CN110921168A - Multi-region logistics robot and platform suitable for three-dimensional cultivation of plant factory and operation method - Google Patents
Multi-region logistics robot and platform suitable for three-dimensional cultivation of plant factory and operation method Download PDFInfo
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- CN110921168A CN110921168A CN201911202452.7A CN201911202452A CN110921168A CN 110921168 A CN110921168 A CN 110921168A CN 201911202452 A CN201911202452 A CN 201911202452A CN 110921168 A CN110921168 A CN 110921168A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Abstract
The invention discloses a multi-region logistics robot, a platform and an operation method suitable for three-dimensional cultivation of a plant factory. The high-lift lifting device and the translation inserting and taking device complete lifting and translation of the inserting and taking device, and then the inserting and taking device performs inserting and taking operation. The main use is between the different operation districts of plant factory, and the cultivation board on the three-dimensional cultivation frame of multilayer goes across the district and comes automatic pick-up and transport operation, satisfies under the three-dimensional multilayer's of plant factory cultivation mode, the demand of the automatic, intelligent high-efficient operation of commodity circulation.
Description
Technical Field
The invention belongs to the field of intelligent agricultural machinery, relates to a plant factory logistics system, and particularly relates to a multi-region logistics robot, a multi-region logistics platform and an operation method suitable for three-dimensional cultivation of a plant factory.
Background
The plant factory is an advanced stage of modern facility agricultural development, is a production system with high investment, high technology and fine equipment, integrates biotechnology, engineering technology and system management, and enables agricultural production to be separated from natural ecological constraint. An industrial agricultural system for producing plant products annually according to a plan is one of the fields with most vigor and potential for absorbing and applying high and new technical achievements in the agricultural industrialization process and represents the development direction of future agriculture.
In a plant factory, the plant is divided into a seedling raising area, a transplanting area, a cultivation area, a harvesting area, a packaging area and other functional areas. In practice, the plants to be cultivated need to be transported to the respective sub-areas. At present, the overall structure design of plant factory tends to perfect, but automatic logistics system wherein still is very scarce, and traditional manual handling's mode, its intensity of labour is big, and the operating efficiency is low, and the height of multilayer cultivation frame is higher, and manual handling is inconvenient. The mode that cultivation frame single layer structure body whole lift commodity circulation transported is with higher costs and be difficult to accomplish the commodity circulation operation of multizone, consequently designs a multizone commodity circulation robot platform that is applicable to plant factory three-dimensional cultivation and can promote plant factory's commodity circulation operating efficiency by a wide margin, has important meaning.
In the prior art, various industries have logistics devices with different purposes.
The invention patent application with the application number of 201810838620.0 discloses a lifting device for logistics, wherein a heavy object is conveyed into a lifting box through a conveying belt, the heavy object is moved upwards to a lifting platform through a gear and a synchronous belt, then the heavy object is grabbed by a mechanical grab under a mechanical arm and then is placed to a high-position shelf by a worker.
The invention patent application with the application number of 201710145683.3 discloses a lifting device of logistics equipment and a working method thereof, wherein the height of a platform cover is adjusted through inflation and deflation of an air bag, the lifting device can detect the weight of goods at any time, and avoid the situation that the goods are turned over due to exceeding or unbalanced weight, but the goods cannot stay at a determined station for operation and the requirements of carrying among various areas during the operation of a plant factory are not met.
The invention patent application with application number 201811652021.6 discloses a steering lifting device for lifting objects, which solves the problem that the lifting objects are synchronously or asynchronously controlled to horizontally rotate and vertically move in the lifting process, and the platform cannot move in each area of a plant factory and cannot meet the logistics requirements of the plant factory.
In conclusion, the existing logistics device is different in applicable scenes, so that the requirements of large-span high-lift lifting and carrying and efficient logistics operation between different operation domains are difficult to meet under the multilayer three-dimensional cultivation mode of a plant factory, and meanwhile, most logistics systems still need manual participation, so that the operation efficiency is low, and the requirement of sterile production of the plant factory is difficult to meet. In order to realize the automatic logistics and high-efficiency operation of a plant factory, the invention designs the multi-region logistics robot platform suitable for the three-dimensional cultivation of the plant factory, the high-lifting multi-region logistics carrying operation under the condition of multi-layer three-dimensional cultivation can be realized, the highest operation height can reach 2.8 meters, compared with the prior art, the multi-region logistics operation can be realized, the system has higher stability and positioning accuracy under the condition of high-lifting operation, and the production requirement of unmanned high-efficiency operation of the logistics system under the sterile production condition of the plant factory can be met.
