Intelligent and automatic potted flower and green plant packaging robot

Abstract

The utility model provides an intelligentized automation flower green plant potting packing robot, including the frame, be equipped with the transmission packing mechanism on the frame, the transmission packing mechanism includes arc-shaped mechanical claw subassembly, drive motor and transmission subassembly, arc-shaped mechanical claw subassembly includes first mechanical claw and second mechanical claw that sets up symmetrically, drive motor is equipped with drive motor and transmission subassembly, arc-shaped mechanical claw is equipped with drive motor and transmission subassembly. The transmission packaging mechanism further comprises an electromagnet assembly and a feeding assembly which are arranged on the arc-shaped mechanical claw assembly. An energy driving mechanism is arranged at the upper end of the rack and comprises a solar cell panel arranged at the top of the robot and used for providing electric energy, an image capturing mechanism used for capturing target position information is arranged on one side of a driving motor, a moving mechanism is arranged at the lower end of the rack, and a cutting and binding mechanism is arranged at the opening and closing end of the arc-shaped mechanical claw assembly. The robot further comprises a sensing mechanism. According to the intelligent and automatic flower and green plant potting packaging robot, the packaging target can be automatically locked, and the automatic packaging function is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation equipment, especially to an intelligent automatic flower and green plant potting packaging robot. BACKGROUND

[0002] With the improvement of social productivity and the upgrading of life quality, flower and green plant potting is becoming a new favorite of home decoration, which not only adds natural charm, but also purifies air, relieves mood and creates a quiet atmosphere. Green decoration adds color to modern life and conveys hope. The market demand is strong, the sales are rising, and the prospects are promising. However, during long-distance transportation, green plants are easily damaged. Therefore, it is necessary to carefully package each green plant and each potting before delivery to ensure safe delivery.

[0003] In the article "Development and Test of Automatic Packaging Machine for Potted Flowers" published in Agricultural Engineering Technology: Greenhouse Horticulture, No. 9, 2014, pp. 32-34, a packaging device is proposed, which relies on a suction cup to hold the plastic packaging film and then allows the potted flowers to fall freely into it. The working method of the packaging device proposed in the article "Development of Potted Flower Packaging Machine" published in Modern Agricultural Equipment, No. 6, 2014, pp. 41-45, is also this type of technical solution. This type of technical solution has the defects of easy falling of the packaging target and difficulty in moving the packaging device.

[0004] Currently, due to the large floor area of existing technology machines, the packaging of flower and green plant potting on the market is still manually wrapped with packaging materials, which is tedious and time-consuming, and requires the operator to work for a long time in a bent position, which poses a great challenge to the lumbar disc and knee joint. CONTENT OF THE UTILITY MODEL

[0005] In view of the deficiencies of the prior art, the purpose of the utility model is to provide an intelligent automatic flower and green plant potting packaging robot, which aims to solve the technical problems in the background art.

[0006] In order to achieve the above object, the utility model is through the following technical scheme to realize: a kind of intelligent automation flower greenery potted packaging robot, including rack, transmission packaging mechanism is equipped on the rack, the transmission packaging mechanism includes arc mechanical claw assembly and the drive motor for driving the arc mechanical claw assembly opening and closing of the arc mechanical claw assembly upper end, and the transmission assembly for connecting the arc mechanical claw assembly and the drive motor, the arc mechanical claw assembly includes the first mechanical claw and the second mechanical claw of symmetrical arrangement, the transmission packaging mechanism further includes electromagnet assembly being arranged on the arc mechanical claw assembly and the feeding assembly for transporting packaging material;The energy source driving mechanism is equipped on the rack upper end, the energy source driving mechanism includes solar cell panel being arranged on the top of the robot for providing electric energy, the drive motor side is equipped with the image capture mechanism for capturing target position information, the rack lower end is equipped with moving mechanism, the opening and closing end of the arc mechanical claw assembly is equipped with cutting and binding mechanism, and the intelligent automation flower greenery potted packaging robot further includes sensing mechanism.

[0007] Compared with prior art, the utility model has the advantages that: by setting packaging machine into small robot type, image capture mechanism and sensing mechanism are arranged on robot, so that robot can automatically find packaging target like human, and moving mechanism is installed at the bottom of robot, so that robot automatically moves to packaging target to carry out packaging work, thereby reducing manual operation cost and improving operation efficiency.

