End effector of pineapple bagging robot

Abstract

The invention relates to the technical field of pineapple planting, and discloses an end effector of a pineapple bagging robot. The righting mechanism is arranged on the fixing frame and used for righting the pineapples; the paper bag storage mechanism is arranged on the fixing frame and used for storing paper bags; the bag opening system comprises a transposition mechanism and a bag opening execution mechanism, the transposition mechanism and the bag opening execution mechanism are both arranged on the fixing frame, the transposition mechanism is used for transferring the paper bags in the paper bag storage mechanism to the working end of the bag opening execution mechanism, and the bag opening execution mechanism is used for opening the transferred paper bags; the opened paper bag is used for being arranged on the pineapple straightened by the straightening mechanism in a sleeving mode, and the paper bag is located over the pineapple. The bagging efficiency can be greatly improved, compared with manual efficiency, the efficiency is improved by several times, the labor cost is reduced, manual operation links are reduced, the bagging quality is stable, it is guaranteed that the bagging effect of all pineapples is consistent, and the pineapple bagging machine is suitable for pineapples of various specifications, high in universality, stable and reliable in equipment operation and easy and convenient to maintain.

Description

Technical Field

[0001] The invention relates to the technical field of pineapple planting, in particular to an end effector of a pineapple bagging robot. Background Art

[0002] With rising demands for pineapple quality and the promotion of growing techniques, bagging technology is becoming increasingly widespread. One month after pineapple buds emerge, paper bags 32 cm long and 26-30 cm wide are used to protect against sunburn. This is expected to increase pineapple yields by more than three times.

[0003] Manual bagging, as the current mainstream bagging method, cannot complete the pineapple bagging operation well. Manual bagging has disadvantages such as high cost, inaccurate bagging, and harsh environment.

[0004] Therefore, there is an urgent need for an end effector of a pineapple bagging robot to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an end effector of a pineapple bagging robot to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides the following solution: The present invention provides an end effector of a pineapple bagging robot, comprising:

[0007] A fixed frame, mounted at the end of the bagging robot's robotic arm;

[0008] A straightening mechanism, provided on the fixing frame, for straightening the pineapple;

[0009] a paper bag storage mechanism, provided on the fixing frame and used for storing paper bags;

[0010] The bag opening system includes a transfer mechanism and a bag opening actuator. Both the transfer mechanism and the bag opening actuator are arranged on the fixed frame. The transfer mechanism is used to transfer the paper bags in the paper bag storage mechanism to the bag opening actuator. The bag opening actuator is used to open the transferred paper bags. The opened paper bags are used to be put on the pineapples straightened by the straightening mechanism.

[0011] According to the end effector of a pineapple bagging robot provided by the present invention, the straightening mechanism includes a fixed outer ring, which is fixedly connected to the bottom end of the fixed frame, a rotating inner ring is rotatably connected in the fixed outer ring, one end of a plurality of swinging links is rotatably connected to the fixed outer ring, the swinging links are connected to the rotating inner ring, and a clamping rod is provided at the other end, the bottom end of the clamping rod is fixedly connected to a straightening balance wheel fixed frame, straightening balance wheels are installed at both ends of the straightening balance wheel fixed frame, the straightening balance wheel is arranged in contact with the pineapple, a control component is provided on the fixed outer ring, and the rotating inner ring rotates in the fixed outer ring through the control component.

[0012] According to the end effector of a pineapple bagging robot provided by the present invention, the control part includes a control cylinder, the telescopic end of the control cylinder is fixedly connected to a fisheye joint, the rotating inner ring is fixedly connected to a connecting rod, and the connecting rod is connected to the fisheye joint.

[0013] According to the end effector of a pineapple bagging robot provided by the present invention, the paper bag storage mechanism includes a first frame, the first frame is fixedly connected to the fixed frame, a paper box is fixedly connected to the first frame, a tray is slidably connected in the paper box, and the paper bag is located on the top of the tray.

