Rail type picking robot driving device

Abstract

The utility model discloses a rail type picking robot driving device, and relates to the field of mechanical picking auxiliary equipment. The device comprises a limiting mechanism which is clamped on the side edge of a moving track in a sliding manner, and the moving track is a single-plate track; the power mechanism is provided with a power wheel, and the power wheel abuts against the surface of the moving track; the bearing platform is used for mounting picking equipment, the bearing platform is rotationally connected with the positioning end of the limiting mechanism, and the mounting end of the power mechanism is connected with the surface of the bearing platform; the problem that during existing mechanical picking, the occupied area of mechanical movement cannot be reduced, and stable movement cannot be combined is solved.

Description

Technical Field

[0001] The utility model relates to the field of mechanical picking auxiliary equipment, in particular to a track-type picking robot driving device. Background Art

[0002] As a major agricultural country, farmers invest a lot of physical strength and energy in the busy farming and picking seasons. Among them, the picking work is not only expensive in labor costs, but also often causes losses due to untimely picking.

[0003] Chili peppers are an important food in Chinese people's daily life, and are even more indispensable in the southern region. However, the growth characteristics of chili peppers determine that most plants are short, and farmers need to bend or squat for a long time when picking them. This posture can easily lead to physical injuries such as lumbar muscle strain.

[0004] If mechanical picking is used, when picking peppers in the greenhouse, how to save space in the greenhouse and improve space utilization is the key to increasing the planting density of a single greenhouse. Utility Model Content

[0005] The utility model aims to provide a track-type picking robot driving device to solve the problem that the existing mechanized picking cannot combine the reduction of the mechanical movement footprint and the stable movement.

[0006] In order to solve the above problems, the utility model adopts the following technical means:

[0007] A track-type picking robot driving device, comprising:

[0008] The limiting mechanism is slidably engaged with the side of the moving track, and the moving track is a single-board track;

[0009] A power mechanism is constructed with a power wheel, wherein the power wheel abuts against the surface of the moving track;

[0010] The bearing platform is used to install the picking equipment, the bearing platform is rotationally connected to the limiting mechanism, and the mounting end of the power mechanism is connected to the bearing platform.

[0011] Furthermore, the limiting mechanism includes a support rod rotatably connected to the supporting platform and serving as the positioning end, a receiving rod is installed at one end of the support rod facing the movable track, the receiving rod is arranged parallel to the movable track, and a limiting wheel with a vertical axis is rotatably installed at the end of the receiving rod, the outer edge of the limiting wheel is provided with an annular groove around its axis, and the limiting wheel is embedded in the side of the movable track through the annular groove.

[0012] Furthermore, the axis of the support rod is perpendicular to the moving track and passes through the center line of the moving track, the middle part of the receiving rod is positioned and connected to the support rod, and the limiting wheels are provided at both ends of the receiving rod.

[0013] Furthermore, there are two limit mechanisms, which are respectively arranged on both sides of the support platform along the extension direction of the moving track, and the power mechanism is arranged between the two limit mechanisms.

[0014] Furthermore, the power mechanism includes a mounting platform disposed on the side of the carrying platform facing the movable track, the side of the mounting platform facing the carrying platform is connected to the carrying platform via a connecting mechanism serving as the mounting end, a driving motor is installed on one side of the mounting platform, the power wheel is installed on the rotating end of the driving motor, and the outer edge of the power wheel is covered with a rubber layer for anti-slip around its axis.

[0015] Furthermore, the mounting platform is provided with a through slot, the power wheel passes through the through slot and abuts against the surface of the movable track, and the mounting platform is provided with a support wheel rotatably mounted on one side of the driving motor, and the outer edge of the support wheel passes through the through slot and abuts against the surface of the movable track.

[0016] Furthermore, there are four connecting mechanisms, which are distributed at four corners on the mounting platform.

[0017] Furthermore, the connection mechanism includes a telescopic rod connecting the mounting platform and the bearing platform, and a compression spring is coaxially sleeved on the outside of the telescopic rod, and two ends of the compression spring are respectively abutted against the mounting platform and the bearing platform.

