Automatic basket loading and unloading facility transport transfer robot and method of use

Abstract

The application relates to a kind of automatic basket loading and unloading facilities transport transfer robots and methods, including mobile chassis, bearing main frame and mobile platform, bearing space is located below mobile platform in bearing main frame, and taking and placing device is connected in bearing space by lifting device of mobile platform;The bearing main frame is hinged with reversible extension platform by transverse hinge shaft, the transverse hinge shaft is perpendicular to the moving direction of mobile platform, and the reversible extension platform is connected with mobile platform by tension spring;When reversible extension platform turns to the lowest position, reversible extension platform is located on the extension line of mobile platform, and the vertical projection of reversible extension platform is located outside the vertical projection of bearing main frame and mobile chassis, and the reversible extension platform is provided with moving channel for lifting device to pass through laterally.The application can grasp, load and unload and transfer target standard material box, and improves the material box handling efficiency in greenhouse.

Description

Technical Field

[0001] This invention relates to the field of intelligent equipment technology, and in particular to greenhouse facilities, specifically to an automatic loading and unloading facility transportation and transfer robot and its usage method. Background Technology

[0002] With the rapid development of modern agriculture, the increasing demand for food due to population growth and the continuous rise in labor costs have posed severe challenges to traditional agricultural production models. Against this backdrop, facility agriculture, especially greenhouse cultivation, has become an important way to ensure a stable supply of agricultural products and achieve balanced production throughout the year due to its high yield, high efficiency, and controllability.

[0003] However, for solanaceous vegetables, their long growth cycle and frequent harvesting result in a continuous and large demand for material handling throughout the production season.

[0004] Currently, in the daily production operations of greenhouses, the transfer and unloading of materials, especially the handling of standard material boxes fully loaded with crops, still largely relies on manual labor. This traditional method is not only labor-intensive and inefficient, but also leads to increasingly high labor costs as greenhouses expand. Material handling efficiency has become a bottleneck restricting further improvements in greenhouse production efficiency. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by providing an automated crate loading and unloading facility transportation and transfer robot and its usage method. It can grab, load, unload, and transfer target standard crates, thereby improving the handling efficiency of crates within greenhouses.

[0006] This invention is achieved through the following technical solution: providing an automatic crate loading and unloading facility transportation and transfer robot, including a mobile chassis, a main support frame fixed on the mobile chassis, and a mobile platform that moves laterally along the main support frame. The main support frame has a support space located below the mobile platform. The mobile platform is connected to a pick-and-place device located in the support space via a lifting device. A rotatable extension platform is hinged to the main support frame via a transverse hinge, the transverse hinge being perpendicular to the moving direction of the mobile platform. The rotatable extension platform is connected to the mobile platform via a tension spring. When the rotatable extension platform is rotated to its lowest position, it is located on the extension line of the mobile platform, and its vertical projection is outside the vertical projections of the main support frame and the mobile chassis. The rotatable extension platform has a moving channel for the lifting device to pass laterally.

[0007] This solution improves the flexibility of handling operations by using a mobile chassis to move the entire machine. The main support frame provides support for the mobile platform, the pick-and-place device grabs the target bin, and the lifting device lifts the target bin. The mobile platform moves the grabbed bin to the support space without manual intervention. The flip-up extension platform provides support after the mobile platform is removed from the main support frame, allowing it to move directly above the target bin. When the mobile platform returns to the main support frame, the flip-up extension platform flips upward, reducing the lateral space occupied.

[0008] As an optimization, a support rod is provided below the foldable extension platform. The upper end of the support rod is rotatably connected to the foldable extension platform via a pivot, which is parallel to the transverse hinge. A limiting block is fixed to the foldable extension platform, located on the rotation trajectory of the support rod. When the foldable extension platform rotates to its lowest position, the limiting block blocks the rotation of the support rod, and the lower end of the support rod abuts against the main supporting frame. This optimized solution uses the limiting block to limit the support rod, and the support rod to support the foldable extension platform. Moreover, during the folding process of the foldable extension platform, the support rod rotates relative to the foldable extension platform by its own weight, thereby realizing the automatic unfolding and retraction of the support rod.

[0009] As an optimization, two tension springs are provided, arranged along the axial direction of the transverse hinge axis. A first lug adapted to the tension springs is fixed to the end of the foldable extension platform furthest from the main supporting frame. This optimization, by using two tension springs, improves the stability of pulling the foldable extension platform and also helps the moving platform maintain its direction of movement without deviation.