[0014] According to the end effector of a pineapple bagging robot provided by the present invention, the top end of the inner wall of the paper box is fixedly connected to a limiting protrusion, and the paper bag located at the top is arranged in contact with the limiting protrusion.

[0015] According to the end effector of a pineapple bagging robot provided by the present invention, one end of a spring is fixedly connected to the bottom end of the paper box, and the other end of the spring is fixedly connected to the bottom end of the tray.

[0016] According to the end effector of a pineapple bagging robot provided by the present invention, the transfer mechanism includes a second frame, the second frame is fixedly connected to the fixed frame, both ends of the second frame are fixedly connected to motor brackets, a four-bar mechanism is provided on the motor bracket, a motor is fixedly connected to the motor bracket, the control end of the four-bar mechanism is connected to the output end of the motor, the end of the four-bar mechanism is fixedly connected to a fixed plate, and a plurality of first suction cups are fixedly connected to the fixed plate, and after the first suction cups absorb the paper bag, the four-bar mechanism is flipped 90°.

[0017] According to the end effector of a pineapple bagging robot provided by the present invention, the bag opening actuator includes a paper trough, which is fixedly connected to the fixed frame, and the paper trough is used to receive the paper bag on the first suction cup. Two support frames are fixedly connected to the fixed frame, and the two support frames are respectively located on both sides of the paper trough. A second cylinder is fixedly connected to the support frame, and a second suction cup is fixedly connected to the telescopic end of the second cylinder, and the second suction cup is used to adsorb the paper bag. A stopper is fixedly connected to the support frame, and the stopper is arranged in contact with the paper bag.

[0018] According to the end effector of a pineapple bagging robot provided by the present invention, a double-acting corner downward pressure cylinder is provided on the support frame, and the telescopic end of the double-acting corner downward pressure cylinder is fixedly connected to a rocker arm.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] The present invention provides an end effector for a pineapple bagging robot. During use, a straightening mechanism first straightens a tilted pineapple into an upright position. A transfer mechanism then transfers paper bags stored in a paper bag storage mechanism to a bag-opening actuator. The bag-opening actuator then expands the paper bags, which are then placed over the straightened pineapple, achieving automatic bagging. This invention significantly improves bagging efficiency, capable of bagging multiple pineapples per minute. This significantly increases efficiency several times compared to manual labor, reduces labor costs, and eliminates manual steps. The robot also provides consistent bagging quality, ensuring consistent bagging for each pineapple. It is suitable for pineapples of various sizes and offers high versatility. Furthermore, the robot operates stably and reliably, and is easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 Schematic diagram of the structure of the righting mechanism of the present invention;

[0024] Figure 3 This is a schematic structural diagram of the paper bag storage mechanism of the present invention;

[0025] Figure 4 Schematic diagram of the indexing mechanism structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the indexing mechanism of the present invention in use;

[0027] Figure 6 This is a schematic diagram of the bag opening actuator structure of the present invention;

[0028] Figure 7 This is a schematic structural diagram of the bagging robot of the present invention;

[0029] Among them, 1. Righting mechanism; 11. Fixed outer ring; 12. Rotating inner ring; 13. Swinging connecting rod; 14. Clamping rod; 15. Righting balance wheel fixing frame; 16. Righting balance wheel; 17. Control cylinder; 18. Fisheye joint; 2. Paper bag storage mechanism; 21. First frame; 22. Paper box; 23. Spring; 24. Tray; 3. Transfer mechanism; 31. Second frame; 32. Four-bar mechanism; 33. Fixed plate; 34. First suction cup; 35. Motor; 36. Motor bracket; 4. Bag opening actuator; 41. Paper trough; 42. Support frame; 43. Second cylinder; 44. Second suction cup; 45. Stopper; 46. Double-acting angle downward pressure cylinder; 47. Rocker arm; 5. Fixed frame. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figure 1-Figure 7 The present invention provides an end effector of a pineapple bagging robot, comprising:

[0033] A fixing frame 5 is installed at the end of the bagging robot arm;

[0034] The straightening mechanism 1 is provided on the fixing frame 5 and is used to straighten the pineapple;

[0035] A paper bag storage mechanism 2 is provided on a fixed frame 5 and is used to store paper bags;

[0036] The bag opening system includes a transfer mechanism 3 and a bag opening actuator 4. Both the transfer mechanism 3 and the bag opening actuator 4 are arranged on a fixed frame 5. The transfer mechanism 3 is used to transfer the paper bags in the paper bag storage mechanism 2 to the bag opening actuator 4. The bag opening actuator 4 is used to open the transferred paper bags. The opened paper bags are used to be put on the pineapple straightened by the straightening mechanism 1.

