End effector of a pineapple sleeving robot

Abstract

The present application relates to pineapple planting technical field, disclose a kind of pineapple bagging robot end effector, including fixed frame;Righting mechanism, be set on fixed frame, for righting pineapple;Paper bag storage mechanism, be set on fixed frame, for storing paper bag;Bag opening system, including indexing mechanism and bag opening execution mechanism, indexing mechanism and bag opening execution mechanism are all set on fixed frame, indexing mechanism is used to transfer the paper bag in paper bag storage mechanism to the working end of bag opening execution mechanism, bag opening execution mechanism is used to open the paper bag after transfer, the paper bag after opening is used to set in the pineapple righted by righting mechanism, and paper bag is located directly above pineapple.This application can greatly improve bagging efficiency, compared with artificial efficiency several times, reduce labor cost, reduce manual operation link, bagging quality is stable, guarantee the bagging effect of each pineapple is consistent, suitable for a variety of specifications pineapple, strong universality, and equipment operation is stable and reliable, maintenance is simple.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pineapple planting, and particularly relates to an end effector of a pineapple bagging robot. BACKGROUND

[0002] With the improvement of the quality requirement of pineapples and the popularization of planting technology, the bagging technology is more and more widely used. After 1 month of pineapple budding, a paper bag with a length of 32 cm and a width of 26-30 cm is used for anti-sunburn bagging, which is expected to increase the yield of pineapples by more than 3 times.

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

[0004] Therefore, an end effector of a pineapple bagging robot is urgently needed to solve the above problems. SUMMARY

[0005] The present application aims to provide an end effector of a pineapple bagging robot to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following scheme: the present application provides an end effector of a pineapple bagging robot, comprising:

[0007] A fixing frame is installed at the end of the bagging robot mechanical arm.

[0008] A righting mechanism is arranged on the fixing frame and is used for righting the pineapples.

[0009] A paper bag storage mechanism is arranged on the fixing frame and is used for storing paper bags.

[0010] A bag opening system comprises a indexing mechanism and a bag opening execution mechanism, both of which are arranged on the fixing frame. The indexing mechanism is used for transferring the paper bags in the paper bag storage mechanism to the bag opening execution mechanism, and the bag opening execution mechanism is used for opening the transferred paper bags. The opened paper bags are used for being sleeved on the pineapples righted by the righting mechanism.

[0011] The end effector of the pineapple bagging robot provided by the application, the righting mechanism comprises a fixed outer ring fixedly connected to the bottom end of the fixed frame, a rotating inner ring rotatably connected in the fixed outer ring, one end of a plurality of swing connecting rods rotatably connected in the circumferential direction on the fixed outer ring, the swing connecting rods being connected with the rotating inner ring and the other end of each swing connecting rod being provided with a clamping rod, a righting swing rack fixedly connected to the bottom end of the clamping rod, righting swing racks mounted at both ends of the righting swing rack, the righting swing racks being in contact with pineapples, and the rotating inner ring being rotatable in the fixed outer ring through the control member.

[0012] The end effector of the pineapple bagging robot provided by the application, the control member comprises a control cylinder, the telescopic end of the control cylinder being fixedly connected with a fish-eye joint, a connecting rod being fixedly connected to the rotating inner ring, and the connecting rod being connected with the fish-eye joint.

[0013] The end effector of the pineapple bagging robot provided by the application, the paper bag storage mechanism comprises a first frame fixedly connected to the fixed frame, a paper box fixedly connected to the first frame, and a tray slidably connected in the paper box, and a paper bag located at the top end of the tray.

[0014] The end effector of the pineapple bagging robot provided by the application, a limiting protrusion is fixedly connected to the top end of the inner wall of the paper box, and the uppermost paper bag is in contact with the limiting protrusion.

[0015] The end effector of the pineapple bagging robot provided by the application, 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] The end effector of the pineapple bagging robot provided by the application, the indexing mechanism comprises a second frame fixedly connected to the fixed frame, motor supports fixedly connected to both ends of the second frame, a four-bar mechanism provided on the motor supports, a motor fixedly connected to the motor supports, the control end of the four-bar mechanism being connected with the output end of the motor, a fixed disc fixedly connected to the end of the four-bar mechanism, and a plurality of first suction cups fixedly connected to the fixed disc, the four-bar mechanism being turned by 90° after the first suction cups adsorb the paper bag.

[0017] The end effector of the pineapple bagging robot provided by the application, the bag opening execution mechanism comprises a paper groove fixedly connected to the fixed frame, the paper groove is used for receiving the paper bag on the first suction disc, two support frames are fixedly connected to the fixed frame, the two support frames are located on the two sides of the paper groove respectively, a second air cylinder is fixedly connected to the support frame, a second suction disc is fixedly connected to the extension end of the second air cylinder, the second suction disc is used for adsorbing the paper bag, and a stop block is fixedly connected to the support frame and arranged in contact with the paper bag.