[0008] According to an aspect of the above technical solution, the rack is further provided with an appearance protection mechanism, and the appearance protection mechanism includes an ABS protection plate wrapped around the outer surface of the robot.

[0009] According to an aspect of the above technical solution, the energy source driving mechanism further includes a connecting bolt connected between the solar cell panel and the rack.

[0010] According to an aspect of the above technical solution, the image capture mechanism includes a miniature camera and a connecting hinge for fixing the miniature camera.

[0011] According to an aspect of the above technical solution, the moving mechanism includes four Mecanum wheels arranged at the bottom of the rack and two universal wheels connected to the lower end of the arc mechanical claw assembly.

[0012] According to an aspect of the above technical solution, the transmission assembly includes two shafts and a shaft coupling arranged between the shafts and the drive motor, and the two shafts are respectively connected to one end of the first mechanical claw and the second mechanical claw.

[0013] According to an aspect of the above technical solution, the feeding assembly comprises a first feeding motor, a second feeding motor, a third feeding motor, a fourth feeding motor, a guide plate, a guide aluminum profile and a guide clamp plate; the first feeding motor and the second feeding motor are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly, the third feeding motor and the fourth feeding motor are arranged at one end of the rack close to the transmission assembly, the guide plate is arranged between the first feeding motor and the third feeding motor, and the guide aluminum profile and the guide clamp plate are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly.

[0014] According to an aspect of the above technical solution, the cutting and binding mechanism comprises a group of heat sealing dies arranged at the front end of the arc-shaped mechanical claw assembly; the heat sealing die comprises a heat sealing blade and a heat sealing die groove arranged respectively at the first mechanical claw and the second mechanical claw, the heat sealing die groove is provided with a heating resistance wire, and the heat sealing blade and the heat sealing die groove are matched to cut and bind the packaging material.

[0015] According to an aspect of the above technical solution, the electromagnet assembly comprises a closing electromagnet arranged at the upper end of the arc-shaped mechanical claw assembly and used for closing the first mechanical claw and the second mechanical claw, and a clamp electromagnet used for clamping the packaging material, and the clamp electromagnet is provided with three groups of electromagnets.

[0016] According to an aspect of the above technical solution, the sensing mechanism comprises a laser sensor used for accurately positioning the packaging target position, an optical coupling sensor used for sensing whether the packaging material reaches the specified position, and a mechanical sensor used for detecting the tightening degree of the packaging material; the laser sensor is arranged below the rack; the optical coupling sensor is located at the front end of the arc-shaped mechanical claw assembly; and the mechanical sensor is arranged on the transmission packaging mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole schematic view of the packaging robot in an embodiment of the utility model;

[0018] Figure 2 It is a structure schematic view of the appearance removing mechanism of the packaging robot in an embodiment of the utility model;

[0019] Figure 3 It is a structure schematic view of the energy driving mechanism of the packaging robot in an embodiment of the utility model;

[0020] Figure 4 It is a structure schematic view of the image capturing mechanism of the packaging robot in an embodiment of the utility model;

[0021] Figure 5 It is a structure schematic view of the feeding assembly in the transmission packaging mechanism of the packaging robot in an embodiment of the utility model;

[0022] Figure 6 It is the structural schematic view of the transmission packaging mechanism of the packaging robot in an embodiment of the utility model;

[0023] Figure 7 It is the side schematic view of the first arc mechanical claw front end of the packaging robot in an embodiment of the utility model;

[0024] Figure 8 It is the side schematic view of the second arc mechanical claw front end of the packaging robot in an embodiment of the utility model;

[0025] Figure 9 It is the structural schematic view of the bottom end of the packaging robot in an embodiment of the utility model;

[0026] Figure 10 It is the plan view of the cutting and binding mechanism of the packaging robot in an embodiment of the utility model;

[0027] Main element symbol explanation:

[0028] 1, appearance protection mechanism;

[0029] 2, energy driving mechanism;21, solar cell panel;22, connecting bolt;

[0030] 3, image capture mechanism;31, miniature camera;32, connecting hinge;

