Material frame transfer device and picking robot

Abstract

The utility model provides a kind of material frame flow transfer device and picking robot, including top transplanting mechanism, middle material frame storage box, bottom transmission mechanism and three jacking mechanisms;Wherein, middle material frame storage box includes empty material frame stacking and full material frame stacking, each stacking is provided with blocking frame mechanism;Bottom transmission mechanism includes conveying belt group, first jacking mechanism, second jacking mechanism and third jacking mechanism are respectively located between each parallelly arranged conveying belt of conveying belt group. Through the material frame flow transfer device and picking robot of the utility model, the conveying belt group of bottom transmission mechanism high-beat transmission each material frame, not only picking efficiency is high, but also can reduce installation and maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of agricultural intelligent technology equipment, specifically to a material frame transfer device and a harvesting robot. Background Technology

[0002] With the rapid development of new agricultural production models and automated control technologies, the yield of fruits and vegetables has increased significantly year by year. Intelligent agricultural material frame transfer device technology enables autonomous harvesting operations in orchards by installing robotic arms and end-of-line harvesting actuators.

[0003] In existing technologies, automation technology for material frame transfer devices is employed to reduce reliance on manual labor. For example, Chinese utility model patent No. 202411736813.7 discloses a harvesting robot that performs harvesting operations using an automated material frame transfer device. However, this robot uses specially designed moving pallets and tracks to transfer and transport material frames, which is not only costly and complex to maintain, but also requires high precision to receive each material frame at various locations using the moving pallets. Intelligent automated harvesting operations require the harvesting robot to complete frame picking, delivery, retrieval, and stacking within short intervals of continuous operation. The motion accuracy and speed of its material frame transfer actuator, as well as its coordinated control with the host platform, constitute the main technical challenges, severely affecting the degree of automation and harvesting efficiency. Utility Model Content

[0004] This utility model is proposed in view of the above-mentioned technical problems, and provides a material frame transfer device and a picking robot, which can efficiently execute the transfer of material frames during the picking operation, effectively improve the conveying cycle time, reduce the installation and maintenance costs of the device, and improve the practicality of the picking robot.

[0005] According to a first aspect of the present invention, a material frame transfer device is provided, which includes a top transfer mechanism, a middle material frame storage box, a bottom transmission mechanism, a first lifting mechanism, a second lifting mechanism, and a third lifting mechanism.

[0006] The central material frame storage box includes empty material frame stacking and full material frame stacking. The empty material frame stacking is provided with a first baffle mechanism, and the full material frame stacking is provided with a second baffle mechanism.

[0007] The first lifting mechanism is located below one side of the full material frame stacking, the second lifting mechanism is located directly below the full material frame stacking, and the third lifting mechanism is located directly below the empty material frame stacking on the other side of the full material frame stacking.

[0008] The bottom transmission mechanism includes a conveyor belt assembly, with the first lifting mechanism, the second lifting mechanism, and the third lifting mechanism located between the parallel conveyor belts of the conveyor belt assembly.

[0009] According to a second aspect of the present invention, a material frame transfer device as described in the first aspect is provided, wherein the conveyor belt assembly includes a first conveying section and a second conveying section, the first conveying section includes a first conveyor belt and a second conveyor belt, the first conveyor belt and the second conveyor belt being arranged in parallel; the second conveying section includes a third conveyor belt and a fourth conveyor belt, the third conveyor belt and the fourth conveyor belt being arranged in parallel.

[0010] According to a third aspect of the present invention, a material frame transfer device as described in the first aspect is provided, wherein the conveyor belt assembly includes a fifth conveyor belt and a sixth conveyor belt, the fifth conveyor belt and the sixth conveyor belt being arranged in parallel.

[0011] According to a fourth aspect of the present invention, a material frame transfer device as described in the first aspect is provided, wherein the top transfer mechanism includes a movable belt module and a movable clamp, the movable clamp being disposed below the movable belt module, the movable clamp including a first motor, a first gripper and a second gripper, the output shaft of the first motor being connected to a first gear, the first gear meshing with a first rack and a second rack respectively, the first rack being connected to the first gripper via a connecting plate, and the second rack being connected to the second gripper via a connecting plate.

[0012] According to a fifth aspect of the present invention, a material frame transfer device as described in the first aspect is provided, wherein the first baffle mechanism includes a second motor, a first baffle and a second baffle, the first baffle is provided with a first protruding edge at the middle, the second baffle is provided with a second protruding edge at the middle, and the second motor drives the first baffle and the second baffle to move towards each other or away from each other.