[0010] As an optimization, the lifting device includes a chain, and a first electric push rod, an intermediate sprocket, and a second electric push rod sequentially arranged on the moving platform. The fixed parts of both the first and second electric push rods are fixedly connected to the moving platform, and their extended parts extend upwards. The upper end of the first electric push rod is rotatably connected to the first sprocket, and the upper end of the second electric push rod is rotatably connected to the second sprocket. One end of the chain is fixedly connected to the moving platform, and the other end passes sequentially over the upper part of the first sprocket, the lower part of the intermediate sprocket, and the upper part of the second sprocket before passing downwards through the moving platform. The end of the chain passing downwards through the moving platform is connected to a fixed frame, which is connected to the pick-and-place device. In this optimized lifting device, the first and second electric push rods drive the first and second sprockets to move up and down, thereby controlling the downward extension length of the chain and ultimately achieving the lifting and adjusting of the pick-and-place device.

[0011] As an optimization, the fixing frame is connected to the mobile platform through a guide mechanism. The guide mechanism includes an outer cylinder, a middle cylinder, and an inner cylinder. The upper end of the outer cylinder is fixedly connected to the mobile platform, the upper end of the middle cylinder slides into the inner cavity of the outer cylinder, the upper end of the inner cylinder slides into the inner cavity of the middle cylinder, and the portion of the inner cylinder extending downward out of the middle cylinder is fixedly connected to the fixing frame. Inner limiting platforms are fixedly provided at the upper and lower ends of the inner wall of the middle cylinder, and a limiting protrusion located between the inner limiting platforms at both ends of the middle cylinder is fixedly provided at the upper end of the inner cylinder.

[0012] Ball retainers are installed on the outer walls of the middle cylinder and the inner cylinder, respectively. A ball bearing adapted to the inner wall of the outer cylinder is rotatably mounted in the ball retainer on the outer wall of the middle cylinder, and a ball bearing adapted to the inner wall of the middle cylinder is rotatably mounted in the ball retainer on the outer wall of the inner cylinder. This optimized design provides lifting guidance by setting the inner, middle, and outer cylinders to slide sequentially, ensuring the vertical lifting of the loading and unloading device. The use of ball bearings reduces the frictional resistance between the inner, middle, and outer cylinders.

[0013] As an optimization, a radially extending spring positioning pin is installed on the inner wall of the outer cylinder. The spring positioning pin includes a first cylinder body with one end fixed to the outer cylinder, and a second cylinder body extending to the other end of the first cylinder body. The first and second cylinder bodies are connected by a spring. A limiting ball is installed at the end of the second cylinder body away from the first cylinder body. The limiting ball is located below the middle cylinder, and the vertical projection area of ​​the limiting ball in the vertical projection of the middle cylinder is less than 1 / 2 of the total vertical projection area of ​​the limiting balls. This optimization, by setting the spring positioning pin, blocks the extension of the middle cylinder in the initial stage of downward extension, causing the inner cylinder to extend first. Then, the limiting protrusion of the inner cylinder pushes the inner limiting platform at the lower end of the middle cylinder, overcoming the spring force, and the middle cylinder extends, thus realizing the sequential extension of the inner and middle cylinders.

[0014] As an optimization, the pick-and-place device includes a base frame, two sliding clamping seats slidably mounted on the base frame, and a clamping electric push rod connected at both ends to the two sliding clamping seats respectively. Each of the two sliding clamping seats has a gripper extending downwards from the base frame. This optimized pick-and-place device uses the clamping electric push rods to provide power, causing the two sliding clamping seats to slide relative to each other, thereby realizing the clamping and releasing actions of the two grippers. It has a simple structure and high reliability.

[0015] As an optimization, a central gear is rotatably connected to the base frame, with racks meshing on both sides of the central gear. The two racks are slidably connected to the base frame and are respectively fixedly positioned relative to two sliding clamping seats. This optimized solution, by setting the central gear and two racks, ensures the synchronicity of the movement of the two sliding clamping seats, thereby ensuring the synchronicity of the movement of the two grippers and further improving the reliability of clamping the material box.

[0016] As an optimization, the mobile platform includes a mounting base plate, rotatable track wheels at the bottom of the mounting base plate, and a drive motor connected to the track wheels. A second hook, adapted to the end of the tension spring furthest from the first hook, is fixed to the top of the mounting base plate. In this optimized design, the mobile platform drives the track wheels to rotate via the drive motor, enabling lateral movement when handling the material box. The second hook facilitates connection with the tension spring.