[0031] 4, moving mechanism;41, universal wheel;42, Mecanum wheel;

[0032] 5, transmission packaging mechanism;51, drive motor;52, transmission assembly;521, rotating shaft;522, shaft coupling;53, arc mechanical claw assembly;531, first mechanical claw;532, second mechanical claw;54, electromagnet assembly;541, folding electromagnet;542, clamp electromagnet;55, feeding assembly;551, first feeding motor;552, second feeding motor;553, third feeding motor;554, fourth feeding motor;555, guide plate;556, guide aluminum profile;557, guide clamp plate;

[0033] 6, rack;

[0034] 7, cutting and binding mechanism;71, heat sealing blade;72, heat sealing knife groove;73, heating resistance wire;

[0035] 81, optocoupler sensor;82, laser sensor;

[0036] The following specific embodiments will further illustrate the utility model in conjunction with the above-mentioned drawings. Specific embodiments

[0037] For the purpose of facilitating the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The drawings show several embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] Referring to Figures 1 to 10 The intelligent automatic flower and green plant potting packaging robot provided by an embodiment of the present application comprises a rack 6, a transmission packaging mechanism 5 is arranged on the rack 6, the transmission packaging mechanism 5 comprises an arc-shaped mechanical claw assembly 53, a driving motor 51 arranged at the upper end of the arc-shaped mechanical claw assembly 53 and used for driving the arc-shaped mechanical claw assembly 53 to open and close, and a transmission assembly 52 used for connecting the arc-shaped mechanical claw assembly 53 and the driving motor 51, the arc-shaped mechanical claw assembly 53 comprises a first mechanical claw 531 and a second mechanical claw 532 arranged symmetrically, the transmission packaging mechanism 5 further comprises an electromagnet assembly 54 arranged on the arc-shaped mechanical claw assembly 53 and a feeding assembly 55 used for transporting packaging materials, an appearance protection mechanism 2 is arranged at the upper end of the rack 6, the appearance protection mechanism 2 comprises a solar panel 21 arranged at the top of the robot and used for providing electric energy, an image capturing mechanism 3 for capturing target position information is arranged on one side of the driving motor 51, a moving mechanism 4 is arranged at the lower end of the rack 6, a cutting and binding mechanism 7 is arranged at the opening and closing end of the arc-shaped mechanical claw assembly 53, and the intelligent automatic flower and green plant potting packaging robot further comprises a sensing mechanism.

[0041] Further, the rack 6 is further provided with an appearance protection mechanism 1, and the appearance protection mechanism 1 comprises an ABS protection plate wrapped outside the robot.

[0042] Referring toFigure 3 In the present embodiment, the appearance protection mechanism 2 further comprises a connecting bolt 22 connected between the solar panel 21 and the frame 6, by which the solar panel 21 is connected with the frame 6, facilitating the dismounting, maintenance and angle adjustment of the solar panel 21.

[0043] Referring to Figure 4 Further, the image capturing mechanism 3 comprises a micro camera 31 and a connecting hinge 32 for fixing the micro camera 31.

[0044] In the present embodiment, the robot comprises a sensing mechanism, which comprises a laser sensor 82 cooperating with the image capturing mechanism 3 to realize target positioning; specifically, the sensing mechanism comprises a laser sensor 82 for accurately positioning the position of a packaging target, a photo-coupler sensor 81 for sensing whether the packaging material reaches the designated position, and a mechanical sensor for detecting the tightness of the packaging material; the laser sensor 82 is arranged below the frame 6; the photo-coupler sensor 81 is located at the front end of the arc-shaped mechanical claw assembly 53; and the mechanical sensor is arranged on the transmission packaging mechanism 5.