Disclosure of Invention
In order to meet the requirements of automatic logistics, intelligent efficient operation and aseptic production in a three-dimensional multi-layer cultivation mode of a plant factory, the invention provides a multi-region logistics robot, a platform and an operation method suitable for three-dimensional cultivation of the plant factory. This robot can be in plant factory district of growing seedlings, transplant the district, the cultivation district, the route is predetermine according to in each operation district such as results district and packing district, rely on electromagnetic navigation autonomous movement, when arriving the operation position, lift through elevating gear, make the translation insert to get the device and stop and fix a position at required operation height, the device is inserted and is got to planting board and crop to the redriving translation, and carry through mobile robot commodity circulation chassis, reach appointed area and position, the board and the crop uninstallation of will planting is in appointed position voluntarily. The device has high stability under the condition of high lifting operation, and can ensure the high precision and the working efficiency of the logistics operation of a plant factory.
The technical purpose of the invention is realized by the following technical scheme:
a multi-region logistics robot suitable for three-dimensional cultivation of plant factories is characterized by comprising a controller, a movable chassis, a high-lift lifting device and a translation inserting and taking device;
a group of magnetic navigation sensors and landmark sensors are arranged on the mobile chassis and are connected with the controller;
the high-lift lifting device is fixed on the movable chassis, and the translation inserting and taking device is fixed on the high-lift lifting device and can be lifted or lowered by the high-lift lifting device;
the translational insertion device comprises a horizontal translation mechanism and an insertion mechanism, the insertion mechanism comprises interdigital parts, interdigital fixing seats and a fixing frame, the fixing frame is fixed on the horizontal translation mechanism and can be driven by the horizontal translation mechanism to move horizontally, and at least two interdigital parts are fixed on the fixing frame through the interdigital fixing seats;
displacement sensors are respectively arranged on the high-lift lifting device and the translation inserting and taking device, and the displacement sensors are connected with a controller and used for detecting lifting or translation distances;
the controller is internally provided with an instruction module for planning the movement track and the carrying instruction of the robot, a monitoring module for monitoring the movement track and the carrying work execution condition of the robot according to the detection data of the magnetic navigation sensor and the landmark sensor, and a path planning module for finely adjusting the movement path of the robot.
Furthermore, the mobile chassis comprises a front group of driving units and a rear group of driving units, each unit comprises two driving wheels and four universal wheels, and the two groups of driving units are connected with the vehicle body through a chassis steel frame.
Furthermore, the inserting and taking mechanism also comprises a turnover motor and a rotating shaft, wherein the rotating shaft is connected with an output shaft of the turnover motor, the rotating shaft is arranged on a fixed frame, and the interdigital is fixed on the rotating shaft; the fixing frame is a cantilever type, the section of the fixing frame is a U-shaped purline, and the rotating shaft is located in a groove of the U-shaped purline.
Further, the high-lift lifting device comprises a primary lifting mechanism, a secondary lifting mechanism, a tertiary lifting mechanism, a ball screw lifting mechanism and an electric push rod which are sequentially nested,
the first-stage lifting mechanism is fixed on the movable chassis, one end of the electric push rod is fixed on the base, and the other end of the electric push rod is connected with the second-stage lifting mechanism;
the top of the secondary lifting mechanism is provided with a synchronous belt wheel, the synchronous belt bypasses the synchronous belt wheel, and two ends of the synchronous belt are respectively fixed at the top of the primary lifting mechanism and the bottom of the tertiary upgrading mechanism by synchronous belt pressing plates;
the three-stage lifting mechanism is provided with two parallel guide rails, the ball screw lifting mechanism is positioned between the two guide rails and comprises a first motor, a ball screw, a screw nut and a sliding block, the first motor is installed at the bottom of the three-stage lifting mechanism, an output shaft of the first motor is connected with the ball screw, the ball screw longitudinally penetrates through the three-stage lifting mechanism, the screw nut is installed on the ball screw, the first installation plate is fixed on the screw nut, the sliding block is fixed at a position, corresponding to the guide rails, on the first installation plate, and the sliding block is slidably installed on the guide rails.