[0017] This solution also provides a method for using the above-mentioned automated crate loading and unloading facility transportation and transfer robot, including the following steps:

[0018] S1, the mobile chassis drives the whole machine to move to the target material box, the mobile platform moves towards the flip-out extension platform, the tension spring shortens, and the flip-out extension platform flips downward;

[0019] S2, during the downward flipping of the foldable extension platform, the support rod rotates relative to the foldable extension platform under its own weight. When the foldable extension platform rotates to the lowest position, the limit block forms a blocking support for the support rod. At this time, the lower end of the support rod abuts against the main supporting frame, and the foldable extension platform is in a horizontal state.

[0020] S3, the mobile platform moves to the flip-out extension platform, the lifting device extends downward, the picking and placing device grabs the target material box, and then the lifting device retracts upward, raising the target material box to the position opposite to the carrying space;

[0021] S4, the mobile platform moves from the foldable extension platform to the main support frame, moves the target material box to the support space, and at the same time, uses the force transmitted by the tension spring to flip the foldable extension platform upward.

[0022] The beneficial effects of this invention are as follows: by setting up a flip-up extension platform, it is easy for the mobile platform to move directly above the target material box, thereby facilitating the grabbing of the target material box; through the linkage folding design of the flip-up extension platform, it can be flipped up and folded up in the non-operation state, which significantly reduces the overall length and turning radius of the equipment when it moves, and greatly improves the device's ability to pass through narrow passages and its turning flexibility. Attached Figure Description

[0023] Figure 1 This is a schematic diagram illustrating the usage state of the present invention;

[0024] Figure 2 This is a schematic diagram of the mobile chassis structure;

[0025] Figure 3 This is a schematic diagram of the main frame structure.

[0026] Figure 4 for Figure 3 Enlarged view of a portion of the image;

[0027] Figure 5 This is a schematic diagram of a reversible extension platform structure.

[0028] Figure 6 This is a schematic diagram showing the connection position between the reversible extension platform and the support rod.

[0029] Figure 7 This is a schematic diagram of the mobile platform structure;

[0030] Figure 8 This is a schematic diagram of the lifting device structure;

[0031] Figure 9 A schematic diagram of the guiding mechanism structure;

[0032] Figure 10 A sectional view of the guiding mechanism;

[0033] Figure 11 This is a schematic diagram of the spring locating pin structure;

[0034] Figure 12 This is a schematic diagram of the pick-and-place device.

[0035] Figure 13 This is a partial enlarged view of the pick-and-place device;

[0036] Figure 14 A schematic diagram of the spring locating pin installation;

[0037] As shown in the figure:

[0038] 1. Main load-bearing frame; 1-1. Frame body; 1-2. Buckle; 1-3. Guide groove; 1-4. Stop block; 1-5. Lateral hinge; 1-6. Rectangular base; 2. Mobile chassis; 2-1. Mushroom head; 2-2. Frame; 2-3. Lock; 2-4. Rear motor; 2-5. Drive wheel; 2-6. Track; 2-7. Rear support structure; 2-8. Battery; 2-9. Placement plate; 2-10. IMU; 2-11. Encoder; 2-12. Radar; 2-13. Front motor; 2-14. Shaft retainer. 2-15. Front support structure; 3. Moving platform; 3-1. Second mounting lug; 3-2. Rolling bearing I; 3-3. Bearing housing; 3-4. Track wheel; 3-5. Drive motor; 3-6. Diamond flange bearing; 3-7. Support plate; 3-8. Fixed seat; 3-9. Drive pulley; 3-10. Driven pulley; 4. Lifting device; 4-1. Axle; 4-2. U-shaped connector; 4-3. Chain; 4-4. Guide mechanism; 4-5. Intermediate sprocket; 4-6. Second sprocket; 4-7. Second electric push rod; 4 -8. U-shaped seat; 4-9. Fixing bracket; 4-4-1. Limiting ring; 4-4-2. Outer cylinder; 4-4-3. Inner limiting platform; 4-4-4. Spring positioning pin; 4-4-5. Middle cylinder; 4-4-6. Inner cylinder; 4-4-7. Rolling ball; 4-4-8. Ball retainer; 4-4-4-1. First cylinder; 4-4-4-2. Spring; 4-4-4-3. Slide groove; 4-4-4-4. Second cylinder; 4-4-4-5. Limiting ball; 4-4-4-6. Fixing block; 5. Tension spring; 6. Reversible type Extended platform, 6-1, First hanging ear, 6-2, Ear plate, 6-3, Rolling bearing, 6-4, Limiting block, 6-5, Support rod, 6-6, Extended groove, 7, Picking and placing device, 7-1, Gripper, 7-2, First electric push rod fixing seat, 7-3, Basic frame, 7-4, Slider, 7-5, Holding electric push rod, 7-6, Guide rail, 7-7, Intermediate gear, 7-8, Base, 7-9, Rack, 7-10, Sliding clamping seat, 7-11, Second electric push rod fixing seat, 7-12, L-shaped fixing seat, 8, Material box. Detailed Implementation