[0037] In one embodiment of the present invention, when in use, the straightening mechanism 1 first straightens the tilted pineapple into an upright state, the transfer mechanism 3 transfers the paper bags stored in the paper bag storage mechanism 2 to the bag opening actuator 4, and the paper bags are opened by the bag opening actuator 4, and the opened paper bags are put on the straightened pineapple to realize automatic bagging of the pineapple.

[0038] As an optional embodiment, the righting mechanism 1 includes a fixed outer ring 11, which is fixedly connected to the bottom end of the fixed frame 5. A rotating inner ring 12 is rotatably connected to the fixed outer ring 11. One end of a plurality of swinging links 13 is rotatably connected to the fixed outer ring 11. The swinging links 13 are connected to the rotating inner ring 12, and a clamping rod 14 is provided at the other end. The bottom end of the clamping rod 14 is fixedly connected to a righting balance wheel fixing frame 15. Righting balance wheels 16 are installed at both ends of the righting balance wheel fixing frame 15. The righting balance wheel 16 is arranged in contact with the pineapple. A control component is provided on the fixed outer ring 11, and the rotating inner ring 12 rotates in the fixed outer ring 11 through the control component.

[0039] In one embodiment of the present invention, the growth process of the pineapple exhibits non-linear natural characteristics. The rotating inner ring 12 is driven to rotate within the fixed outer ring 11 through a control member. When the rotating inner ring 12 rotates, the swing link 13 is driven to rotate, thereby driving the straightening balance wheel 16 to contact the pineapple, adjusting the posture of the pineapple so that it is gradually straightened from a tilted state to an ideal upright state, so as to facilitate the next bagging operation.

[0040] As an optional embodiment, the control component includes a control cylinder 17 , the telescopic end of the control cylinder 17 is fixedly connected to a fisheye joint 18 , and the rotating inner ring 12 is fixedly connected to a connecting rod, which is connected to the fisheye joint 18 .

[0041] In one embodiment of the present invention, the fisheye joint 18 is driven to move by a control cylinder 17 , thereby driving the connected rotating inner ring 12 to rotate within the fixed outer ring 11 , thereby achieving control over the rotating inner ring 12 .

[0042] As an optional embodiment, the paper bag storage mechanism 2 includes a first frame 21, which is fixedly connected to the fixed frame 5. A paper box 22 is fixedly connected to the first frame 21, and a tray 24 is slidably connected to the paper box 22. The paper bag is located on the top of the tray 24.

[0043] In one embodiment of the present invention, the paper box 22 is used to store paper bags, and the paper bags are supported by a tray 24 .

[0044] As an optional embodiment, a limiting protrusion is fixedly connected to the top of the inner wall of the paper box 22, and the paper bag located at the top is in contact with the limiting protrusion.

[0045] In one embodiment of the present invention, the paper bag is clamped between the tray 24 and the limiting protrusion by the provided limiting protrusion.

[0046] As an optional embodiment, one end of a spring 23 is fixedly connected to the bottom end of the paper box 22 , and the other end of the spring 23 is fixedly connected to the bottom end of the tray 24 .

[0047] In one embodiment of the present invention, the tray 24 is lifted up by a spring 23 .