Further, a rolling pulley is arranged on the outer surface of the bottom of the three-stage lifting mechanism and is tangent to the inner surface of the frame of the two-stage lifting mechanism; and the front surface and the rear surface of the bottom of the secondary lifting mechanism are respectively provided with a rolling pulley and a pulley, and the rolling pulley and the pulleys are respectively tangent with the inner surface of the primary lifting mechanism.
Furthermore, a supporting seat is installed at the tail end of the top of the ball screw; and a first coupler is arranged at the joint of the first motor and the ball screw.
Furthermore, the two interdigital fingers are parallel to each other, and both surfaces of the interdigital fingers are saw-toothed.
Further, the horizontal translation mechanism comprises a primary translation mechanism, a secondary translation mechanism and a tertiary translation mechanism,
the first-stage translation mechanism is positioned on the first mounting plate and is in sliding connection with the second-stage translation mechanism through a heavy slide rail; the primary translation mechanism is provided with a synchronous rack,
two ends of the secondary translation mechanism are provided with first driven synchronous gears meshed with the synchronous racks, and the first driving synchronous gears are driven by a second motor; the first driving synchronous gear and the two first driven synchronous gears form a toothed belt gear train;
tertiary translation mechanism and second grade translation mechanism sliding connection, including the translation mounting panel, the left and right sides edge of translation mounting panel respectively is equipped with a second driven synchronizing gear, install the third motor on the translation mounting panel, second drive synchronizing wheel is by third motor drive, and second drive synchronizing wheel constitutes the cingulum train with two second driven synchronizing gear.
The multi-region logistics robot platform for the three-dimensional cultivation of the plant factory is based on the multi-region logistics robot suitable for the three-dimensional cultivation of the plant factory and is characterized by comprising at least one multi-region logistics robot, an identification system and a control center, wherein the identification system is used for arranging a navigation line and a magnetic identification point on the ground of the plant factory; the control center is in communication connection with the multi-region logistics robots and is used for monitoring the working states of the robots in real time and sending working instructions to the robots.
The operation method of the multi-region logistics robot platform for the three-dimensional cultivation of the plant factory is characterized by comprising the following steps:
initializing a system: starting the multi-region logistics robot platform, carrying out self-checking on the system, and starting the platform to work after all equipment works normally; setting a starting point, an operation area, an operation path, station parameters and carrying work of the robot during automatic cruising through a control center or a controller of the robot according to different task requirements;
seedling culture and carrying operation: when seedling raising and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a seedling tray storage region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts, takes and loads seedling trays onto the inserting and taking mechanism of the robot, enters a seedling raising region according to the planned path and places the seedling trays at the preset position for seeding and seedling raising operation, and the operation is completed after all the seedling trays are placed into corresponding seedling raising regions;
transplanting and carrying operation: when transplanting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a transplanting region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts and loads a transplanted cultivation plate onto the inserting and taking mechanism of the robot, then enters the cultivation region according to the planned path, lifts and places the cultivation plate on a cultivation frame for cultivation operation, and repeats the steps until all cultivation plates are placed in corresponding cultivation regions, and the operation is completed;
harvesting and carrying operation: when harvesting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a cultivation region along a planned path, inserts and loads a cultivation plate of a mature crop to be harvested onto an inserting and taking mechanism of the robot, then enters according to a specified mark point, unloads the cultivation plate onto a conveying belt, conveys the cultivation plate to a harvesting region and a packaging region, and performs harvesting, sorting and packaging operation; and repeating the steps until all the cultivation plates are placed in corresponding zones, and finishing the operation.
The invention has the beneficial effects that:
the invention provides a multi-region logistics robot platform suitable for three-dimensional cultivation in a plant factory, which adopts a three-layer lifting structure and combines an operation mode of telescopic picking, can realize high-lift picking operation under the condition of multi-layer three-dimensional cultivation in the plant factory, has the highest picking loading height of 2.8 meters, can meet the requirement of high-lift picking logistics operation in the production process of the plant factory, and the content of the invention is not reported yet.