[0039] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0040] like Figure 1 The robot for transporting and transferring automatic crate loading and unloading facilities includes a mobile chassis 2, a main support frame 1 fixed on the mobile chassis 2, and a mobile platform 3 that moves laterally along the main support frame 1. The main support frame 1 has a support space located below the mobile platform 3. The mobile platform 3 is connected to a pick-and-place device 7 located in the support space via a lifting device 4.

[0041] The mobile chassis 2 adopts a tracked chassis to adapt to more working conditions. The specific structure adopts existing technology, including tracks 2-6 placed on the ground, a frame 2-2 set between the two tracks, a rear support structure 2-7 and a front support structure 2-15 set between the tracks, a drive wheel 2-5 set between the tracks, a shaft retainer 2-14 set on the frame, a rear motor 2-4 and a front motor 2-13 set on the frame, an encoder 2-11 set on the motor, latches 2-3 set on both sides of the frame, a control box and mushroom head 2-1 set on the rear side of the frame, a radar 2-12 set on the front side of the frame, a battery 2-8 set in the middle of the frame, a mounting plate 2-9 set on the battery, and an IMU 2-10 set on the mounting plate.

[0042] The main supporting frame includes a frame body 1-1 and a rectangular base 1-6 fixed to the lower end of the frame body. The frame body 1-1 is equipped with reinforcing struts, and multiple metal profiles are welded into a high-rigidity three-dimensional truss structure with X-shaped intersecting diagonal struts. The top of the frame body is provided with guide grooves 1-3 adapted to the track wheels of the mobile platform, providing guidance for the movement of the mobile platform. A transverse hinge shaft 1-5 is passed through the upper front side of the frame body, and a stop block 1-4 is fixed on the frame body above and behind the transverse hinge shaft 1-5. The stop block is used to block the tiltable extension platform 6 and prevent the extension platform from tilting excessively backward. Fasteners 1-2 are fixed on the left and right sides of the rectangular base, and the connection between the fasteners 1-2 and the locks 2-3 realizes the fixed connection between the main supporting frame and the mobile chassis.

[0043] A reversible extension platform 6 is hinged to the main support frame via a transverse hinge shaft 1-5. The transverse hinge shaft is perpendicular to the movement direction of the moving platform 3. The reversible extension platform 6 is connected to the moving platform 3 via a tension spring 5. The tension spring extends along the movement direction of the moving platform, with its front end connected to the reversible extension platform 6 and its rear end connected to the moving platform. In this embodiment, there are two tension springs 5, arranged along the axial direction of the transverse hinge shaft 1-5. A first lug 6-1 adapted to the tension spring is fixed to the end of the reversible extension platform away from the main support frame.

[0044] The top of the foldable extension platform 6 is provided with an extension groove 6-6 adapted to the track wheels of the mobile platform. When the foldable extension platform 6 is rotated to the lowest position, the foldable extension platform is located on the moving extension line of the mobile platform. The guide groove 1-3 is aligned with the extension groove 6-6, and the vertical projection of the foldable extension platform is outside the vertical projection of the supporting main frame and the mobile chassis. The foldable extension platform is provided with a moving channel for the lifting device to pass laterally. The mobile platform can move from the supporting main frame to the foldable extension platform.

[0045] A support rod 6-5 is installed below the foldable extension platform. The upper end of the support rod 6-5 is rotatably connected to the foldable extension platform 6 via a pivot. The pivot is parallel to the transverse hinge axis. Specifically, the pivot is rotatably connected to an ear plate 6-2 welded to the ground of the foldable extension platform via a rolling bearing 6-3, ensuring that the support rod can rotate flexibly under its own weight. A limiting block 6-4 is fixed to the foldable extension platform and located on the rotation trajectory of the support rod. When the foldable extension platform is rotated to its lowest position, i.e., when the foldable extension platform is in a horizontal state, the limiting block blocks the rotation of the support rod, and the lower end of the support rod 6-5 abuts against the main supporting frame. The lower end of the support rod has an inclined surface adapted to the front side of the main supporting frame. To improve the stability and reliability of the support, this embodiment has two support rods arranged in a left-right direction.

