Multi-layer frame red support bamboo egg picking robot

Abstract

The utility model discloses a multi-layer frame red support bamboo egg picking robot which comprises guide rails, a trolley and a rectangular coordinate robot, the guide rails are laid on a picking channel, wheels of the trolley are connected to the two guide rails in a rolling mode respectively, and the trolley can be driven by a power system to move along the guide rails; two sets of rectangular coordinate robots are mounted on the trolley and are used for picking the Hongyou bamboo eggs on the planting frames on the two sides of the picking channel according to inspection of a visual sensor; the picking device adopts a vacuum suction cup and can ascend and descend and twist, the red-support bamboo eggs which can be picked are sucked, twisted off, lifted and conveyed into a collecting groove along an X module, automation and intelligentization of 24-hour patrol, picking and collecting can be achieved, and large-scale development of facility agriculture is promoted.

Description

Technical Field

[0001] The utility model relates to the technical field of picking equipment, in particular to a multi-layer red-tray bamboo egg picking robot. Background Art

[0002] Red bamboo fungus is an extremely precious edible fungus. It is rich in nutrients and contains a variety of amino acids, vitamins and various minerals necessary for the human body. It has a good effect on preventing and treating high blood pressure, high cholesterol and reducing the accumulation of abdominal fat. It has high edible value, medicinal value and economic value. Under normal conditions, it can continue to produce mushrooms for about 4 months, and generally 3 to 4 waves can be harvested. In the process of artificial cultivation, the cost of manual harvesting is relatively high. How to reduce the harvesting cost is a major problem in the development of the red bamboo fungus industry.

[0003] There are multiple planting racks in a general greenhouse. The planting racks are generally 30 meters long, with a total height of about 2.5 to 3 meters and a total width of about 1.2 meters. Each planting rack is divided into left and right sides, with 4 to 5 layers on each side, and each layer is 0.6 meters high.

[0004] Normally, workers need to patrol and pick in the greenhouse for a long time. It is not easy to climb up to high places for inspection and picking, which is dangerous. Climbing up and down also wastes time. It is difficult to discover and complete the picking in time at the best time. Especially during concentrated picking, the number of workers is insufficient, which can easily delay the picking period and often cause waste due to expiration. The labor cost is also high. There are many human factors. High-end mushrooms such as red bamboo eggs will change color and deteriorate in quality when they come into contact with human hands, and air containing fungi can also harm the human body. Therefore, the use of robots is very necessary.

[0005] The harvesting robot can work 24 hours a day without delaying the best picking period, reducing the labor and time costs of harvesting bamboo eggs and reducing the breakage rate. It can realize 24-hour patrol, picking, and placement automation and intelligence, and promote the large-scale development of facility agriculture.

[0006] In summary, providing a multi-layer red-tray bamboo egg picking robot is a technical problem that technical personnel in this field urgently need to solve. Utility Model Content

[0007] The utility model aims to provide a multi-layer red-tray bamboo egg picking robot to solve the problems existing in the above-mentioned prior art.

[0008] To achieve the above purpose, the utility model provides the following solutions:

[0009] The utility model provides a multi-layer rack red-support bamboo egg picking robot, comprising a guide rail, a trolley and a rectangular coordinate robot, wherein the guide rail is laid on the ground of a picking channel along the length direction, the wheels of the trolley are respectively connected to two guide rails in a rolling manner, and the trolley can move along the guide rails through the drive of a power system; two sets of rectangular coordinate robots are installed on the trolley, and the rectangular coordinate robots are respectively used to pick red-support bamboo eggs on the planting racks on both sides of the picking channel;

[0010] The rectangular coordinate robot comprises a Z module, an X module, a picking module, a collecting trough and a visual system, wherein the X module is fixedly connected to the Z module, the picking module can slide along the X module, and the collecting trough is fixed below the X module; the visual system is used to monitor the growth of red bamboo eggs, record position information, and feed back to the control system for picking.