The logistics robot platform is suitable for a three-dimensional multi-layer cultivation mode of a plant factory, can autonomously finish the operations of picking, loading and unloading according to a preset path plan in each operation area such as a seedling growing area, a transplanting area, a cultivation area, a harvesting area, a packaging area and the like of the plant factory, does not need manual intervention, can better meet the production requirement of unmanned efficient operation of a logistics system under the aseptic production condition of the plant factory, and improves the precision and the working efficiency of the logistics operation of the plant factory.
The invention adopts the low chassis structural design and the four-wheel independent suspension technical scheme, so that the mobile platform can effectively filter the jolt of the road surface, the four wheels can be stably contacted with the ground, the support performance and the uniform friction thrust are better, the stability of the platform movement is better, and the problem that the wheels of the mobile platform are suspended is reduced. Meanwhile, the square tube is adopted to fill the lead core on the selection of the bottom layer supporting frame, and the lead plate is attached to the lower part of the bottom layer supporting frame, so that the dead weight of the chassis is greatly increased, the lower center of gravity of the platform can be kept, and the device has higher stability and precision under the high-lifting operation condition.
The invention provides a multi-region logistics robot platform suitable for three-dimensional cultivation in a plant factory, wherein a rolling pulley and a pulley in a high-lift lifting device limit a secondary lifting mechanism to enable the secondary lifting mechanism to have only freedom degree in the vertical direction, and the high-lift lifting device also plays a role in guiding the lifting process, so that the lifting process is smooth and silent, and the multi-region logistics robot platform is labor-saving to push and pull.
The invention provides a multi-region logistics robot platform suitable for three-dimensional cultivation in a plant factory.
The invention selects the industrial personal computer as the control center of the platform, so that the multi-region logistics robot platform is easy to carry out secondary development and function expansion, and has better compatibility for the carried control equipment.
Drawings
FIG. 1 is a schematic diagram of a plant factory architecture;
FIG. 2 is a schematic diagram of a plant factory mobile logistics robot platform work environment;
FIG. 3 is a schematic diagram of a plant factory mobile logistics robot platform;
FIG. 4 is a schematic view of a plant factory mobile chassis;
FIG. 5 is a schematic view of a high lift apparatus;
FIG. 6 is a schematic view of the connection of the first stage lifting mechanism and the second stage lifting mechanism;
FIG. 7 is a schematic view of the connection of the second stage lifting mechanism and the third stage lifting mechanism;
FIG. 8 is a schematic view of a ball screw elevator mechanism;
FIG. 9 is a schematic view of a translating and inserting device;
FIG. 10 is a schematic view of a two-stage translation mechanism;
FIG. 11 is a schematic view of a two-stage translation mechanism synchronizing wheel system;
FIG. 12 is a schematic view of a three-stage translation mechanism;
FIG. 13 is a schematic view of a three-stage translation mechanism synchronizing wheel system;
fig. 14 is a schematic view of the insertion mechanism.