[0018] The end effector of the pineapple bagging robot provided by the application, a double-acting corner down pressure air cylinder is arranged on the support frame, and a rocker arm is fixedly connected to the extension end of the double-acting corner down pressure air cylinder.

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

[0020] The end effector of the pineapple bagging robot provided by the application, in use, the righting mechanism first right the pineapple in an inclined state to a vertical state, the transfer mechanism transfers the paper bag stored in the paper bag storage mechanism to the bag opening execution mechanism, and the bag opening execution mechanism is used for opening the paper bag and sleeving the opened paper bag on the righted pineapple, thereby realizing automatic bagging of the pineapple. The application can greatly improve the bagging efficiency, complete bagging of multiple pineapples per minute, improve the efficiency by several times compared with manual operation, reduce the labor cost, and reduce the manual operation link. The bagging quality is stable, the bagging effect of each pineapple is consistent, the application is suitable for pineapples of various specifications and has strong universality, and the equipment is stable and reliable in operation and easy to maintain. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor:

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

[0023] Figure 2 It is a schematic diagram of the righting mechanism structure of the application;

[0024] Figure 3 It is a schematic diagram of the paper bag storage mechanism structure of the application;

[0025] Figure 4 It is a schematic diagram of the transfer mechanism structure of the application;

[0026] Figure 5 It is a schematic diagram of the transfer mechanism in use of the application;

[0027] Figure 6 Structure diagram of bag opening execution mechanism for the application;

[0028] Figure 7 Structure diagram of bagging robot for the application;

[0029] Wherein, 1, righting mechanism; 11, fixed outer ring; 12, rotating inner ring; 13, swing connecting rod; 14, clamping rod; 15, righting pendulum fixed frame; 16, righting pendulum; 17, control cylinder; 18, fisheye joint; 2, paper bag storage mechanism; 21, first frame; 22, paper box; 23, spring; 24, tray; 3, indexing mechanism; 31, second frame; 32, four-bar mechanism; 33, fixed disc; 34, first suction disc; 35, motor; 36, motor support; 4, bag opening execution mechanism; 41, paper chute; 42, support frame; 43, second cylinder; 44, second suction disc; 45, stop block; 46, double-acting rotary angle down pressure cylinder; 47, rocker arm; 5, fixed frame. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0031] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0032] Reference Figures 1-7 The application provides a terminal actuator of a pineapple bagging robot, comprising:

[0033] The fixed frame 5 is installed at the end of the bagging robot mechanical arm.

[0034] The righting mechanism 1 is arranged on the fixed frame 5 and is used for righting the pineapple.

[0035] The paper bag storage mechanism 2 is arranged on the fixed frame 5 and is used for storing paper bags.

[0036] The bag opening system comprises the indexing mechanism 3 and the bag opening execution mechanism 4, and the indexing mechanism 3 and the bag opening execution mechanism 4 are both arranged on the fixed frame 5. The indexing mechanism 3 is used for transferring the paper bag in the paper bag storage mechanism 2 into the bag opening execution mechanism 4, and the bag opening execution mechanism 4 is used for opening the transferred paper bag. The opened paper bag is used for sleeving the pineapple righted by the righting mechanism 1.

[0037] In one embodiment of the present application, the righting mechanism 1 first right the pineapples in the inclined state to the upright state during use, the rotating mechanism 3 transfers the paper bags stored in the paper bag storage mechanism 2 to the bag opening execution mechanism 4, and the bag opening execution mechanism 4 opens the paper bags and sets the opened paper bags on the righted pineapples, thereby realizing automatic bagging of the pineapples.

[0038] As an optional implementation, the righting mechanism 1 comprises 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, a plurality of swing connecting rods 13 rotatably connected to the fixed outer ring 11 in the circumferential direction, the swing connecting rods 13 being connected to the rotating inner ring 12 and having clamping rods 14 at the other ends, the clamping rods 14 being fixedly connected to righting balance wheel fixed frames 15 at the bottom ends, the righting balance wheel fixed frames 15 being provided with righting balance wheels 16 at both ends, the righting balance wheels 16 being in contact with the pineapples, the fixed outer ring 11 being provided with a control member, and the rotating inner ring 12 being rotatable in the fixed outer ring 11 through the control member.

[0039] In one embodiment of the present application, the pineapples grow in a non-linear natural manner, the control member drives the rotating inner ring 12 to rotate in the fixed outer ring 11, the rotating inner ring 12 drives the swing connecting rods 13 to rotate when rotating, thereby driving the righting balance wheels 16 to contact the pineapples, adjusting the posture of the pineapples, and gradually righting the pineapples from the inclined state to the ideal upright state, so as to facilitate the next bagging operation.

[0040] As an optional implementation, the control member comprises a control cylinder 17, the control cylinder 17 being fixedly connected to a fish eye joint 18 at the telescopic end, a connecting rod being fixedly connected to the rotating inner ring 12 and connected to the fish eye joint 18.