[0011] Preferably, the trolley includes wheels, a vehicle board and a power system, the wheels are mounted on the bottom of the vehicle board through an axle, the power system includes a trolley motor, a reducer and a traction wheel, the traction wheel is mounted on one of the axles, and the traction wheel is connected to the power wheel on the trolley motor through a transmission belt.

[0012] Preferably, two columns are fixedly arranged on the top of the vehicle plate, and a vertical Z module is fixed on each of the columns; a sliding sleeve is slidably connected to the slide rail of each Z module, and the Z module is driven by a Z motor arranged at the end.

[0013] Preferably, the sliding sleeve of the Z module is connected to the X module, a horizontal sliding sleeve is slidably connected to the sliding rail of the X module, and the X module is driven by an X motor arranged at the end.

[0014] Preferably, the picking module is fixed on a horizontal sliding sleeve of the X module and can slide back and forth along the X module; the picking module includes a suction cup, a lifting mechanism and a torsion motor, the suction cup is arranged at the bottom of the lifting mechanism, the lifting mechanism is used to drive the suction cup to rise and fall, the torsion motor is arranged at the top of the lifting mechanism, and the torsion motor is used to rotate the suction cup.

[0015] Preferably, the lifting mechanism is a lifting electric cylinder, and the suction cup is lifted and lowered by a telescopic rod of the lifting electric cylinder. The torsion motor is arranged on the top of the lifting electric cylinder to control the lifting electric cylinder to drive the suction cup to rotate.

[0016] Preferably, the red-trayed bamboo eggs picked by the picking module are sent to a collecting trough through an X module, and the collecting trough is located below the X module and can move with the X module.

[0017] Preferably, the rigid support is arranged vertically, and multi-layer planting racks are arranged on both sides, and a plurality of supporting legs are arranged under the bottom planting rack to maintain stability.

[0018] Preferably, the visual system includes camera 1 and camera 2, camera 1 is installed on the X module to monitor the red-supported bamboo eggs inside the planting rack from the picking channel, camera 2 is installed on the picking module and moves with the picking module, and camera 2 is used to feedback the exact position of the red-supported bamboo eggs.

[0019] Preferably, it also includes an electric control cabinet, which is supported by support rods at a position opposite to the middle planting layer.

[0020] Compared with the prior art, the utility model has achieved the following beneficial technical effects:

[0021] The utility model provides a multi-layered red-tray bamboo egg picking robot, in which two parallel guide rails are laid on the ground of a passage, and an electrically driven trolley moves on the guide rails. A rectangular coordinate robot is installed on the trolley, and the robot can move in three directions of XYZ according to a visual sensor, so as to reach any unit of the planting rack; the picker adopts a vacuum suction cup that can be raised and lowered and rotated to suck, twist, lift and transfer the red-tray bamboo eggs that can be picked to a collecting trough, so as to realize the automation and intelligence of 24-hour inspection, picking and placement, and promote the large-scale development of facility agriculture. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the multi-layer red-tray bamboo egg picking robot in the utility model;

[0024] Figure 2 for Figure 1 Side view of

[0025] Figure 3 for Figure 1 A top view of

[0026] In the figure: 1. guide rail; 2. trolley; 3. rectangular coordinate robot; 4. wheel; 5. planting rack; 6. red bamboo egg tray; 7. lifting mechanism; 8. Z module; 9. X module; 10. picking module; 11. collecting trough; 12. car plate; 13. trolley motor; 14. traction wheel; 15. axle; 16. transmission belt; 17. power wheel; 18. column; 19. sliding sleeve; 20. suction cup; 21. camera 1; 22. camera 2; 23. support; 24. support leg; 25. electric control cabinet. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] The utility model aims to provide a multi-layer red-tray bamboo egg picking robot to solve the problems existing in the prior art.