[0018] During use, the utility model has the following beneficial effects:

[0019] The bearing platform provided with the picking device is slidably connected to the moving track by using the limiting mechanism, so that the bearing platform moves along the moving track under the action of the power mechanism, thereby using the picking device set on the bearing platform to pick. In addition, for the moving track, it can be set as a single-board track under the action of the limiting mechanism, which greatly reduces the footprint of the track. At the same time, under the action of the sliding engagement of the limiting mechanism, it can also provide good moving stability for the bearing platform, avoiding a large amount of shaking and unstable movement of the bearing platform during the movement process after the single-board track is set. In addition, after the power mechanism is abutted against the moving track through the rotation of the power wheel, the bearing platform can move along the extension of the moving track with the rotation of the power wheel. The power wheel is constructed in the power mechanism and acts on the moving track. In this way, for the horizontal footprint, the setting of the power mechanism does not exceed the horizontal projection area of ​​the moving track, thereby avoiding the setting of the power mechanism and increasing the horizontal footprint of the entire drive device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model.

[0021] Figure 2 It is a side structural schematic diagram of the utility model.

[0022] Among them, 100-limiting mechanism, 101-support rod, 102-receiving rod, 103-limiting wheel, 104-annular groove, 200-moving track, 300-power mechanism, 301-power wheel, 302-mounting table, 303-driving motor, 400-carrying platform, 500-through groove, 600-support wheel, 700-connecting mechanism, 701-telescopic rod, 702-compression spring. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0026] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0027] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply 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 utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Please refer to Figure 1 and Figure 2 As shown, a track-type picking robot driving device comprises:

[0030] The limiting mechanism (100) is slidably engaged with the side of the moving track (200), and the moving track (200) is a single-board track;

[0031] A power mechanism (300) is constructed with a power wheel (301), wherein the power wheel (301) abuts against a surface of the moving track (200);

[0032] The bearing platform (400) is used to install the picking equipment, the bearing platform (400) is rotationally connected to the limiting mechanism (100), and the mounting end of the power mechanism (300) is connected to the bearing platform (400).

[0033] In this way, the limiting mechanism 100 is used to slide the carrying platform 400 provided with the picking device into connection with the moving track 200, so that the carrying platform 400 moves along the moving track 200 under the action of the power mechanism 300, thereby picking the picking device provided on the carrying platform 400. In addition, the moving track 200 can be provided as a single-board track under the action of the limiting mechanism 100, which greatly reduces the footprint of the track. At the same time, under the action of the sliding engagement of the limiting mechanism 100, it can also provide good movement stability for the carrying platform 400, thereby avoiding a large amount of shaking and unstable movement of the carrying platform 400 during the movement process after the single-board track is provided. Furthermore, after the power mechanism 300 is brought into contact with the moving track 200 through the rotation of the power wheel 301, the carrying platform 400 can move along the extension of the moving track 200 as the power wheel 301 rotates. The power wheel 301 is constructed in the power mechanism 300 and acts on the moving track 200. In this way, with respect to the horizontal floor space, the setting of the power mechanism 300 will not exceed the horizontal projection area of ​​the moving track 200, thereby avoiding the setting of the power mechanism 300 and increasing the horizontal floor space of the entire driving device.

[0034] At the same time, by utilizing the setting of the limiting mechanism 100, the movable track 200 can not only be set on the bottom surface of the greenhouse, but can also be set to a hoisting mode to hoist the movable track 200. The single-plate track can greatly reduce the weight of the movable track 200 in the hoisting state, thereby improving the hoisting stability. In the hoisting state, the planting space on the greenhouse ground can be maximized.

[0035] Furthermore, for the limiting mechanism 100, the limiting mechanism (100) includes a support rod (101) rotatably connected to the supporting platform (400) and serving as the positioning end, a receiving rod (102) is installed at one end of the support rod (101) facing the movable track (200), and the receiving rod (102) is arranged parallel to the movable track (200), and a limiting wheel (103) with a vertical axis is rotatably installed at the end of the receiving rod (102), and an annular groove (104) is provided on the outer edge of the limiting wheel (103) around its axis, and the limiting wheel (103) is embedded in the side of the movable track (200) through the annular groove (104).