[0046] The mobile platform 3 includes a mounting base plate, track wheels 3-4 rotatably mounted on the bottom of the mounting base plate, and a drive motor 3-5 connected to the track wheels. A second lug 3-1, adapted to the end of the tension spring furthest from the first lug, is fixed to the top of the mounting base plate. Specifically, there are four track wheels 3-4 arranged in a rectangular pattern. The first two track wheels are mounted on a first rotating shaft, and the last two track wheels are mounted on a second rotating shaft. The first and second rotating shafts are rotatably connected to bearing seats 3-3 via rolling bearings I 3-2, and the bearing seats 3-3 are fixed to the bottom surface of the mounting base plate. A drive pulley 3-9 is mounted on the output shaft of the drive motor, and driven pulleys 3-10, connected to the drive pulley via belt drive, are mounted on the first and second rotating shafts respectively. To prevent the first and second rotating shafts from sagging or bending, a support plate 3-7 is welded to the bottom surface of the mounting base plate. The first and second rotating shafts pass through the support plate and are rotatably connected to it via diamond-shaped flange bearings 3-6.

[0047] The lifting device 4 includes a chain 4-3, and a first electric push rod, an intermediate sprocket 4-5, and a second electric push rod 4-7 sequentially arranged on the moving platform. The fixed parts of the first and second electric push rods are both fixedly connected to the moving platform, and the extended parts of the first and second electric push rods both extend upward. The upper end of the first electric push rod is rotatably connected to the first sprocket, and the upper end of the second electric push rod is rotatably connected to the second sprocket 4-6. Specifically, a U-shaped seat 4-8 is fixedly provided on the upper surface of the moving platform, and the intermediate sprocket is rotatably arranged in the U-shaped seat 4-8. The upper ends of the first and second electric push rods are respectively fixedly connected to U-shaped connectors 4-2 with their openings facing upward. The first sprocket and the second sprocket are rotatably connected to the U-shaped connectors 4-2 through axles 4-1. One end of the chain is fixed to the moving platform. The moving platform 3 is fixed with a fixing seat 3-8 for fixing the chain. The other end of the chain passes through the upper part of the first sprocket, the lower part of the middle sprocket, and the upper part of the second sprocket in sequence, and then passes downward through the moving platform. The end of the chain that passes downward through the moving platform is connected to a fixing frame 4-9. The fixing frame 4-9 is connected to the picking and placing device 7.

[0048] The fixed frame is connected to the moving platform 3 via a guide mechanism 4-4. The guide mechanism 4-4 includes an outer cylinder 4-4-2, a middle cylinder 4-4-5, and an inner cylinder 4-4-6 arranged coaxially. The upper end of the outer cylinder is fixedly connected to the moving platform, the upper end of the middle cylinder slides into the inner cavity of the outer cylinder, and the upper end of the inner cylinder slides into the inner cavity of the middle cylinder. The portion of the inner cylinder extending downward out of the middle cylinder is fixedly connected to the fixed frame. A limiting ring 4-4-1 is fixedly provided at the upper end of the inner cavity of the outer cylinder. Inner limiting platforms 4-4-3 are fixedly provided at the upper and lower ends of the inner wall of the middle cylinder, respectively. A limiting protrusion located between the inner limiting platforms at both ends of the middle cylinder is fixedly provided at the upper end of the inner cylinder. The inner limiting platforms form a blockage against the limiting protrusion. After the inner cylinder extends downward, the inner limiting platform at the lower end of the middle cylinder is pushed downward by the limiting protrusion. After the inner cylinder retracts upward, the inner limiting platform at the upper end of the middle cylinder is pushed upward by the limiting protrusion.

[0049] Ball retainers 4-4-8 are installed on the outer wall of the middle cylinder and the outer wall of the inner cylinder respectively. A ball 4-4-7 adapted to the inner wall of the outer cylinder is rotatably installed in the ball retainer on the outer wall of the middle cylinder. A ball adapted to the inner wall of the middle cylinder is rotatably installed in the ball retainer on the outer wall of the inner cylinder. By setting the ball, the frictional resistance when the inner cylinder and the middle cylinder move is reduced.