In the figure:
1-a controller; 2-moving the chassis; 3-a high lift lifting device; 4-a translational insertion device; 5-a first-level lifting mechanism; 6-a secondary lifting mechanism; 7-a three-level lifting mechanism; 8-ball screw lifting mechanism; 9-electric push rod; 10-a pulley; 11-a rolling pulley; 12-a synchronous pulley; 13-synchronous belt; 14-synchronous belt pressing plate; 15-a slide block; 16-a guide rail; 17-a first mounting plate; 18-a support base; 19-a pull rope sensor mounting plate; 20-lead screw nut; 21-ball screw; 22-a first coupling; 23-a first motor; 24-a primary translation mechanism; 25-a secondary translation mechanism; 26-a three-level translation mechanism; 27-an insertion and extraction mechanism; 28-outer rail of heavy duty slide rail; 29-a synchronous rack; 30-inner rail of heavy duty slide rail; 31-a first driven synchronizing gear; 32-a second motor; 33-a first driving synchronizing gear; 34-a first smooth tensioning wheel; 35-a translational mounting plate; 36-a second driven synchronizing gear; 37-a third motor; 38-a second driving synchronizing wheel; 39-a second smooth surface tension wheel; 40-a turnover motor; 41-interdigitated; 42-interdigital fixing seats; 43-U-shaped purlines; 44-a rotating shaft; 45-overturning the motor shell, 46-a first single-sided toothed belt; 47-a second single-sided rack bar; 48-a cultivation frame; 49-a navigation line, 50-a magnetic identification point, 51-a magnetic navigation sensor; 52-a drive wheel; 53-universal wheels; 54-landmark sensor.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 3, the multi-region logistic robot platform suitable for three-dimensional cultivation in plant factories disclosed by the invention comprises a controller 1, a moving chassis 2, a high-lift lifting device 3 and a translation inserting and taking device 4. The controller is responsible for the motion of platform and get a transport operation control, and the removal chassis is including navigating and keeping away barrier device, is responsible for driving the platform and walks, fixes a position and rectifies a deviation according to predetermineeing the route. The high-lift lifting device comprises a first-stage lifting mechanism, a second-stage lifting mechanism, a third-stage lifting mechanism and a ball screw lifting mechanism. Wherein, the primary lifting mechanism is fixed on the movable chassis; the secondary lifting mechanism is nested in a frame sliding groove of the primary lifting mechanism; the three-level lifting mechanism is nested in a frame of the two-level lifting mechanism, and the high-lift lifting device is driven by the ball screw lifting mechanism and the synchronous belt to complete lifting operation. The translation inserting and taking device comprises a first-stage translation mechanism, a second-stage translation mechanism, a third-stage translation mechanism and a fork turning mechanism. The synchronous wheel is driven by the motor, the driven wheel is driven to translate, and then the fork turning mechanism is used for inserting and taking the workpiece.
The mobile chassis 2 comprises a front group of driving units and a rear group of driving units, wherein each unit consists of two driving wheels 52, four universal wheels 53, a group of magnetic navigation sensors 51 and a landmark sensor 54. The two drive units are connected with the vehicle body through a chassis steel frame, as shown in fig. 4. The chassis structure adopts the independent suspension technique of four-wheel for moving platform can filter jolting on road surface effectively, and the four-wheel all can steadily contact with ground, and better support nature and even friction thrust make the stability that the platform removed better, have reduced moving platform and have appeared the unsettled problem of wheel. Meanwhile, the square tube is adopted to fill the lead core on the selection of the bottom layer supporting frame, and the lead plate is attached to the lower part of the bottom layer supporting frame, so that the dead weight of the chassis is greatly increased, the lower center of gravity of the platform can be kept, and the device has higher stability and precision under the high-lifting operation condition.
The high-lift lifting device 3 comprises a first-stage lifting mechanism 5, a second-stage lifting mechanism 6, a third-stage lifting mechanism 7 and a ball screw lifting mechanism 8. The first-stage lifting mechanism 5 and the second-stage lifting mechanism 6 are both made of Q235 sheet metal parts, and the third-stage lifting mechanism 7 is made of aluminum alloy plates.
The primary lifting mechanism 1 is fixed on the movable chassis 2 through bolts, and the secondary lifting mechanism 6 is nested in a frame groove of the primary lifting mechanism 5, as shown in fig. 5 and 6. The front surface and the rear surface of the bottom of the secondary lifting mechanism 6 are respectively provided with a rolling pulley 11 and a pulley 10, and the rolling pulley 11 and the pulley 10 are respectively tangent with the inner surface of the primary lifting mechanism 5. The left end and the right end of the second-stage lifting mechanism 6 are respectively connected with an electric push rod 9. The three-level lifting mechanism 7 is nested in the frame of the two-level lifting mechanism 6, the outer surface of the bottom of the three-level lifting mechanism 7 is provided with a rolling pulley 11, and the rolling pulley 11 is tangent to the inner surface of the frame of the two-level lifting mechanism 6. A synchronous belt wheel 12 is arranged at the top of the secondary lifting mechanism 6; the synchronous belt 13 is wound around the synchronous belt wheel 12, and two ends of the synchronous belt are respectively fixed at the top of the first-stage lifting mechanism 5 and the bottom of the third-stage upgrading mechanism 7 by a synchronous belt pressing plate 14, as shown in fig. 7.
