Carrying robot for three-dimensional cultivation frame

Abstract

The utility model discloses a three-dimensional cultivation frame carrying robot which comprises a moving mechanism, a frame body and a push-pull mechanism, the moving mechanism is arranged on the bottom side of the frame body, the push-pull mechanism is arranged on the frame body in a sliding mode, two lifting mechanisms for controlling the push-pull mechanism to ascend and descend are arranged on the frame body, and the push-pull mechanism is provided with a fixing base, a push-pull supporting plate and an annular push-pull assembly. A push-and-pull supporting plate is slidably connected to the fixing base, the annular push-and-pull assembly is slidably connected with the push-and-pull supporting plate, two rotatable rotating push blocks are arranged at the front end of the annular push-and-pull assembly in a mirror image mode, and a camera is arranged at the front end of the fixing base. According to the three-dimensional cultivation frame carrying robot, the annular push-pull assembly and the push-pull supporting plate are designed, the annular push-pull assembly can surround the cultivation frame in the clamping process, the cultivation frame is clamped in a push-pull mode, the acting force on the cultivation frame is reduced, and damage to the cultivation frame is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of handling robot technology, specifically a three-dimensional cultivation rack handling robot. Background Technology

[0002] In agricultural planting and laboratory culture settings, the handling of culture racks is a heavy and repetitive task. Traditional handling methods mainly rely on manual operation or simple mechanical equipment. Manual handling is inefficient, labor-intensive, and prone to damage to the culture racks or injury to personnel due to operational errors. Existing mechanical equipment directly grips individual culture racks during handling, which can easily damage them and is prone to shaking during transport, resulting in insufficient stability. Therefore, developing a three-dimensional culture rack handling robot has become an urgent need to solve the above problems. Utility Model Content

[0003] This invention provides a three-dimensional cultivation rack handling robot, which aims to solve the problems of existing mechanical equipment easily damaging the cultivation rack during clamping and insufficient stability during handling.

[0004] This utility model provides a three-dimensional cultivation rack transport robot, including a moving mechanism, a frame, and a push-pull mechanism. The moving mechanism is located on the bottom side of the frame, and the push-pull mechanism is slidably mounted on the frame. The frame is provided with two lifting mechanisms for controlling the raising and lowering of the push-pull mechanism. The push-pull mechanism is provided with a fixed seat, a push-pull support plate, and an annular push-pull assembly. The push-pull support plate is slidably connected to the fixed seat, and the annular push-pull assembly is slidably connected to the push-pull support plate. Two rotatable rotating push blocks are mirror-imagely arranged at the front end of the annular push-pull assembly, and a camera is provided at the front end of the fixed seat.

[0005] Preferably, the fixed base is provided with two first slide rails, and the first slide rails are provided with first long sliders. The first long sliders are fixed to the bottom side of the push-pull support plate. The fixed base is provided with slide grooves on both sides of the push-pull support plate, and the push-pull support plate is provided with protrusions that match the slide grooves.

[0006] Preferably, the frame is equipped with an ultrasonic obstacle avoidance module, which is located at the front end of the bottom side of the frame.

[0007] Preferably, the frame is provided with four slide bars, and the sliders on the four slide bars are respectively connected to the push-pull mechanism.

[0008] Preferably, the lifting mechanism includes a lifting motor, a first lead screw, and a first sliding block. The lifting motor is driven and connected to the first lead screw, the first sliding block is slidably connected to the first lead screw, and the first sliding block is fixed to a fixed base.

[0009] Preferably, the fixed base is provided with a first telescopic motor, the first telescopic motor is driven and connected to a second lead screw, the second lead screw is provided with a second sliding block, and the second sliding block is fixedly connected to the push-pull support plate.

[0010] Preferably, a second telescopic motor is provided on the push-pull support plate, and the second telescopic motor drives and connects to two synchronous belts. The two sides of the annular push-pull assembly are respectively fixedly connected to the two synchronous belts.

[0011] Preferably, the moving mechanism includes two moving wheels and two moving motors, with the moving motors driving the moving wheels.

[0012] Preferably, the frame is equipped with casters at all four corners of its bottom side.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This utility model provides a three-dimensional culture rack handling robot, which is designed with a ring-shaped push-pull assembly and a push-pull support plate. When gripping, the ring-shaped push-pull assembly can surround the culture rack and grip the culture rack by pushing and pulling, reducing the force on the culture rack and avoiding damage. The push-pull mechanism adopts a double telescopic design. The lifting push-pull mechanism has a large telescopic range, which makes it easy to push the culture rack at a far position onto the push-pull support plate. Moreover, the first telescopic motor and the second telescopic motor can precisely control the telescopic range, improving accuracy and practicality. The fixed base is designed with two slide rails and slide grooves to ensure stable sliding of the push-pull support plate and provide good stability. Attached Figure Description