[0045] Working principle:

[0046] When the image capture mechanism 3 captures the packaging target, the moving mechanism 4 works to drive the machine to the packaging target. It is to be noted that a Mecanum wheel 42 is arranged at the lower end of the frame 6 to ensure flexible movement of the robot. In order to prevent the robot from tilting forward due to unstable center of gravity during movement, or being stuck when the arc-shaped mechanical claw assembly 53 contacts the ground when passing over a pit, two universal wheels 41 are arranged at the lower end of the arc-shaped mechanical claw assembly 53. Specifically, the moving mechanism 4 comprises four Mecanum wheels 42 arranged at the bottom of the frame 6, and two universal wheels 41 connected to the lower end of the arc-shaped mechanical claw assembly 53. The machine stops at the specified position under the joint action of the laser sensor 82, and at this time the arc-shaped mechanical claw assembly 53 in the transmission packaging mechanism 5 is in the folded state under the action of the attraction of the power-on folding electromagnet 541. Then the third feeding motor 553 and the fourth feeding motor 554 in the feeding assembly 55 transmit the packaging material carried by the loading rod to the guide plate 5501, and then the first feeding motor 551 and the second feeding motor 552 transmit the packaging material through the gap between the guide aluminum profile 5502 and the guide clamp plate 5503 to the clamp electromagnet 542 arranged at the front end of the second mechanical claw 532. When the photoelectric sensor 81 senses that the packaging material reaches the specified position, the clamp electromagnet 542 is powered on to close and clamp the packaging material, the folding electromagnet 541 is powered off to release the folding state, and the driving motor 51 drives the arc-shaped mechanical claw assembly 53 to open. Under the clamping action of the clamp electromagnet 542, the packaging material forms a packaging surface as the arc-shaped mechanical claw assembly 53 opens. Then the robot advances towards the packaging target. During the packaging process, the arc-shaped mechanical claw assembly 53 is folded according to the curvature of the packaging target, and the packaging surface naturally adheres to the packaging target as the arc-shaped mechanical claw assembly 53 is folded. It is to be noted that a mechanical sensor is arranged on the transmission packaging mechanism 5 to prevent damage to the packaging target during packaging. After the adhering is completed, the folding electromagnet 541 is powered on again to maintain the folding state, and then the cutting and binding mechanism 7 is powered on and heated to complete high-temperature cutting and binding adhesion. Specifically, the cutting and binding mechanism 7 comprises a group of heat sealing modules arranged at the front end of the arc-shaped mechanical claw assembly 53. The heat sealing module comprises a heat sealing blade 71 and a heat sealing groove 72 arranged at the first mechanical claw 531 and the second mechanical claw 532 respectively, and a heating resistance wire 73 is arranged in the heat sealing groove 72. The heat sealing blade 71 and the heat sealing groove 72 cooperate to cut and bind the packaging material. After the packaging is completed, the folding electromagnet 541 is powered off again to release the folding state, the arc-shaped mechanical claw is opened, and the robot moves away from the packaging target. At the same time, the image capture mechanism 3 captures the next packaging target, and the process is repeated until the packaging task is completed.

[0047] Referring to Figure 5Specifically, the feeding assembly 55 comprises a first feeding motor 551, a second feeding motor 552, a third feeding motor 553, a fourth feeding motor 554, a guide plate 5501, a guide aluminum profile 5502 and a guide clamping plate 5503; the first feeding motor 551 and the second feeding motor 552 are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly 53, the third feeding motor 553 and the fourth feeding motor 554 are arranged at one end of the rack 6 close to the transmission assembly 52, the guide plate 5501 is arranged between the first feeding motor 551 and the third feeding motor 553, and the guide aluminum profile 5502 and the guide clamping plate 5503 are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly 53.

[0048] Referring to Figures 6 to 8 In the embodiment, the electromagnet assembly 54 comprises a closing electromagnet 541 arranged at the upper end of the arc-shaped mechanical claw assembly 53 for closing the first mechanical claw 531 and the second mechanical claw 532, and a clamp electromagnet 542 for clamping the packaging material, the clamp electromagnet 542 is provided with three groups of electromagnets, so that the force for clamping the packaging material is larger and the clamping is more flat.

[0049] Referring to Figure 6 The driving motor 51 drives the transmission assembly 52, thereby driving the arc-shaped mechanical claw assembly 53 connected with the transmission assembly 52 to open and close, in order to prevent the first mechanical claw 531 and the second mechanical claw 532 of the arc-shaped mechanical claw assembly 53 from being deformed or damaged due to the excessive torque of the driving motor 51 when the first mechanical claw 531 and the second mechanical claw 532 are completely closed and completely opened, a shaft coupling 522 is arranged between the driving motor 51 and the rotating shaft 521 for buffering and overload protection; preferably, the transmission assembly 52 comprises two rotating shafts 521 and the shaft coupling 522 arranged between the rotating shafts 521 and the driving motor 51, and the two rotating shafts 521 are connected to one end of the first mechanical claw 531 and the second mechanical claw 532 respectively.