[0041] In one embodiment of the present application, the control cylinder 17 drives the fish eye joint 18 to move, thereby driving the connected rotating inner ring 12 to rotate in the fixed outer ring 11, so as to control the rotating inner ring 12.

[0042] As an optional implementation, the paper bag storage mechanism 2 comprises a first frame 21 fixedly connected to the fixed frame 5, a paper box 22 fixedly connected to the first frame 21, and a tray 24 slidably connected in the paper box 22, the paper bag being located at the top end of the tray 24.

[0043] In one embodiment of the present application, the paper box 22 is used for storing the paper bags, and the tray 24 is provided to realize the lifting of the paper bags.

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

[0045] In one embodiment of the present application, the limiting protrusion is arranged to clamp the paper bag between the tray 24 and the limiting protrusion.

[0046] As an optional implementation, one end of the 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 application, the spring 23 is arranged to raise the tray 24.

[0048] As an optional implementation, the rotating mechanism 3 includes a second frame 31 fixedly connected to the fixed frame 5, motor supports 36 fixedly connected to both ends of the second frame 31, a four-bar mechanism 32 arranged on the motor support 36, a motor 35 fixedly connected to the motor support 36, a control end of the four-bar mechanism 32 connected to an output end of the motor 35, a fixed disc 33 fixedly connected to the end of the four-bar mechanism 32, and a plurality of first suction cups 34 fixedly connected to the fixed disc 33. After the first suction cup 34 adsorbs the paper bag, the four-bar mechanism 32 is rotated by 90°.

[0049] In one embodiment of the present application, the motor 35 drives the four-bar mechanism 32 to rotate from the vertical state to the horizontal state, adsorbs the paper bag in the paper box 22, and moves the paper bag to the paper chute 41.

[0050] As an optional implementation, the bag opening execution mechanism 4 includes a paper chute 41 fixedly connected to the fixed frame 5, the paper chute 41 being used to receive the paper bag on the first suction cup 34, two support frames 42 fixedly connected to the fixed frame 5, the two support frames 42 being respectively located on both sides of the paper chute 41, a second air cylinder 43 fixedly connected to the support frame 42, a second suction cup 44 fixedly connected to the extension end of the second air cylinder 43, the second suction cup 44 being used to adsorb the paper bag, and a stop block 45 fixedly connected to the support frame 42, the stop block 45 being arranged to contact the paper bag.

[0051] In one embodiment of the present application, the stop block 45 is used to block the paper bag, the second suction cup 44 is connected to an external vacuum pump, the second suction cup 44 is arranged to adsorb the paper bag, and the second air cylinder 43 is arranged to drive the second suction cup 44 to move, thereby unfolding the paper bag.

[0052] As an optional implementation, the support frame 42 is arranged with a double-acting rotary corner pressing cylinder 46, and the extension end of the double-acting rotary corner pressing cylinder 46 is fixedly connected with a rocker arm 47.

[0053] In one embodiment of the present application, the double-acting rotary corner pressing cylinder 46 has the functions of rotation and extension. After the paper bag is opened to a certain extent, the double-acting rotary corner pressing cylinder 46 is arranged to rotate the rocker arm 47 and extend into the opening, and then the double-acting rotary corner pressing cylinder 46 is arranged to retract, thereby opening the paper bag.

[0054] In one embodiment of the present application, the fixing frame 5 is fixedly connected at the end of the mechanical arm, the vehicle body is moved, the lifting and movement of the fixing frame 5 are controlled through the set mechanical arm, and the pineapple is bagged through the set actuator.

[0055] In one embodiment of the present application, the operation starts from the static mode of the actuator, after the operator issues a start instruction, the robot enters the operation area to perform the bagging task, at this time, it starts to move above the pineapple fruit, the robot quickly identifies the position of the pineapple fruit through the vision module, the righting mechanism 1 starts to work, and the posture of the pineapple fruit with different growth states is corrected so as to be in a correct state suitable for bagging. After the mechanical arm stops moving and the actuator is in a stable state, the paper bag is adsorbed and transferred to above the paper chute 41, then the paper is free-falling to the bottom of the paper chute 41 under the action of gravity only, the second suction cup 44 is in full contact with the paper bag to open the bag after the paper bag falls into the specified position, when the paper bag is opened to a sufficient size, the double-acting corner down-stroke cylinder 46 is ventilated, so as to return to the hook to assist in opening the bag, so that the paper bag is opened to the maximum size, after the paper bag is opened to the maximum size, the mechanical arm is lowered, the double-acting corner down-stroke cylinder 46 is deflated and the second suction cup 44 is disconnected after the paper bag is completely bagged into the pineapple, so that the paper bag is left in the position of the pineapple fruit, the mechanical arm is raised, and the bagging is realized.

[0056] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0057] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope of the present application.

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 sleeved on the pineapple straightened by the straightening mechanism (1), and the paper bags are located directly above the pineapple; 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; 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.

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: 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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