As shown in fig. 8, the three-stage elevating mechanism 7 is provided with two parallel guide rails 16, and the ball screw elevating mechanism 8 is located between the two guide rails 16. The ball screw lifting mechanism 8 comprises a first motor 23, a ball screw 21, a screw nut 20 and a sliding block 15, the first motor 23 is installed at the bottom of the three-stage lifting mechanism 7, an output shaft of the first motor 23 is connected with the ball screw 21, and a first coupler 22 is arranged at the joint of the first motor 23 and the ball screw 21. The ball screw 21 longitudinally penetrates through the three-stage lifting mechanism 7, a supporting seat 18 is installed at the tail end of the top of the ball screw 21, and the supporting seat 18 is fixed on the three-stage lifting mechanism 7 to limit the ball screw 21; the screw nut 20 is mounted on the ball screw 21. The first mounting plate 17 is fixed on the screw nut 20, a sliding block 15 is fixed on the first mounting plate 17 at a position corresponding to the guide rail 16, and the sliding block 15 is slidably mounted on the guide rail 16. A stay rope sensor mounting plate 19 is mounted at the center of the side face of the first mounting plate 17, a stay rope sensor is mounted on the stay rope sensor mounting plate 19, and the end part of a stay rope of the stay rope sensor is fixed on the base.
As shown in fig. 9, the translational insertion device 4 includes a primary translation mechanism 24, a secondary translation mechanism 25, a tertiary translation mechanism 26, and an insertion mechanism 27. The first-stage translation mechanism 24, the second-stage translation mechanism 25 and the third-stage translation mechanism 26 are combined to form a horizontal translation mechanism, and the first-stage translation mechanism 24 is located on the first mounting plate 17. The front surface of the first-stage translation mechanism 24 is provided with an outer rail 28 of a heavy slide rail, the back surface of the second-stage translation mechanism 25 is provided with an inner rail 30 of the heavy slide rail, and the first-stage translation mechanism 24 and the second-stage translation mechanism 25 are connected in a sliding manner through the heavy slide rail. As shown in fig. 10, the primary translation mechanism 24 is further provided with a synchronization rack 29, the left and right sides of the secondary translation mechanism 25 are respectively provided with a first driven synchronization gear 31 engaged with the synchronization rack 29, and the first driving synchronization gear 33 is driven by a second motor 32; the first single-sided toothed belt 46, the first driving synchronizing gear 33 and the two first driven synchronizing gears 31 constitute a toothed belt train, as shown in fig. 11. In addition, in the toothed belt wheel system, a first smooth tension wheel 34 is respectively arranged at two sides of the first driving synchronous gear 33.
As shown in fig. 12, the third-stage translation mechanism 26 is slidably connected to the second-stage translation mechanism 25, and includes a translation mounting plate 35, the left and right edges of the translation mounting plate 35 are respectively provided with a second driven synchronizing gear 36, the translation mounting plate 35 is provided with a third motor 37, a second driving synchronizing gear 38 is arranged right below the third motor 37, the second driving synchronizing gear 38 is driven by the third motor 37, and the second driving synchronizing gear 38, the second single-sided toothed belt 47 and the two second driven synchronizing gears 36 form a toothed belt wheel train, as shown in fig. 13. In the toothed belt wheel system, a second smooth tension wheel 39 is respectively arranged at two sides of the second driving synchronous wheel 38. A rope displacement sensor is also provided in the tertiary translation mechanism 26 for measuring the displacement distance of the insertion mechanism 27 in the horizontal direction.
In this embodiment, the inserting and taking mechanism 27 includes an overturning motor 40, an interdigital 41, interdigital fixing seats 42, a U-shaped purlin 43 and a rotating shaft 44, the overturning motor 40 is installed in an overturning motor casing 45 on the third-stage translation mechanism 26, the rotating shaft 44 is connected with the overturning motor 40, two interdigital fixing seats 42 are installed on the U-shaped purlin 43, and the interdigital 41 is fixedly connected with the rotating shaft 44 through the interdigital fixing seats 42. The overturning motor 40 drives the interdigital 41 to switch in directions at two sides of the robot, so that the robot can take and place articles at two sides of the robot at the same position point, and path planning is simplified.