[0036] Furthermore, the axis of the support rod 101 is perpendicular to the moving track 200 and passes through the center line of the moving track 200 , the middle part of the receiving rod 102 is connected to the support rod 101 , and the limiting wheels 103 are provided at both ends of the receiving rod 102 .

[0037] In this way, during the movement of the carrying platform 400, even if there is a turning position, the support rod 101 rotatably arranged with the carrying platform 400 can be used to allow the limiting wheels 103 on both sides to deflect following the moving track 200, thereby improving the stability of the carrying platform 400 when following the moving track 200 to turn, and ensuring that the picking equipment carried on the carrying platform 400 can always operate in a stable state.

[0038] Specifically, the support rod 101 and the bearing platform 400 can be rotatably connected through a deep groove ball bearing, the middle part of the receiving rod 102 is fixedly connected to the support rod 101 through a flat key and a threaded structure, and the two ends of the receiving rod 102 are provided with the limiting wheels 103. In this way, when the bearing platform 400 moves and turns along the moving track 200, the rotatable receiving rod 102 can make the limiting wheels 103 on both sides follow the moving track 200 to deflect, so that the bearing platform 400 can stably turn along the curved track part of the moving track 200, and can achieve small radius curved track turning, ensuring that the picking equipment carried on the bearing platform 400 can always operate smoothly under the condition of occupying a small space.

[0039] In addition, in order to further improve the stability of the carrying platform 400 during the movement and improve the limiting ability of the limiting mechanism 100 on the carrying platform 400, there are two limiting mechanisms 100, which are respectively arranged on both sides of the carrying platform 400 along the extension direction of the moving track 200, and the power mechanism 300 is arranged between the two limiting mechanisms 100.

[0040] Furthermore, for the power mechanism 300, the power mechanism 300 includes a mounting platform 302 arranged on the side of the carrying platform 400 facing the movable track 200, and the side of the mounting platform 302 facing the carrying platform 400 is connected to the carrying platform 400 through a connecting mechanism 700, and a driving motor 303 is installed on one side of the mounting platform 302, and the rotating end of the driving motor 303 is installed with the power wheel 301, and the outer edge of the power wheel 301 is covered with a rubber layer for anti-slip around its axis.

[0041] The rubber layer is used to avoid slipping between the power wheel 301 and the moving track 200 , so that the power wheel 301 can better drive the movement of the carrying platform 400 .

[0042] Furthermore, in order to improve the integrity of the entire power mechanism 300 and avoid reducing the floor space of the power mechanism 300 in horizontal projection, the mounting platform 302 is provided with a through slot 500, and the power wheel 301 passes through the through slot 500 and abuts against the surface of the movable track 200. The mounting platform 302 is provided with a support wheel 600 rotatably installed on one side of the drive motor 303, and the outer edge of the support wheel 600 passes through the channel and abuts against the surface of the movable track 200.

[0043] In this way, the support wheel 600 is used to improve the stability of the entire power mechanism 300 during the movement.

[0044] At the same time, in order to improve the installation stability of the mounting platform 302, the connecting mechanism 700 has four parts, which are distributed at four corners on the mounting platform 302.

[0045] As for the connecting mechanism 700, in order to enable the power wheel 301 to always be in saturated contact with the surface of the moving track 200, whether in a hoisting state or set on the ground, the power wheel 301 can have good contact with the moving track 200, the connecting mechanism 700 includes a telescopic rod 701 connecting the mounting platform 302 and the supporting platform 400, and the outer coaxial sleeve of the telescopic rod 701 is provided with a compression spring 702, and the two ends of the compression spring 702 are respectively in contact with the mounting platform 302 and the supporting platform 400.

