32) are symmetrically mounted on the symmetrical rotating shaft (31); A dedicated material receiving tray (4), wherein a plurality of slots (41) are provided on the bottom wall of the dedicated material receiving tray (4). When the dedicated material tray (4) is located on two sets of conveyor belts (32), the conveyor belts (32) rotate forward and reverse, so that the objects in the dedicated material tray (4) are arranged in rows in the slots (41); A plurality of conveying areas, the conveying areas including primary, secondary, tertiary, quaternary and quintuple conveying areas (10, 20, 30, 40, 50) circumferentially arranged on the outer periphery of the turntable (2), for respectively performing graded classification and sorting on the objects in the special material receiving tray (4).

2. A material conveying robot according to claim 1, characterized in that: A visual camera (71) is provided on the turntable (2) located at the mounting frame (3) for performing visual defect detection on objects in a dedicated material receiving tray (4) located on the turntable (2), and for performing multi-dimensional rollover detection in conjunction with the forward and reverse rotation of the conveyor belt (32).

3. A material conveying robot according to claim 2, characterized in that: A connecting frame (5) is installed at the bottom of the mounting frame (3), and a guide rod (53) is slidably and rotatably connected to the connecting frame (5), and the top end of the guide rod (53) extends to the partition area (33) formed between the two sets of conveyor belts (32). By lifting up the special material receiving tray (4) and rotating it, and when rotating to 90 degrees, the special material receiving tray (4) is tilted toward the axis of the turntable (2), so as to be in a longitudinal comparison position with the visual camera (71).

4. A material conveying robot according to claim 3, characterized in that: The top of the guide rod (53) is provided with an annular electromagnet (58), and the bottom surface in the middle of the special material receiving tray (4) is provided with an iron block.

5. The material conveying robot according to claim 3, characterized in that: The connecting frame (5) is rotatably connected with a connecting shaft (51), and the connecting shaft (51) and the guide rod (53) are respectively provided with a meshing bevel gear 1 (52) and a bevel gear 2 (54), and the connecting shaft (51) is transmission-connected with one of the rotating shafts (31). The connecting frame (5) is provided with a cylinder (55), and the execution end of the cylinder (55) is provided with a connecting plate (56), and the end of the guide rod (53) is rotatably connected with the connecting plate (56).

6. A material conveying robot according to claim 4, characterized in that: A support frame (6) is installed on the mounting frame (3), and a slide rod (61) is slidably connected to the support frame (6) via a spring (62). Both ends of the special material receiving tray (4) are fixedly connected to mounting blocks (42), and the slide rod (61) corresponds to the mounting block (42).

7. A material conveying robot according to claim 6, characterized in that: The bottom wall of the special material receiving tray (4) is provided with jet holes (45) on both sides of the slot (41), the mounting block (42) is provided with a positioning slot (43), the positioning slot (43) is provided with an air passage 2 (44) connected with the jet hole (45), a one-way valve is provided in the air passage 2 (44), the sliding rod 1 (61) is provided with an air passage 1 (64), a sleeve (63) is installed on the support frame 1 (6), the sliding rod 1 (61) slides in the sleeve (63), one end of the air passage 1 (64) passes through the outer periphery of the sliding rod 1 (61) and corresponds to the air pipe on the sleeve (63), and the other end of the air passage 1 (64) passes through the end of the sliding rod 1 (61).

8. The material conveying robot according to claim 7, characterized in that: The connecting shafts (51) on the connecting frame (5) are symmetrically arranged, and soft contact strips (511) are installed on the two connecting shafts (51). A spacing area (321) is formed between each group of conveyor belts (32), and the soft contact strips (511) are located in the spacing area (321), and the soft contact strips (511) are adjacent to the cross arms on the connecting frame (5).

9. The material conveying robot according to claim 8, characterized in that: A row of warning lights (46) is provided on one side of each slot (41) on the special material receiving tray (4), and a plurality of warning lights (46) are provided in the row, so as to work in conjunction with the visual camera (71) to indicate the position of the defective object in the special material receiving tray (4).

10. The material conveying robot according to claim 9, characterized in that: The top end of the guide rod (53) is rotatably connected to a mounting box (57) via a torsion spring, the annular electromagnet (58) is mounted in the mounting box (57), and a wireless charging coil module 1 (59) and a wireless charging coil module 2 are respectively mounted in the mounting box (57) and the mounting plate (47).

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