[0015] Figure 1 This is the overall structural design of the present utility model;

[0016] Figure 2 This is a schematic diagram of the extended push-pull support plate structure of this utility model;

[0017] Figure 3 This is a schematic diagram of the extended structure of the annular push-pull assembly of this utility model;

[0018] Figure 4 This is a schematic diagram of the overall structure of this utility model from another perspective;

[0019] Figure 5 This is a schematic diagram of the push-pull mechanism structure of this utility model;

[0020] Figure 6 This is a schematic diagram of the fixing base structure of this utility model;

[0021] Figure 7 This is a schematic diagram of the fixed base and push-pull support plate structure of this utility model;

[0022] Figure 8 This is a schematic diagram of the push-pull mechanism structure of the push-pull support plate of this utility model;

[0023] Figure 9 This is a schematic diagram of the push-pull mechanism structure when the annular push-pull assembly of this utility model is extended.

[0024] Figure label:

[0025] In the diagram: 1-Frame; 11-Lifting mechanism; 111-Lifting motor; 112-First lead screw; 113-First sliding block; 12-Slide rod; 121-Slider; 13-Ultrasonic obstacle avoidance module; 14-Universal wheel; 2-Push-pull mechanism; 21-Fixed base; 211-First telescopic motor; 212-Second lead screw; 213-Second sliding block; 214-Limit block; 215-First slide rail; 216-First long slider; 217- 22-Slide rail; 221-Inclined surface; 222-Second telescopic motor; 223-Synchronous belt; 224-Second slide rail; 225-Second long slider; 226-Third slide rail; 227-Third sliding block; 228-Protrusion; 23-Annular push-pull assembly; 231-Rotating push block; 232-Push plate; 233-Fixing block; 234-Rotating motor; 24-Camera; 31-Moving motor; 32-Moving wheel. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0027] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9As shown, this embodiment discloses a three-dimensional culture rack handling robot, including a moving mechanism, a frame 1, and a push-pull mechanism 2. The moving mechanism is located on the bottom side of the frame 1, and the push-pull mechanism 2 is slidably mounted on the frame 1. The frame 1 is provided with two lifting mechanisms 11 for controlling the raising and lowering of the push-pull mechanism 2. The push-pull mechanism 2 is provided with a fixed base 21, a push-pull support plate 22, and an annular push-pull assembly 23. The push-pull support plate 22 is slidably connected to the fixed base 21, and the annular push-pull assembly 23 is slidably connected to the push-pull support plate 22. Two rotatable rotating push blocks 231 are mirror-imagely arranged at the front end of the annular push-pull assembly 23, and a camera 24 is provided at the front end of the fixed base 21. The lifting mechanism 11 can flexibly adjust its height to facilitate the gripping and handling of culture racks of different heights, while the push-pull mechanism 2 has a two-stage telescopic structure. The annular push-pull assembly 23 can grip the culture rack that extends deep inside and push the culture rack back onto the push-pull support plate 22.

[0028] Camera 24 captures real-time images of the ground guide line and the position of the cultivation rack, analyzing the position, height, and target handling information of the cultivation rack. An ultrasonic obstacle avoidance module 13 is installed on the frame 1, located at the front bottom side of the frame 1. The ultrasonic obstacle avoidance module 13 monitors the surrounding environment in real time, dynamically detecting obstacles and updating environmental information. When an obstacle is detected, the robot adjusts its speed and direction to bypass the obstacle and return to the guide line.

[0029] The frame 1 is provided with four slide bars 12, and the sliders 121 on the four slide bars 12 are respectively connected to the push-pull mechanism 2.

[0030] The lifting mechanism 11 includes a lifting motor 111, a first lead screw 112, and a first sliding block 113. The lifting motor 111 drives and connects to the first lead screw 112, and the first sliding block 113 is slidably connected to the first lead screw 112. The first sliding block 113 is fixed to the fixed base 21. The two lifting mechanisms 11 are symmetrically arranged on both sides of the push-pull mechanism 2. The lifting motor 111 controls the rotation of the first lead screw 112 to achieve the clamping height of the push-pull mechanism 2, which has good precision.