[0013] According to a sixth aspect of the present invention, a material frame transfer device as described in the first aspect is provided, wherein the first lifting mechanism includes a lifting platform, a base and a third motor, the motor is connected to a lead screw, and a first slide rail and a second slide rail are arranged parallel to each other on both sides of the lead screw, wherein the lifting platform and the base are connected by a movable four-bar cross structure.

[0014] According to a seventh aspect of the present invention, a material frame transfer device as described in the sixth aspect is provided, wherein a first baffle and a second baffle are provided on the lifting platform of the first lifting mechanism.

[0015] According to an eighth aspect of the present invention, a harvesting robot is provided, comprising a control device, a moving device, a vision device, a harvesting execution device, and a material frame transfer device as described in any one of the first to seventh aspects; wherein the first lifting mechanism is located below the harvesting execution device.

[0016] The beneficial effects of this utility model are as follows: the material frame transfer device quickly receives each material frame from the middle material frame storage box through the conveyor belt group of the bottom transmission mechanism, and transports them back and forth at a high pace, which not only improves the automation level and practicality of the overall equipment, but also effectively reduces the overall cost.

[0017] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be adopted.

[0018] It should be understood that the embodiments of this utility model are not limited thereto. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0019] The accompanying drawings, which form part of the specification, are provided to further understand the present invention and illustrate preferred embodiments of the present invention. Together with the text description, they serve to explain the principles of the present invention, wherein the same reference numerals are used to denote the same elements throughout.

[0020] In the attached diagram:

[0021] Figure 1 This is a schematic diagram of a preferred embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the bottom transmission mechanism in a preferred embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the top transplanting mechanism in a preferred embodiment of the present invention;

[0024] Figure 4 yes Figure 2 A close-up view of the moving fixture from below;

[0025] Figure 5 This is a schematic diagram of the material frame stopping mechanism in a preferred embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the lifting mechanism in a preferred embodiment of the present invention;

[0027] Figure 7This is a schematic diagram of the structure of the harvesting robot equipped with a material frame transfer device according to this utility model. Detailed Implementation

[0028] Referring to the accompanying drawings, the foregoing and other features of this utility model will become apparent from the following description. Specific embodiments of this utility model are specifically disclosed in the description and drawings, illustrating some implementations in which the principles of this utility model can be adopted. It should be understood that this utility model is not limited to the described embodiments.

[0029] This utility model provides a material frame transfer device. Figure 1 This is a schematic diagram of a preferred embodiment of the material frame transfer device of this utility model; as shown Figure 1 As shown, the material frame transfer device includes a top transplanting mechanism 1, a middle material frame storage box 2, a bottom conveying mechanism 3, a first lifting mechanism 01, a second lifting mechanism 02, and a third lifting mechanism 03. The middle material frame storage box 2 includes a full material frame stack 21 and an empty material frame stack 22, arranged side-by-side. Initially, the full material frame stack 21 is filled with material frames from top to bottom (example labeled material frame 001), and the empty material frame stack 22 is filled with material frames from top to bottom (example labeled material frame 002). Stack 21 is equipped with a first baffle mechanism 211, and empty material frame stack 22 is equipped with a second baffle mechanism 221. A first lifting mechanism 01 is located below one side of the full material frame stack 21, a second lifting mechanism 02 is located directly below the full material frame stack 21, and a third lifting mechanism 03 is located directly below the empty material frame stack 22 on the other side of the full material frame stack 21. The bottom conveying mechanism 3 includes a conveyor belt assembly, wherein the first lifting mechanism 01, the second lifting mechanism 02, and the third lifting mechanism 03 are respectively located between the parallel conveyor belts of the conveyor belt assembly. Thus, as needed, each lifting mechanism operates in its respective position to receive a material frame or lift it.

[0030] Figure 2 This is a schematic diagram of the bottom transmission mechanism in a preferred embodiment of the present invention. Referring to the preferred embodiment of the present invention... Figure 2 The bottom conveying mechanism 3 includes a first conveying section 31 and a second conveying section 32. The first conveying section 31 is located below the empty material frame stack 22 and is used to receive each empty material frame falling from the empty material frame stack 22 and convey it to the second conveying section 32. The second conveying section 32 is adjacent to the first conveying section 31, located below the full material frame stack 21 and continues to extend away from the first conveying section 31 to the receiving position. It is used to receive each empty material frame conveyed by the first conveying section 31 and convey it to the receiving position, or convey each full material frame at the receiving position to the bottom of the full material frame stack 21.