[0046] Specifically, the connecting mechanism 700 includes a telescopic rod 701 connecting the mounting platform 302 and the bearing platform 400, and a compression spring 702 and an adjusting nut are coaxially sleeved on the outside of the telescopic rod 701, one end of the compression spring 702 abuts against the mounting platform 302, and the other end thereof abuts against the adjusting nut. In this way, under the action of the compression spring 702, the compression spring 702 is always in a compressed state, so that the mounting platform 302 is always pushed toward the moving track 200, so that the power wheel 301 and the support wheel 600 can always abut against the moving track 200. By adjusting the adjusting nut, the weight of the driving device can be mainly applied to the power wheel 301 and the support wheel 600, and the limiting mechanism 100 does not bear or bears a small amount of the weight of the driving device, thereby preventing the driving device from slipping with the moving track 200 during the movement process and affecting the normal movement of the bearing platform 400, and reducing the resistance generated when the driving device moves, thereby realizing low-power driving of the driving device and achieving the purpose of energy saving and consumption reduction.

[0047] In this way, under the action of the compression spring 702, the compression spring 702 is always in a compressed state, so that the compression spring 702 always pushes the mounting platform 302 toward the moving track 200, and then allows the power wheel 301 to always abut against the moving track 200, thereby preventing the power wheel 301 from slipping with the moving track 200 during rotation and affecting the normal movement of the supporting platform 400.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A track-type picking robot driving device, characterized in that: include: The limiting mechanism (100) is slidably engaged with the side of the moving track (200), and the moving track (200) is a single-board track; A power mechanism (300) is constructed with a power wheel (301), wherein the power wheel (301) abuts against a surface of the moving track (200); The bearing platform (400) is used to install the picking equipment, the bearing platform (400) is rotationally connected to the limiting mechanism (100), and the mounting end of the power mechanism (300) is connected to the bearing platform (400).

2. The track-type picking robot driving device according to claim 1, characterized in that: The limiting mechanism (100) comprises a support rod (101) rotatably connected to the bearing platform (400) and serving as a positioning end, a receiving rod (102) being installed at one end of the support rod (101) facing the movable track (200), the receiving rod (102) being arranged parallel to the movable track (200), a limiting wheel (103) with a vertical axis being rotatably installed at the end of the receiving rod (102), an annular groove (104) being arranged around the axis of the limiting wheel (103) at the outer edge thereof, and the limiting wheel (103) being embedded in the side of the movable track (200) through the annular groove (104).

3. The track-type picking robot driving device according to claim 2, characterized in that: The axis of the support rod (101) is perpendicular to the movable track (200) and passes through the center line of the movable track (200); the middle part of the receiving rod (102) is positioned and connected to the support rod (101); and the limiting wheels (103) are provided at both ends of the receiving rod (102).

4. A track-type picking robot driving device according to claim 1 or 2, characterized in that: There are two limit mechanisms (100), which are respectively arranged on two sides of the carrying platform (400) along the extension direction of the moving track (200), and the power mechanism (300) is arranged between the two limit mechanisms (100).

5. The track-type picking robot driving device according to claim 1, characterized in that: The power mechanism (300) comprises a mounting platform (302) arranged on the side of the carrying platform (400) facing the moving track (200); a side of the mounting platform (302) facing the carrying platform (400) is connected to the carrying platform (400) via a connecting mechanism (700) serving as the mounting end; a driving motor (303) is mounted on one side of the mounting platform (302); the driving wheel (301) is mounted on the rotating end of the driving motor (303); and the outer edge of the driving wheel (301) is covered with a rubber layer for anti-slip around its axis.

6. The track-type picking robot driving device according to claim 5, characterized in that: The mounting platform (302) is provided with a through slot (500), the power wheel (301) passes through the through slot (500) and abuts against the surface of the movable track (200), and a support wheel (600) is rotatably mounted on a side of the mounting platform (302) on which the drive motor (303) is provided, and an outer edge of the support wheel (600) passes through the through slot (500) and abuts against the surface of the movable track (200).

7. The track-type picking robot driving device according to claim 5, characterized in that: There are four connection mechanisms (700), which are distributed at four corners on the mounting platform (302).

8. A track-type picking robot driving device according to any one of claims 5 to 7, characterized in that: The connection mechanism (700) comprises a telescopic rod (701) connecting the mounting platform (302) and the bearing platform (400); a compression spring (702) is provided on an outer coaxial sleeve of the telescopic rod (701); two ends of the compression spring (702) are respectively in contact with the mounting platform (302) and the bearing platform (400).

Images