[0050] A radially extending spring positioning pin 4-4-4 is installed on the inner wall of the outer cylinder. The spring positioning pin 4-4-4 includes a first cylinder body 4-4-4-1 fixed at one end to the outer cylinder, and a second cylinder body 4-4-4-4 extending to the other end of the first cylinder body. The first cylinder body and the second cylinder body are connected by a spring 4-4-4-2. A limiting ball 4-4-4-5 is installed at the end of the second cylinder body away from the first cylinder body. The limiting ball is located below the middle cylinder, and the vertical projection area of ​​the limiting ball in the vertical projection of the middle cylinder is less than 1 / 2 of the total vertical projection area of ​​the limiting ball. A fixing block 4-4-4-6 is fixed on the inner side wall of the first cylinder body, and a sliding groove 4-4-4-3 adapted to the fixing block is provided on the outer wall of the second cylinder body. The cooperation between the fixing block and the sliding groove prevents the movement of the second cylinder body from deviating. When the inner cylinder extends downwards, the limiting ball blocks the middle cylinder. After the inner cylinder is fully extended, the limiting protrusion pushes the inner limiting platform at the lower end of the middle cylinder, pushing the middle cylinder downwards. The spherical structure of the limiting ball overcomes the elastic force of the spring, thus enabling the middle cylinder to extend.

[0051] The loading and unloading device 7 includes a base frame 7-3, two sliding clamping seats 7-10 slidably mounted on the base frame, and a clamping electric push rod 7-5 connected at both ends to the two sliding clamping seats 7-10 respectively. Each of the two sliding clamping seats 7-10 has a gripper 7-1 extending downwards from the base frame, and the grippers on the two sliding clamping seats are arranged opposite to each other. By extending and retracting the clamping electric push rod, the two grippers move closer and further apart, thereby achieving the clamping and release of the material box.

[0052] To ensure the synchronous movement of the two grippers, this embodiment features an intermediate gear 7-7 rotatably connected to the base frame 7-3. The intermediate gear is rotatably connected to a base 7-8 fixed to the base frame. Two racks 7-9 are meshed with each other on either side of the intermediate gear. The two racks are slidably connected to the base frame, and each rack 7-9 is fixedly positioned relative to two sliding clamping seats 7-10. Specifically, a slider 7-4 is fixedly connected to the rack, a guide rail 7-6 adapted to the slider is fixedly connected to the base frame, and an L-shaped fixing seat 7-12 is fixedly connected to the slider by bolts. A first electric push rod fixing seat 7-2 is mounted on the left sliding clamping seat, and a second electric push rod fixing seat 7-11 is mounted on the right sliding clamping seat. The first electric push rod fixing seat is screwed onto the first sliding clamping seat, and the left end of the electric push rod is fixed to the first electric push rod fixing seat. The other end of the clamping electric actuator is fixed on the second electric actuator fixing seat 7-11.

[0053] The specific working principle of this invention:

[0054] First, the control system issues a work command, activating the tracked mobile chassis and driving the entire device to move between rows in the greenhouse or within the work area until it reaches the predetermined gripping position of the target standard material box 8. Then, the mobile platform moves towards the tilting platform, the tension springs loosen, and the tilting platform tilts downwards. Simultaneously, the support rods open to provide stable support. As the mobile platform moves above the target standard material box, the electric push rod of the vertical lifting device retracts, causing the automatic gripping platform to fall. When the working height aligns with the gripping point of the target standard material box, the electric gripping push rod retracts, driving the two sliding gripping seats to simultaneously move towards the center, causing the grippers to clamp. After confirming stable gripping, the vertical lifting system reverses its operation, performing the opposite release operation. The vertical lifting system smoothly lowers the material box, releases the grippers, and finally releases the material box, then begins the next cycle. Unloading is performed in reverse, thus completing a full automated loading, unloading, and transfer operation cycle.

[0055] Specifically, the method of using the automated crate loading and unloading facility transportation and transfer robot in this embodiment includes the following steps:

[0056] S1, the mobile chassis drives the whole machine to move to the target material box, the mobile platform moves towards the flip-out extension platform, the tension spring shortens, and the flip-out extension platform flips downward;

[0057] S2, during the downward flipping of the foldable extension platform, the support rod rotates relative to the foldable extension platform under its own weight. When the foldable extension platform rotates to the lowest position, the limit block forms a blocking support for the support rod. At this time, the lower end of the support rod abuts against the main supporting frame, and the foldable extension platform is in a horizontal state.

[0058] S3, the mobile platform moves to the flip-out extension platform, the lifting device extends downward, the picking and placing device grabs the target material box, and then the lifting device retracts upward, raising the target material box to the position opposite to the carrying space;

[0059] S4, the mobile platform moves from the foldable extension platform to the main support frame, moves the target material box to the support space, and at the same time, uses the force transmitted by the tension spring to flip the foldable extension platform upward.