[0031] The first conveying unit 31 includes a first conveyor belt 311 and a second conveyor belt 312. The first conveyor belt 311 and the second conveyor belt 312 are arranged in parallel to jointly carry the material frame for circulation and conveying. For example, the first conveyor belt 31 carries one end of the material frame 003 falling from the empty material frame stack 22, and the second conveyor belt carries the other end of the material frame 003. Specifically, the first conveyor belt 311 is mounted on one side by being sleeved on the first rotating wheel 313 and the second rotating wheel 314, and the second conveyor belt 312 is mounted on the other side by being sleeved on the third rotating wheel 315 and the fourth rotating wheel 316. A first rotating shaft is fixedly connected between the first rotating wheel 313 and the third rotating wheel 315. A first driven wheel is mounted on the first rotating shaft, and the first driven wheel is connected to the first driving wheel on the rotating shaft of the first drive motor 317 through a first transmission belt. The third lifting mechanism 03 is located between the first conveyor belt 311 and the second conveyor belt 312. Therefore, when the first drive motor 317 rotates, the first conveyor belt 311 and the second conveyor belt 312 move synchronously and convey the empty material frames they carry to the second conveying section 32.

[0032] The second conveying unit 32 includes a third conveyor belt 321 and a fourth conveyor belt 322, which are arranged in parallel to jointly carry the material frame for conveying. Specifically, the third conveyor belt 321 is mounted on one side by sleeves on the fifth rotating wheel 323 and the sixth rotating wheel 324, and the fourth conveyor belt 322 is mounted on the other side by sleeves on the seventh rotating wheel 325 and the eighth rotating wheel 326. A second rotating shaft is fixedly connected between the fifth rotating wheel 323 and the seventh rotating wheel 325. A second driven wheel is mounted on the second rotating shaft, and the second driven wheel is connected to the second driving wheel on the rotating shaft of the second drive motor 327 via a second transmission belt. The second lifting mechanism 02 is located below the full material frame stacking 21 between the third conveyor belt 321 and the fourth conveyor belt 322, and the first lifting mechanism 01 is located between the third conveyor belt 321 and the fourth conveyor belt 322 on the side of the full material frame stacking 21 away from the empty material frame stacking 22. Therefore, when the second drive motor 327 rotates in both directions, the third conveyor belt 321 and the fourth conveyor belt 322 move synchronously and transport the empty material frames they carry to the receiving position, or transport the full material frames to the bottom of the full material frame stacking 21. In this preferred embodiment, the conveyor belt group of the bottom conveying mechanism 3 includes a first conveyor belt 311, a second conveyor belt 312, a third conveyor belt 321, and a fourth conveyor belt 322. Through the independent operation of the two motors of the first conveying part 31 and the second conveying part 32, the conveying cycle time can be effectively improved, and the material frame turnover efficiency can be increased.

[0033] Of course, according to another embodiment of the present invention, the conveyor belt group of the bottom conveyor mechanism 3 may only include the fifth conveyor belt and the sixth conveyor belt. The fifth conveyor belt and the sixth conveyor belt are arranged in parallel. The first lifting mechanism 01 is located between the fifth conveyor belt and the sixth conveyor belt at the receiving position. The second lifting mechanism 02 is located between the fifth conveyor belt and the sixth conveyor belt below the full material frame stacking 22. The third lifting mechanism 03 is located between the fifth conveyor belt and the sixth conveyor belt below the empty material frame stacking 21.

[0034] Figure 3 This is a schematic diagram of the top transplanting mechanism in a preferred embodiment of the present invention. Figure 4 yes Figure 2 See the enlarged view of the moving fixture from below. Figure 3 , 4 According to a preferred embodiment of the present invention, the top transplanting mechanism 1 includes a belt module 11 and a moving clamp 12. The belt module 11 is driven by a motor 13 to reciprocate. The moving clamp 12, mounted on a slider below the belt module 11, reciprocates with the belt module 11. The moving clamp 12 grips the top layer of the full material frame stack 21 and transports it to the top layer of the empty material frame stack 22. The moving clamp 12 includes a first motor 121, a first gripper 122, and a second gripper 123. The output shaft of the first motor 122 is connected to a first gear 124. The first gear 124 meshes with a first rack 125 and a second rack 126. The first rack 125 is connected to the first gripper 122 via a connecting plate, and the second rack 126 is connected to the second gripper 123 via a connecting plate. When the first motor 121 drives the first gear 124 to rotate forward and backward, it moves the two racks, thereby clamping or opening the first gripper 122 and the second gripper 123 to grip or place the material frame.