[0031] The fixed base 21 is equipped with a first telescopic motor 211, which drives a second lead screw 212. A second sliding block 213 is mounted on the second lead screw 212 and is fixedly connected to the push-pull support plate 22. The first telescopic motor 211 controls the extension / retraction of the push-pull support plate 22 by controlling the rotation of the second lead screw 212, thus achieving accurate control of the extension / retraction amount. Specifically, the fixed base 21 is equipped with a limit block 214 located above the second lead screw 212 to prevent the push-pull support plate 22 from detaching. The U-shaped fixing base 21 provides support for the push-pull support plate 22 from the bottom and sides. The fixing base 21 is provided with two first slide rails 215, and the first slide rails 215 are provided with first long sliders 216. The first long sliders 216 are fixed to the bottom side of the push-pull support plate 22. The fixing base 21 is provided with slide grooves 217 on both sides of the push-pull support plate 22. The push-pull support plate 22 is provided with protrusions 228 that match the slide grooves 217. The slide grooves 217 and the protrusions 228 are triangular. The fixing base 21 provides multi-point support through the two first slide rails 215 and the two slide grooves 217, which reduces the vibration of the push-pull support plate 22 when it extends and retracts, and improves the stability of clamping.

[0032] The push-pull support plate 22 is equipped with a second telescopic motor 222, which drives two synchronous belts 223. The two sides of the annular push-pull assembly 23 are fixedly connected to the two synchronous belts 223 respectively, and the annular push-pull assembly 23 is equipped with fixing blocks 233 fixedly connected to the synchronous belts 223. Specifically, the push-pull support plate 22 has second slide rails 224 on both sides, and second long sliders 225 are provided on the second slide rails 224. The two sides of the annular push-pull assembly 23 are fixedly connected to the two second long sliders 225 respectively. The middle of the push-pull support plate 22 has a third slide rail 226, and the third slide rail 226 is equipped with a third sliding block 227, which is fixedly connected to the annular push-pull assembly 23. The push-pull support plate 22 uses three sliding structures to make the annular push-pull assembly 23 slide, while the second telescopic motor 222 controls the forward and reverse rotation of the two synchronous belts 223 to control the extension and retraction of the annular push-pull assembly 23, which has good precision.

[0033] The annular push-pull assembly 23 has a rectangular structure. A push plate 232 is provided inside the annular push-pull assembly 23. The push plate 232 is located above and in the center of the push-pull support plate 22. When placing the culture rack, the push plate 232 can push the culture rack to slowly lower it from the push-pull support plate 22. The front end of the clamping assembly is provided with two rotating motors 234 for rotating the clamping block. The drive shaft of the rotating motor 234 is fixedly connected to the rotating push block 231. The rotating push block 231 is provided with a gear groove. The gear on the drive shaft is embedded in the gear groove, so that the rotating push block 231 rotates synchronously with the drive shaft. During clamping, the rotating motor 234 rotates the rotating push block 231 90 degrees. At this time, the rotating push block 231 is perpendicular to the push-pull support plate 22. The annular push-pull assembly 23 opens to protect the push-pull support plate 22. The annular push-pull assembly 23 extends out. The rotating motor 234 returns the rotating push block 231 to its original position, causing the annular push-pull assembly 23 to close and retract. The front end of the push-pull support plate 22 is a downward inclined surface 221. The rotating push block 231 pushes the cultivation rack from the inclined surface 221 onto the push-pull support plate 22.

[0034] The moving mechanism includes two moving wheels 32 and two moving motors 31. The moving motors 31 drive the moving wheels 32, and the two moving motors 31 can be controlled at different speeds to achieve turning operations. Universal wheels 14 are provided at each of the four corners of the bottom side of the frame 1. The four universal wheels 14 provide good support for the frame 1 and offer good stability when the two moving motors 31 control different speeds to achieve turning operations. The frame of the frame 1 is made of aluminum profile, making the three-dimensional cultivation rack handling robot lightweight and possessing excellent performance.

[0035] The specific operation procedure for handling the cultivation rack is as follows: When moving to the clamping position of the cultivation rack, the camera 24 captures image information in real time. Based on the route planned by the image information, the moving mechanism controls the moving motor 31 to rotate the moving wheel 32, so that the three-dimensional cultivation rack handling robot moves to the designated position. The lifting mechanism 11 controls the lifting motor 111 to rotate the first lead screw 112 based on the image information, raising the push-pull mechanism 2 to the required clamping height. When clamping the cultivation rack, the rotating motor 234 is started to rotate the rotating push block 231 90 degrees. At this time, the rotating push block 231 is perpendicular to the push-pull support plate 22, and the annular push-pull assembly 23 is in the open state. The second telescopic motor 222 is started, and the synchronous belt 223 moves forward simultaneously with the annular push-pull assembly 23. If the distance is insufficient, the first telescopic motor 211 can be started to rotate the second lead screw 212 to extend the support clamping plate and increase the telescopic distance. The rotating push block 231 passes through the outside of both sides of the cultivation rack. The rotating motor 234 returns the rotating push block 231 to its original position, and the annular push-pull assembly 23 is in the closed state. At this time, the cultivation rack is located inside the annular push-pull assembly 23. The second telescopic motor... 222 retracts the annular push-pull assembly 23, and rotates the push block 231 to push the cultivation rack from the inclined plane 221 onto the push-pull support plate 22. After the annular push-pull assembly 23 returns to its original position, the first telescopic motor 211 retracts the push-pull support plate 22, and the lifting motor 111 lowers the push-pull mechanism 2 to reduce the center of gravity and improve stability. When placing the cultivation rack, the moving mechanism moves the three-dimensional cultivation rack transport robot to the cultivation rack placement position, the lifting mechanism 11 raises the push-pull mechanism 2 to the required placement height, and the first telescopic motor 211 is activated to extend the push-pull mechanism 2. Pull the support plate 22 to the placement position, start the second telescopic motor 222 to extend the annular push-pull assembly 23. At this time, the push plate pushes the cultivation rack out from the push-pull support plate 22 to the placement position. After the cultivation rack is fully extended, start the rotation motor 234 to rotate the rotating push block 231 90 degrees, and the annular push-pull assembly 23 is in the open state. Then, the second telescopic motor 222 drives the synchronous belt 223 to retract the annular push-pull assembly 23, and the first telescopic motor 211 drives the second lead screw 212 to retract the push-pull support plate 22, completing one handling process.