[0060] The tracked mobile chassis of this invention, through the cooperation of tracks and multiple support rollers, ensures that the device can move flexibly and stably on uneven, soft, or muddy ground commonly found in greenhouses. It possesses excellent terrain adaptability and passability, solving the problems of slippage and getting stuck common in traditional wheeled equipment. The main load-bearing frame and the universal tracked chassis are connected by multiple quick-locking devices, achieving a modular design between the upper working components and the mobile chassis. This structure not only facilitates the disassembly, transportation, rapid assembly, and daily maintenance of the equipment, but also enhances the chassis's versatility, allowing for easy replacement of other functional modules. The lifting and gripping devices work together; the lifting system can precisely vertically position the material boxes according to their stacking layers, while the automatic gripping device automates the grabbing and placement of the material boxes, thus adapting to the needs of multi-layer stacking operations at different heights and achieving effective utilization of three-dimensional space.

[0061] The lifting device uses two electric push rods and a sprocket to shorten the pulling distance to four times that of the automatic gripping device. At the same time, it uses a lifting cylinder to assist the automatic gripping device in rising and falling, thereby reducing the overall height of the machine and providing stable and reliable rigid guidance, ensuring a smooth and high-precision gripping process.

[0062] The inner and middle cylinders of the lifting device are equipped with rolling steel balls and steel ball retainers on their outer walls, with limiting rings installed at the upper ends. A blocking block is installed at the lower end of the middle cylinder's inner wall, and a spring-loaded positioning pin is installed at the lower end of the inner cylinder's inner wall. By using rolling friction instead of sliding friction through the rolling steel balls, and utilizing the physical contact between the limiting ring and the blocking block, along with the automatic engagement of the spring-loaded positioning pin, not only is extremely smooth and effortless telescopic movement of each stage of the sleeve achieved, but the structural rigidity and operational safety of the device during gripping and transfer are also ensured.

[0063] The pick-and-place device ensures that when the drive gear rotates, the power can be synchronously transmitted to the racks on both sides, and drive the two sliding clamping seats to perform linear movements in opposite directions and with equal displacement. This ensures precise centering and stable clamping of the material box, effectively avoiding clamping failure or damage to the material box caused by offset or asynchrony.

[0064] This invention integrates tracked movement, automatic lifting, and precise clamping, fully automating the horizontal transfer and vertical storage and retrieval processes of the material bins. This greatly improves the material turnover efficiency in greenhouses, significantly reduces manual labor intensity and production costs, and enhances operational safety, meeting the urgent needs of modern smart agriculture for automated equipment.

[0065] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. An automated crate loading and unloading facility transportation and transfer robot, characterized in that: It includes a mobile chassis (2), a main support frame (1) fixed on the mobile chassis (2), and a mobile platform (3) that moves laterally along the main support frame (1). The main support frame (1) has a support space located below the mobile platform (3). The mobile platform (3) is connected to a pick-and-place device (7) located in the support space via a lifting device (4). A reversible extension platform (6) is hinged to the main support frame via a transverse hinge shaft. The transverse hinge shaft is perpendicular to the moving direction of the moving platform (3). The reversible extension platform (6) is connected to the moving platform (3) via a tension spring (5). When the foldable extension platform (6) is rotated to the lowest position, the foldable extension platform is located on the moving extension line of the moving platform, and the vertical projection of the foldable extension platform is outside the vertical projection of the main frame and the moving chassis. The foldable extension platform is provided with a moving channel for the lifting device to pass laterally. A support rod (6-5) is provided below the flip-out extension platform. The upper end of the support rod (6-5) is rotatably connected to the flip-out extension platform (6) via a rotating shaft. The rotating shaft is parallel to the transverse hinge shaft. A limiting block located on the rotation trajectory of the support rod is fixed on the flip-out extension platform. When the flip-out extension platform rotates to the lowest position, the limiting block blocks the rotation of the support rod, and the lower end of the support rod (6-5) pushes against the main support frame. The lifting device (4) includes a chain (4-3), and a first electric push rod, an intermediate sprocket (4-5), and a second electric push rod (4-7) arranged sequentially on the moving platform. The fixed parts of the first electric push rod and the second electric push rod are both fixedly connected to the moving platform. The extended parts of the first electric push rod and the second electric push rod both extend upward. The upper end of the first electric push rod is rotatably connected to the first sprocket, and the upper end of the second electric push rod is rotatably connected to the second sprocket (4-6). One end of the chain is fixedly connected to the moving platform, and the other end passes through the upper part of the first sprocket, the lower part of the intermediate sprocket, and the upper part of the second sprocket in sequence before passing downward through the moving platform. The end of the chain that passes downward through the moving platform is connected to a fixed frame (4-9), and the fixed frame (4-9) is connected to the pick-and-place device (7). The fixed frame is connected to the mobile platform (3) through the guide mechanism (4-4). The guide mechanism (4-4) includes an outer cylinder (4-4-2), a middle cylinder (4-4-5), and an inner cylinder (4-4-6). The upper end of the outer cylinder is fixedly connected to the mobile platform, the upper end of the middle cylinder slides into the inner cavity of the outer cylinder, the upper end of the inner cylinder slides into the inner cavity of the middle cylinder, and the part of the inner cylinder extending downward out of the middle cylinder is fixedly connected to the fixed frame. The inner wall of the middle cylinder is fixed with inner limiting platforms (4-4-3) at the upper and lower ends respectively, and the upper end of the inner cylinder is fixed with a limiting protrusion located between the inner limiting platforms at both ends of the middle cylinder. The outer wall of the middle cylinder and the outer wall of the inner cylinder are respectively equipped with ball retainers (4-4-8). A ball (4-4-7) adapted to the inner wall of the outer cylinder is rotatably installed in the ball retainer on the outer wall of the middle cylinder. A ball adapted to the inner wall of the middle cylinder is rotatably installed in the ball retainer on the outer wall of the inner cylinder.