The controller 1 is fixed on the moving chassis 2, and the magnetic navigation sensor 51 and the landmark sensor 54 are connected with the controller 1; the two pull rope displacement sensors are also connected with the controller. The controller is internally provided with an instruction module for planning the movement track and the carrying instruction of the robot, a monitoring module for monitoring the movement track and the carrying work execution condition of the robot according to the detection data of the magnetic navigation sensor 51 and the landmark sensor 54, and a path planning module for finely adjusting the movement path of the robot.
The multi-region logistics robot platform for the three-dimensional cultivation of the plant factory can be constructed on the basis of the multi-region logistics robot suitable for the three-dimensional cultivation of the plant factory, and comprises at least one multi-region logistics robot, an identification system and a control center, wherein the identification system is used for arranging a navigation line 49 and a magnetic identification point 50 on the ground of the plant factory; as shown in fig. 1 and 2. The control center is in communication connection with the multi-region logistics robots and is used for monitoring the working states of the robots in real time and sending working instructions to the robots.
The implementation principle of the above embodiment is as follows: when the high-lift lifting device 3 does not work, the primary lifting mechanism 5, the secondary lifting mechanism 6 and the tertiary lifting mechanism 7 are nested layer by layer and are all positioned at an initial station. The logistics device runs to a corresponding working area, and the high-lift lifting device 3 starts to work. Driven by the electric push rod 9, the second-level lifting mechanism 6 extends out of the first-level lifting mechanism 5. When the second-level lifting mechanism 6 rises, the synchronous belt 13 is driven to move, and the synchronous belt 13 drives the third-level lifting mechanism 7 to rise. The first motor 23 at the bottom of the ball screw lifting mechanism 8 starts to operate to drive the ball screw 21 to rotate, the screw nut 20 moves upwards, and the first mounting plate 17 connected to the screw nut 20 drives the sliders 15 on the left side and the right side to move upwards. The stay cord displacement sensor inputs voltage quantity to the controller through displacement change, the controller outputs pulses through comparison, and the motor is controlled to adjust displacement so as to realize accurate positioning in height, so that the translation inserting and taking device 4 achieves the target layer number of the cultivation frame 48.
When the translation inserting and taking device 4 does not start to operate, the first-stage translation mechanism 24, the second-stage translation mechanism 25 and the third-stage translation mechanism 26 are stacked and combined and are all located at an initial station. After the lifting motion of the high-lift lifting device 3 is finished, namely the ball screw lifting mechanism 8 reaches the task height, the translation inserting and taking device 4 needs to complete the extending motion. Firstly, the second-stage translation mechanism 25 is driven by the second motor 32 to drive the first driving synchronous gear 33 to drive the first smooth surface tension wheels 34 on the two sides to synchronously rotate anticlockwise, the outer side of the first driven synchronous gear 31 moves rightwards on the synchronous rack 29 of the first-stage translation mechanism 24 to drive the second-stage translation mechanism 25 to translate rightwards along the outer rail 28 of the heavy-duty slide rail until the pull rope sensor detects that the displacement change reaches the reference value, and the movement is stopped. And then, a third motor 37 of the three-stage translation mechanism 26 acts to drive a second driving synchronous wheel 38 to drive second smooth surface tension wheels 39 on two sides to rotate anticlockwise, an overturning motor shell 45 fixed together with the synchronous belt through a pressing plate moves rightwards on the sliding rail along with the first smooth surface tension wheels, and the movement is stopped until a pull rope sensor detects that the displacement change reaches a reference value, and the two interdigital fingers 41 are inserted and taken. At this time, the electric push rod 9 drives the whole translational inserting and taking device 4 to move upwards, and the fork fingers 41 lift the inserted articles to be separated from the cultivation shelf 48.