[0036] This utility model provides a three-dimensional cultivation rack handling robot, which is designed with a ring-shaped push-pull assembly 23 and a push-pull support plate 22. When gripping, the ring-shaped push-pull assembly 23 can surround the cultivation rack and grip the cultivation rack by pushing and pulling, reducing the force on the cultivation rack and avoiding damage to the cultivation rack. The push-pull mechanism 2 adopts a double telescopic design. The lifting push-pull mechanism 2 has a large telescopic range, which makes it easy to push the cultivation rack at a far position onto the push-pull support plate 22. Moreover, the first telescopic motor 211 and the second telescopic motor 222 can accurately control the telescopic range, improving accuracy and practicality. The fixed base 21 is designed with two slide rails and slide grooves 217 to make the push-pull support plate 22 slide stably, which has good stability.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A stereoscopic cultivation shelf carrying robot comprising a moving mechanism, a shelf body (1) and a push-pull mechanism (2), characterized in that, The moving mechanism is arranged at the bottom side of the frame body (1), the push-pull mechanism (2) is slidingly arranged on the frame body (1), two lifting mechanisms (11) for controlling the lifting of the push-pull mechanism (2) are arranged on the frame body (1), the push-pull mechanism (2) is provided with a fixing base (21), a push-pull support plate (22) and an annular push-pull assembly (23), the push-pull support plate (22) is slidingly connected to the fixing base (21), the annular push-pull assembly (23) is slidingly connected to the push-pull support plate (22), two rotatable rotating push blocks (231) are mirror arranged at the front end of the annular push-pull assembly (23), and a camera (24) is arranged at the front end of the fixing base (21).

2. The stereoscopic cultivation shelf carrying robot according to claim 1, characterized by, Two first sliding rails (215) are arranged on the fixing base (21), a first long sliding block (216) is arranged on the first sliding rail (215), the first long sliding block (216) is fixed to the bottom side of the push-pull support plate (22), a sliding groove (217) is arranged on the fixing base (21) at the two sides of the push-pull support plate (22), and a protrusion (228) matched with the sliding groove (217) is arranged on the push-pull support plate (22).

3. The stereoscopic cultivation shelf carrying robot according to claim 1, characterized by, An ultrasonic obstacle avoidance module (13) is arranged on the frame body (1), and the ultrasonic obstacle avoidance module (13) is located at the front end of the bottom side of the frame body (1).

4. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein, Four sliding rods (12) are arranged on the frame body (1), and sliding blocks (121) on the four sliding rods (12) are connected to the push-pull mechanism (2) respectively.

5. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein, The lifting mechanism (11) comprises a lifting motor (111), a first lead screw (112) and a first sliding block (113), the lifting motor (111) is drivingly connected to the first lead screw (112), and the first sliding block (113) is slidingly connected to the first lead screw (112).

6. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein, A first telescopic motor (211) is arranged on the fixing base (21), the first telescopic motor (211) is drivingly connected with a second lead screw (212), a second sliding block (213) is arranged on the second lead screw (212), and the second sliding block (213) is fixedly connected with the push-pull support plate (22).

7. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein A second telescopic motor (222) is arranged on the push-pull support plate (22), the second telescopic motor (222) is drivingly connected with two synchronous belts (223), and the annular push-pull assembly (23) is fixedly connected with the two synchronous belts (223) respectively.

8. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein, The moving mechanism comprises two moving wheels (32) and two moving motors (31), and the moving motor (31) is drivingly connected with the moving wheel (32).

9. The stereoscopic cultivation shelf carrying robot according to claim 1, wherein, Universal wheels (14) are arranged at the four corners of the bottom side of the frame body (1).

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