[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] The multi-layer red bamboo egg picking robot 6 in this embodiment is as follows: Figure 1-Figure 3 As shown, it includes a guide rail 1, a trolley 2 and a rectangular coordinate robot 3, the guide rail 1 is laid on the ground of the picking channel along the length direction, the wheels 4 of the trolley 2 are respectively connected to the two guide rails 1 in a rolling manner, and the trolley 2 can move along the guide rail 1 through the drive of the power system; two sets of rectangular coordinate robots 3 are installed on the trolley 2, and the rectangular coordinate robots 3 are respectively used to pick red bamboo eggs 6 on the planting racks 5 on both sides of the picking channel;

[0031] The rectangular coordinate robot 3 includes a Z module 8, an X module 9, a picking module 10, a collecting trough 11 and a visual system. The X module 9 is fixedly connected to the Z module 8, the picking module 10 can slide along the X module 9, and the collecting trough 11 is fixed under the X module 9; the visual system is used to monitor the growth of the red bamboo eggs 6, record the position information, and feed it back to the control system for picking.

[0032] In this specific embodiment, the trolley 2 includes wheels 4, a vehicle board 12 and a power system. The wheels 4 are installed at the bottom of the vehicle board 12 through an axle 15. The power system includes a trolley motor 13, a reducer and a traction wheel 14. The traction wheel 14 is installed on an axle 15, and the traction wheel 14 is connected to a power wheel 17 on the trolley motor 13 through a transmission belt 16. Two columns 18 are fixedly arranged on the top of the vehicle board 12, and a vertical Z module 8 is fixed on each column; a sliding sleeve 19 is slidably connected to the slide rail of each Z module 8, and the Z module 8 is driven by a Z motor arranged at the end. The sliding sleeve 19 of the Z module 8 is connected to the X module 9, and a horizontal sliding sleeve 19 is slidably connected to the slide rail of the X module 9, and the X module 9 is driven by an X motor arranged at the end. The picking module 10 is fixed on the horizontal sliding sleeve of the X module 9 and can slide back and forth along the X module 9; the picking module 10 includes a suction cup 20, a lifting mechanism 7 and a torsion motor, the suction cup 20 is arranged at the bottom of the lifting mechanism 7, the lifting mechanism 7 is used to drive the suction cup 20 to rise and fall, and the torsion motor is arranged at the top of the lifting mechanism 7, and the torsion motor is used to rotate the suction cup 20.

[0033] In this specific embodiment, the red bamboo eggs 6 picked by the picking module 10 are sent to the collecting tank 11 through the X module 9. The collecting tank 11 is located below the X module 9 and can move with the X module 9. The rigid support member 23 is vertically arranged, and multi-layer planting racks 5 are arranged on both sides. A plurality of support legs 24 are arranged under the bottom planting rack 5 to maintain stability.

[0034] In this specific embodiment, the visual system includes camera 1 21 and camera 2 22. Camera 1 21 is installed on the X module 9 to monitor the red-supported bamboo eggs 6 inside the planting rack 5 from the picking channel. Camera 2 22 is installed on the picking module 10 and moves with the picking module 10. Camera 2 22 is used to feedback the exact position of the red-supported bamboo eggs 6.

[0035] In this specific embodiment, an electric control cabinet 25 is also included. The electric control cabinet 25 is installed on the trolley 2 and supported by support rods at a position opposite to the middle planting layer. The electric control cabinet 25 is used to control the operation of the entire device.

[0036] When the multi-layer rack red-supported bamboo egg picking robot of the utility model is in use, outside the planting rack 5, the rectangular coordinate robot 3 drives the X-module 9 to the corresponding height through the Z-module 8, and the rectangular coordinate robot 3 is moved to the place where the picking is required along the automatic guide rail 1 through the trolley 2, and the X-module 9 controls the picking module 10 to the top of the red-supported bamboo egg 6 on the planting layer at the corresponding height to perform the picking operation. During this process, the visual system monitors the growth of the red-supported bamboo egg 6, records the position information, and feeds back to the control system. The vacuum suction cup 20 sucks the red-supported bamboo egg 6 (the rubber suction cup 20 moves downward to press the bamboo egg, and the vacuum pump starts to vacuumize and suck the bamboo egg), and the stem root of the bamboo egg is twisted off by the picking motor (this makes it convenient to lift the suction cup 20, and the stem root does not carry mud), the lifting mechanism 7 lifts the bamboo egg, and then the X-module 9 controls the picking module 10 to return horizontally, and the red-supported bamboo egg 6 is placed in the collecting tank 11. The collecting tank 11 is a long strip of lightweight tank, metal or non-metal material.