[0048] As an optional embodiment, the transfer mechanism 3 includes a second frame 31, the second frame 31 is fixedly connected to the fixed frame 5, both ends of the second frame 31 are fixedly connected to the motor bracket 36, a four-bar mechanism 32 is provided on the motor bracket 36, a motor 35 is fixedly connected to the motor bracket 36, the control end of the four-bar mechanism 32 is connected to the output end of the motor 35, the end of the four-bar mechanism 32 is fixedly connected to the fixed plate 33, and a plurality of first suction cups 34 are fixedly connected to the fixed plate 33. After the first suction cup 34 adsorbs the paper bag, the four-bar mechanism 32 is flipped 90°.

[0049] In one embodiment of the present invention, the motor 35 drives the four-bar mechanism 32 to operate, so that it changes from a vertical state to a horizontal state, and the paper bags in the paper box 22 are adsorbed and transferred to the paper slot 41.

[0050] As an optional embodiment, the bag opening actuator 4 includes a paper trough 41, which is fixedly connected to the fixed frame 5. The paper trough 41 is used to receive the paper bag on the first suction cup 34. Two support frames 42 are fixedly connected to the fixed frame 5. The two support frames 42 are respectively located on both sides of the paper trough 41. A second cylinder 43 is fixedly connected to the support frame 42. A second suction cup 44 is fixedly connected to the telescopic end of the second cylinder 43. The second suction cup 44 is used to adsorb the paper bag. A stop block 45 is fixedly connected to the support frame 42, and the stop block 45 is arranged in contact with the paper bag.

[0051] In one embodiment of the present invention, the block 45 is used to block the paper bag, and the second suction cup 44 is connected to an external vacuum pump. The second suction cup 44 is used to adsorb the paper bag, and the second cylinder 43 is used to drive the second suction cup 44 to move to unfold the paper bag.

[0052] As an optional implementation, a double-acting corner pressing cylinder 46 is provided on the support frame 42 , and a rocker arm 47 is fixedly connected to the telescopic end of the double-acting corner pressing cylinder 46 .

[0053] In one embodiment of the present invention, the double-acting corner pressing cylinder 46 has the functions of rotation and extension. After the paper bag is opened to a certain opening, the double-acting corner pressing cylinder 46 is set to rotate the rocker arm 47 and extend it into the opening, and then the double-acting corner pressing cylinder 46 is contracted to open the paper bag.

[0054] In one embodiment of the present invention, the fixing frame 5 is fixedly connected to the end of the robotic arm, the vehicle body moves, the lifting and movement of the fixing frame 5 is controlled by the provided robotic arm, and the pineapples are bagged by the provided actuator.

[0055] In one embodiment of the present invention, the operation begins in the actuator's static mode. After the operator issues a start command, the robot enters the operation area to perform the bagging task. At this point, it begins moving above the pineapple fruit. The robot uses a visual module to quickly identify the position of the pineapple fruit. The straightening mechanism 1 begins to operate, correcting the posture of the pineapple fruit of varying growth conditions, placing it in the correct position for bagging. After the robotic arm stops moving and the actuator reaches a stable state, the paper bag is sucked and transferred to the top of the paper trough 41. The paper then freely falls to the bottom of the paper trough 41 under the influence of gravity alone. After the paper bag falls into the designated position, the second suction cup 44 fully contacts the paper bag to open the bag. When the paper bag is sufficiently opened, the double-acting corner downward pressure cylinder 46 is vented, causing it to retract and assist in opening the bag, allowing the paper bag to expand to its maximum size. When the paper bag has expanded to its maximum size, the robotic arm descends. After the paper bag is completely inserted into the pineapple, the double-acting corner downward pressure cylinder 46 is deflated, and the second suction cup 44 is de-energized, leaving the paper bag in the position of the pineapple fruit. The robotic arm then ascends, completing the bagging process.

[0056] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0057] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An end effector of a pineapple bagging robot, characterized in that: include: A fixed frame (5) is mounted on the end of the bagging robot arm; A straightening mechanism (1), arranged on the fixing frame (5), for straightening the pineapple; A paper bag storage mechanism (2), arranged on the fixing frame (5) and used for storing paper bags; The bag opening system comprises a transfer mechanism (3) and a bag opening actuator (4), wherein the transfer mechanism (3) and the bag opening actuator (4) are both arranged on the fixed frame (5), the transfer mechanism (3) is used to transfer the paper bags in the paper bag storage mechanism (2) to the working end of the bag opening actuator (4), and the bag opening actuator (4) is used to open the transferred paper bags, and the opened paper bags are used to be placed on the pineapple straightened by the straightening mechanism (1), and the paper bags are located directly above the pineapple.