[0035] Figure 5 This is a schematic diagram of the material frame stopping mechanism in a preferred embodiment of the present invention. According to the preferred embodiment of the present invention, the first stop frame mechanism 211 and the second stop frame mechanism 221 have the same structure. See below. Figure 5 Taking the first baffle mechanism 211 as an example, the first baffle mechanism 221 includes a second motor 2211, a first baffle 2212 and a second baffle 2213. The first baffle 2212 is provided with a first protruding edge in the middle, and the second baffle is provided with a second protruding edge in the middle. The second motor 2211 is connected to the first baffle 2212 and the second baffle 2213 respectively through the meshing of gears and racks. When the second motor 2211 rotates forward and backward, it drives the first baffle 2212 and the second baffle 2213 to move towards each other or backward. By inserting or removing the protruding edges on the two baffles into or out of the grooves on both sides of the material frame 004, the function of stopping or releasing each material frame is realized.

[0036] Figure 6This is a schematic diagram of the lifting mechanism in a preferred embodiment of the present invention. According to the preferred embodiment of the present invention, the first lifting mechanism 01, the second lifting mechanism 02, and the third lifting mechanism 03 have the same structure. See below. Figure 6 Taking the first lifting mechanism 01 as an example, the first lifting mechanism 01 includes a lifting platform 011, a base 012, and a third motor 013. The lifting platform 011 and the base 012 have a first connecting rod 014, a second connecting rod 015, and a third connecting rod 016 and a fourth connecting rod (not shown in the figure) arranged in a cross configuration on both sides. The first connecting rod 014, the second connecting rod 015, the third connecting rod 016, and the fourth connecting rod form a movable four-bar cross structure. The third motor 013 is connected to a lead screw 017 through a reducer. The lead screw 017 has a parallel first slide rail 018 and a second slide rail 019 on both sides. The lower ends of the second connecting rod 015 and the fourth connecting rod are connected to the sliders of the first slide rail 018 and the second slide rail 019, respectively. The lower ends of the second connecting rod 015 and the fourth connecting rod are fixedly connected to the lead screw 017 through a connecting rod 018. The third motor 013 drives the lead screw 017 to rotate, thereby driving the four-bar cross structure to unfold to support the lifting platform 011 to rise. Furthermore, the lifting platform 011 of the first lifting mechanism 01 is equipped with a first baffle 0111 and a second baffle 0112. The two baffles effectively position the material frame at the receiving position.

[0037] See Figure 1In the initial state of the material frame transfer device, one empty material frame is placed on the conveyor belt below the first lifting mechanism 01 at the receiving position and the empty material frame stack 22. Ten empty material frames are stacked on the full material frame stack 21 and the empty material frame stack 22. When the empty material frames at the receiving position of the first lifting mechanism 01 are full, the first lifting mechanism 01 descends, and the bottom transmission mechanism 3 transports the full material frame to the area below the full material frame stack 21. The second lifting mechanism 02 then lifts the material frame. After lifting to a certain height, the first baffle 2 of the first baffle mechanism 211... 212 and the second baffle 2213 open, the second lifting mechanism 02 lifts all the upper material frames. When the bottom full material frame exceeds the baffle, the moving clamp 12 of the top transfer mechanism 1 and the baffle of the first baffle mechanism 211 close simultaneously. The second lifting mechanism 02 descends, and the top transfer mechanism 1 clamps the top material frame of the full material frame stack 21. The 10 material frames stacked below are then stacked on top of the full material frame stack 21. When the second lifting mechanism 02 descends to below the conveyor belt of the bottom transmission mechanism 3, the bottom transmission mechanism 3... The empty material frames below the empty material frame stack 22 are conveyed to the receiving position. The first lifting mechanism 01 lifts the empty material frames to a preset position to continue the receiving operation. During the receiving operation, the top transfer mechanism 1 moves the top empty material frames of the full material frame stack 21 to above the empty material frame stack 22. The third lifting mechanism 03 lifts, first contacting the stacked material frames supported by the second baffle mechanism 221, and then continues to lift 10 material frames to contact the empty material frames gripped by the top transfer mechanism. The lifting continues until the top transfer mechanism 1 grips the empty material frames. After the material frame is disengaged from the gripper of the moving clamp, the moving clamp 12 of the top transfer mechanism 1 and the baffle of the second baffle mechanism 221 open, and the third lifting mechanism 03 descends. When the bottom material frame on the third lifting mechanism 03 is lower than the baffle of the second baffle mechanism 221, the two baffles of the second baffle mechanism 221 close to stop all the material frames above. The third lifting mechanism 03 continues to descend, stopping the bottom material frame on the conveyor belt of the bottom transmission mechanism 3, waiting for the empty material frame at the receiving position to be filled with material, and then entering the next action cycle.