[0050] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0051] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but cannot be understood as the limitation of the scope of the present application. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An intelligent automated flower and plant potting packaging robot, characterized in that, The machine frame is provided with a transmission packaging mechanism, which comprises an arc-shaped mechanical claw assembly, a driving motor arranged at the upper end of the arc-shaped mechanical claw assembly for driving the arc-shaped mechanical claw assembly to open and close, and a transmission assembly for connecting the arc-shaped mechanical claw assembly and the driving motor, the arc-shaped mechanical claw assembly comprises a first mechanical claw and a second mechanical claw arranged symmetrically, the transmission packaging mechanism further comprises an electromagnet assembly arranged on the arc-shaped mechanical claw assembly and a feeding assembly for transporting packaging materials; the upper end of the machine frame is provided with an energy driving mechanism, the energy driving mechanism comprises a solar panel arranged at the top of the robot for providing electric energy, one side of the driving motor is provided with an image capturing mechanism for capturing target position information, the lower end of the machine frame is provided with a moving mechanism, the opening and closing end of the arc-shaped mechanical claw assembly is provided with a cutting and binding mechanism, and the intelligent automatic flower and green plant pot packaging robot further comprises a sensing mechanism.

2. The intelligent and automated flower and plant potting packaging robot according to claim 1, characterized in that, The machine frame is further provided with an appearance protection mechanism, which comprises an ABS protection plate wrapped outside the robot.

3. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The energy driving mechanism further comprises a connecting bolt connected between the solar panel and the machine frame.

4. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The image capturing mechanism comprises a miniature camera and a connecting hinge for fixing the miniature camera.

5. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The moving mechanism comprises four Mecanum wheels arranged at the bottom of the machine frame and two universal wheels connected to the lower end of the arc-shaped mechanical claw assembly.

6. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The transmission assembly comprises two rotating shafts and a shaft coupling arranged between the rotating shafts and the driving motor, and the two rotating shafts are respectively connected to one end of the first mechanical claw and the second mechanical claw.

7. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The feeding assembly comprises a first feeding motor, a second feeding motor, a third feeding motor, a fourth feeding motor, a guide plate, a guide aluminum profile and a guide clamp plate; the first feeding motor and the second feeding motor are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly, the third feeding motor and the fourth feeding motor are arranged at one end of the machine frame close to the transmission assembly, the guide plate is arranged between the first feeding motor and the third feeding motor, and the guide aluminum profile and the guide clamp plate are arranged close to the opening and closing end of the arc-shaped mechanical claw assembly.

8. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The cutting and binding mechanism comprises a group of heat sealing dies arranged at the front end of the arc-shaped mechanical claw assembly; the heat sealing die comprises a heat sealing blade and a heat sealing groove arranged respectively on the first mechanical claw and the second mechanical claw, a heating resistance wire is arranged in the heat sealing groove, and the heat sealing blade and the heat sealing groove cooperate to cut and bind and adhere the packaging materials.

9. The intelligent and automated flower and plant pot packaging robot according to claim 1, characterized in that, The electromagnet assembly comprises a closing electromagnet arranged at the upper end of the arc-shaped mechanical claw assembly for closing the first mechanical claw and the second mechanical claw, and a clamp electromagnet for clamping the packaging materials, and the clamp electromagnet is provided with three groups of electromagnets.

10. The intelligent and automated flower and plant pot packaging robot according to claim 9, characterized in that, The sensing mechanism comprises a laser sensor for accurately positioning the target position of the package, an optical coupling sensor for sensing whether the packaging material reaches the specified position, and a mechanical sensor for detecting the degree of tightening of the packaging material; the laser sensor is arranged below the frame; the optical coupling sensor is located at the front end of the arc-shaped mechanical claw assembly; and the mechanical sensor is arranged on the transmission packaging mechanism.

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