[0037] If a description is needed, the X module 9 and Z module 8 involved in this embodiment are both conventional linear modules, and their structural principles are not described in detail.

[0038] The utility model uses specific examples to illustrate the principle and implementation of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A multi-layer red-tray bamboo egg picking robot, characterized in that: It comprises a guide rail, a trolley and a rectangular coordinate robot, wherein the guide rail is laid on the ground of a picking channel along the length direction, the wheels of the trolley are respectively connected to the two guide rails by rolling, and the trolley can move along the guide rails by being driven by a power system; two sets of rectangular coordinate robots are installed on the trolley, and the rectangular coordinate robots are respectively used to pick red bamboo eggs on the planting racks on both sides of the picking channel; The rectangular coordinate robot comprises a Z module, an X module, a picking module, a collecting trough and a visual system, wherein the X module is fixedly connected to the Z module, the picking module can slide along the X module, and the collecting trough is fixed below the X module; the visual system is used to monitor the growth of red bamboo eggs, record position information, and feed back to the control system for picking.

2. The multi-layer red-tray bamboo egg picking robot according to claim 1 is characterized in that: The trolley includes wheels, a vehicle board and a power system. The wheels are installed on the bottom of the vehicle board through an axle. The power system includes a trolley motor, a reducer and a traction wheel. The traction wheel is installed on one of the axles and is connected to the power wheel on the trolley motor through a transmission belt.

3. The multi-layer red-tray bamboo egg picking robot according to claim 2 is characterized in that: Two columns are fixedly arranged on the top of the vehicle plate, and a vertical Z module is fixed on each of the columns; a sliding sleeve is slidably connected to the slide rail of each Z module, and the Z module is driven by a Z motor arranged at the end.

4. The multi-layer red-tray bamboo egg picking robot according to claim 1, characterized in that: The sliding sleeve of the Z module is connected to the X module, a horizontal sliding sleeve is slidably connected to the sliding rail of the X module, and the X module is driven by an X motor arranged at the end.

5. The multi-layer red-tray bamboo egg picking robot according to claim 4 is characterized in that: The picking module is fixed on the horizontal sliding sleeve of the X module and can slide back and forth along the X module; the picking module includes a suction cup, a lifting mechanism and a torsion motor, the suction cup is arranged at the bottom of the lifting mechanism, the lifting mechanism is used to drive the suction cup to rise and fall, the torsion motor is arranged at the top of the lifting mechanism, and the torsion motor is used to rotate the suction cup.

6. The multi-layer red-tray bamboo egg picking robot according to claim 5, characterized in that: The lifting mechanism is a lifting electric cylinder, and the suction cup is driven to rise and fall through the telescopic rod of the lifting electric cylinder. The torsion motor is arranged on the top of the lifting electric cylinder and is used to control the lifting electric cylinder to drive the suction cup to rotate.

7. The multi-layer red-tray bamboo egg picking robot according to claim 1, characterized in that: The red bamboo eggs picked by the picking module are sent to a collecting tank through the X module. The collecting tank is located below the X module and can move with the X module.

8. The multi-layer red-tray bamboo egg picking robot according to claim 1, characterized in that: The rigid support is arranged vertically, and multi-layer planting racks are arranged on both sides. A plurality of supporting legs are arranged under the bottom planting rack to maintain stability.

9. The multi-layer red-tray bamboo egg picking robot according to claim 1, characterized in that: The visual system includes camera 1 and camera 2. Camera 1 is installed on the X module to monitor the red-supported bamboo eggs inside the planting rack from the picking channel. Camera 2 is installed on the picking module and moves with the picking module. Camera 2 is used to feedback the accurate position of the red-supported bamboo eggs.

10. The multi-layer red-tray bamboo egg picking robot according to claim 1, characterized in that: It also includes an electric control cabinet, which is supported by support rods at a position opposite to the middle planting layer.

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