[0038] This utility model also provides a harvesting robot. Figure 7 This is a schematic diagram of the structure of the harvesting robot equipped with a material frame transfer device according to this utility model. (See attached diagram) Figure 7 The harvesting robot includes a control device 4, a moving device 5, a vision device 6, a harvesting execution device 7, and the aforementioned material frame transfer device. The first lifting mechanism 01 is located below the harvesting execution device 7. The harvesting execution device 7 performs the harvesting operation, placing the harvested fruits one by one into the empty material frame located at the receiving position on the first lifting mechanism 01. After the empty material frame is full, the material frame transfer device transports the full material frame away and returns it to another empty material frame to the receiving position so that the subsequent harvesting operation can continue.

[0039] Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments become apparent from this detailed description. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of the present invention are not intended to be limited to the precise structures and operations illustrated and described.

Claims

1. A material frame transfer device, characterized in that, The material frame transfer device includes a top transplanting mechanism, a middle material frame storage box, a bottom conveying mechanism, a first lifting mechanism, a second lifting mechanism, and a third lifting mechanism; The central material frame storage box includes empty material frame stacking and full material frame stacking. The empty material frame stacking is provided with a first baffle mechanism, and the full material frame stacking is provided with a second baffle mechanism. The first lifting mechanism is located below one side of the full material frame stacking, the second lifting mechanism is located directly below the full material frame stacking, and the third lifting mechanism is located directly below the empty material frame stacking on the other side of the full material frame stacking. The bottom transmission mechanism includes a conveyor belt assembly, with the first lifting mechanism, the second lifting mechanism, and the third lifting mechanism located between the parallel conveyor belts of the conveyor belt assembly.

2. The material frame transfer device according to claim 1, characterized in that, The bottom conveying mechanism includes a first conveying section and a second conveying section. The first conveying section includes a first conveyor belt and a second conveyor belt, which are arranged in parallel. The second conveying section includes a third conveyor belt and a fourth conveyor belt, which are arranged in parallel.

3. The material frame transfer device according to claim 1, characterized in that, The bottom transmission mechanism includes a fifth conveyor belt and a sixth conveyor belt, which are arranged in parallel.

4. The material frame transfer device according to claim 1, characterized in that, The top transplanting mechanism includes a moving belt module and a moving clamp. The moving clamp is located below the moving belt module and includes a first motor, a first gripper, and a second gripper. The output shaft of the first motor is connected to a first gear. The first gear meshes with a first rack and a second rack. The first rack is connected to the first gripper through a connecting plate, and the second rack is connected to the second gripper through a connecting plate.

5. The material frame transfer device according to claim 1, characterized in that, The first baffle mechanism includes a second motor, a first baffle and a second baffle. The first baffle has a first protruding edge in the middle and the second baffle has a second protruding edge in the middle. The second motor drives the first baffle and the second baffle to move towards each other or away from each other.

6. The material frame transfer device according to claim 1, characterized in that, The first lifting mechanism includes a lifting platform, a base, and a third motor. The motor is connected to a lead screw, and a first slide rail and a second slide rail are arranged parallel to each other on both sides of the lead screw. The lifting platform and the base are connected by a movable four-bar cross structure.

7. The material frame transfer device according to claim 6, characterized in that, The first lifting mechanism has a first baffle and a second baffle on its lifting platform.

8. A harvesting robot, characterized in that, The harvesting robot includes a control device, a moving device, a vision device, a harvesting execution device, and a material frame transfer device as described in any one of claims 1-7; wherein the first lifting mechanism is located below the harvesting execution device.

Images