2. The end effector of a pineapple bagging robot according to claim 1, characterized in that: The straightening mechanism (1) includes a fixed outer ring (11) fixedly connected to the bottom end of the fixed frame (5), a rotating inner ring (12) rotatably connected in the fixed outer ring (11), one end of a plurality of swinging links (13) rotatably connected to the fixed outer ring (11), the swinging links (13) being connected to the rotating inner ring (12), and a clamping rod (14) being provided at the other end, the bottom end of the clamping rod (14) being fixedly connected to a straightening balance wheel fixed frame (15), straightening balance wheels (16) being installed at both ends of the straightening balance wheel fixed frame (15), the straightening balance wheels (16) being arranged in contact with the pineapple, a control member being provided on the fixed outer ring (11), and the rotating inner ring (12) being rotated in the fixed outer ring (11) through the control member.

3. The end effector of the pineapple bagging robot according to claim 2, characterized in that: The control component comprises a control cylinder (17), the telescopic end of the control cylinder (17) is fixedly connected to a fisheye joint (18), and the rotating inner ring (12) is fixedly connected to a connecting rod, which is connected to the fisheye joint (18).

4. The end effector of the pineapple bagging robot according to claim 1, characterized in that: The paper bag storage mechanism (2) comprises a first frame (21), the first frame (21) being fixedly connected to the fixed frame (5), a paper box (22) being fixedly connected to the first frame (21), a tray (24) being slidably connected inside the paper box (22), and a paper bag being located on the top of the tray (24).

5. The end effector of the pineapple bagging robot according to claim 4, characterized in that: The top of the inner wall of the paper box (22) is fixedly connected to a limiting protrusion, and the paper bag located at the top is arranged in contact with the limiting protrusion.

6. The end effector of the pineapple bagging robot according to claim 4, characterized in that: One end of a spring (23) is fixedly connected to the bottom end of the paper box (22), and the other end of the spring (23) is fixedly connected to the bottom end of the tray (24).

7. The end effector of a pineapple bagging robot according to claim 1, characterized in that: The transfer mechanism (3) includes a second frame (31), the second frame (31) is fixedly connected to the fixed frame (5), both ends of the second frame (31) are fixedly connected to motor brackets (36), a four-bar mechanism (32) is provided on the motor bracket (36), a motor (35) is fixedly connected to the motor bracket (36), a control end of the four-bar mechanism (32) is connected to the output end of the motor (35), the end of the four-bar mechanism (32) is fixedly connected to a fixed disk (33), a plurality of first suction cups (34) are fixedly connected to the fixed disk (33), and after the first suction cups (34) adsorb the paper bag, the four-bar mechanism (32) is turned 90 degrees.

8. The end effector of the pineapple bagging robot according to claim 7, characterized in that: The bag opening actuator (4) includes a paper trough (41) fixedly connected to the fixing frame (5), the paper trough (41) is used to receive the paper bag on the first suction cup (34), the fixing frame (5) is fixedly connected to two support frames (42), the two support frames (42) are respectively located on both sides of the paper trough (41), the support frames (42) are fixedly connected to a second cylinder (43), the telescopic end of the second cylinder (43) is fixedly connected to a second suction cup (44), the second suction cup (44) is used to absorb the paper bag, and the support frame (42) is fixedly connected to a stopper (45), the stopper (45) is arranged in contact with the paper bag.

9. The end effector of the pineapple bagging robot according to claim 8, characterized in that: A double-acting angle-pressing cylinder (46) is provided on the support frame (42), and a rocker arm (47) is fixedly connected to the telescopic end of the double-acting angle-pressing cylinder (46).

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