2. The automated crate loading and unloading facility transportation and transfer robot according to claim 1, characterized in that: There are two tension springs (5), and the two tension springs (5) are arranged along the axial direction of the transverse hinge axis. The end of the flip-out extension platform away from the main support frame is fixed with a first hanging lug (6-1) that is compatible with the tension spring.

3. The automated crate loading and unloading facility transportation and transfer robot according to claim 1, characterized in that: A radially extending spring positioning pin (4-4-4) is installed on the inner wall of the outer cylinder. The spring positioning pin (4-4-4) includes a first cylinder body (4-4-4-1) fixed at one end to the outer cylinder, and a second cylinder body (4-4-4-4) extending to the other end of the first cylinder body. The first cylinder body and the second cylinder body are connected by a spring (4-4-4-2). A limiting ball (4-4-4-5) is installed at the end of the second cylinder body away from the first cylinder body. The limiting ball is located below the middle cylinder, and the vertical projection area of ​​the limiting ball in the vertical projection of the middle cylinder is less than 1 / 2 of the total vertical projection area of ​​the limiting ball.

4. The automated crate loading and unloading facility transportation and transfer robot according to claim 1, characterized in that: The pick-and-place device (7) includes a base frame (7-3), two sliding clamping seats (7-10) slidably mounted on the base frame, and a clamping electric push rod (7-5) with its two ends respectively connected to the two sliding clamping seats (7-10). The two sliding clamping seats (7-10) are respectively fixed with claws (7-1) extending downward out of the base frame.

5. The automated crate loading and unloading facility transportation and transfer robot according to claim 4, characterized in that: An intermediate gear (7-7) is rotatably connected to the basic frame (7-3). Two racks (7-9) are meshed on both sides of the intermediate gear. The two racks are slidably connected to the basic frame, and the two racks (7-9) are respectively fixedly set relative to the two sliding clamps (7-10).

6. The automated crate loading and unloading facility transportation and transfer robot according to claim 1, characterized in that: The mobile platform (3) includes a mounting base plate, a rotatable track wheel (3-4) located at the bottom of the mounting base plate, and a drive motor (3-5) connected to the track wheel. A second hook (3-1) is fixed on the top of the mounting base plate and adapted to the end of the tension spring away from the first hook.

7. A method of using an automated crate loading and unloading facility transportation and transfer robot according to any one of claims 1 to 6, characterized in that, Includes the following steps: S1, the mobile chassis drives the whole machine to move to the target material box, the mobile platform moves towards the flip-out extension platform, the tension spring shortens, and the flip-out extension platform flips downward. S2, during the downward flipping of the foldable extension platform, the support rod rotates relative to the foldable extension platform under its own weight. When the foldable extension platform rotates to the lowest position, the limit block forms a blocking support for the support rod. At this time, the lower end of the support rod abuts against the main supporting frame, and the foldable extension platform is in a horizontal state. S3, the mobile platform moves to the flip-out extension platform, the lifting device extends downward, the picking and placing device grabs the target material box, and then the lifting device retracts upward, raising the target material box to the position opposite to the carrying space; S4, the mobile platform moves from the foldable extension platform to the main support frame, moves the target material box to the support space, and at the same time, uses the force transmitted by the tension spring to flip the foldable extension platform upward.

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