After the translation inserting and taking device 4 is loaded, the return is required to be completed. First, the third motor 37 of the third-stage translation mechanism 26 rotates reversely to drive the single-sided synchronous belt to rotate clockwise, so that the turnover motor casing 45 moves leftwards on the slide rail to the initial position. And then the second motor 32 of the secondary translation mechanism 25 rotates reversely to drive the first smooth tension wheel 34 to rotate clockwise, the outer side belt of the first driven synchronous gear 31 moves leftwards on the synchronous rack 29 of the primary translation mechanism 24, and the secondary translation mechanism 25 is driven to translate leftwards along the outer rail 28 of the heavy-duty slide rail until the initial position.
After the loading operation is finished, the high lift lifting device 3 needs to complete the descending operation. First, the first motor 23 on the ball screw lifting mechanism 8 rotates reversely to drive the ball screw 21 to rotate reversely, so that the screw nut 20 moves downwards, and the first mounting plate 17 on the screw nut 20 and the left and right sliders 15 move downwards along with the screw nut until the pull rope sensor detects that the displacement changes and returns to zero. Then the electric push rod 9 starts to return to drive the second-level lifting mechanism 6 to return to the initial position, and the synchronous belt 13 pulls the third-level lifting mechanism 7 to complete return at the same time.
The operating method of the multi-region logistics robot platform is characterized in that,
initializing a system: starting the multi-region logistics robot platform, carrying out self-checking on the system, and starting the platform to work after all equipment works normally; setting a starting point, an operation area, an operation path, station parameters and carrying work of the robot during automatic cruising through a control center or a controller of the robot according to different task requirements; and returning to the initial position.
Seedling culture and carrying operation: when seedling raising and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a seedling tray storage region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts, takes and loads seedling trays onto the inserting and taking mechanism of the robot, enters a seedling raising region according to the planned path and places the seedling trays at the preset position for seeding and seedling raising operation, and the operation is completed after all the seedling trays are placed into corresponding seedling raising regions; and returning to the initial position.
Transplanting and carrying operation: when transplanting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a transplanting region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts and loads a transplanted cultivation plate onto the inserting and taking mechanism of the robot, then enters the cultivation region according to the planned path, lifts and places the cultivation plate on a cultivation frame 48 for cultivation operation, and repeats the steps until all cultivation plates are placed into corresponding cultivation regions, and the operation is completed; and returning to the initial position.
Harvesting and carrying operation: when harvesting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a cultivation region along a planned path, inserts and loads a cultivation plate of a mature crop to be harvested onto an inserting and taking mechanism of the robot, then enters according to a specified mark point 50, unloads the cultivation plate onto a conveying belt, conveys the cultivation plate to a harvesting region and a packaging region, and performs harvesting, sorting and packaging operation; and repeating the steps until all the cultivation plates are placed in corresponding zone bits, finishing the operation and returning to the initial position. And returning to the initial position after the platform transportation is completed.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A multi-region logistics robot suitable for three-dimensional cultivation of plant factories is characterized by comprising a controller (1), a movable chassis (2), a high-lift lifting device (3) and a translation inserting and taking device (4);
a group of magnetic navigation sensors and landmark sensors (54) are arranged on the movable chassis (2), and the magnetic navigation sensors and the landmark sensors (54) are connected with the controller;
the high-lift lifting device (3) is fixed on the movable chassis (2), and the translation inserting and taking device (4) is fixed on the high-lift lifting device (3) and can be lifted or lowered by the high-lift lifting device (3);
the translation inserting and taking device (4) comprises a horizontal translation mechanism and an inserting and taking mechanism, the inserting and taking mechanism (27) comprises an interdigital (41), an interdigital fixing seat (42) and a fixing frame, the fixing frame is fixed on the horizontal translation mechanism and can be driven by the horizontal translation mechanism to move horizontally, and at least two interdigital (41) are fixed on the fixing frame through the interdigital fixing seat (42);
displacement sensors are respectively arranged on the high-lift lifting device (3) and the translation inserting and taking device (4), and the displacement sensors are connected with a controller and used for detecting lifting or translation distances;
the controller is internally provided with an instruction module for planning the movement track and the carrying instruction of the robot, a monitoring module for monitoring the movement track and the carrying work execution condition of the robot according to the detection data of the magnetic navigation sensor and the landmark sensor (54), and a path planning module for finely adjusting the movement path of the robot.
2. The mobile chassis is suitable for the multi-region logistics robot for the stereoscopic cultivation of plant factories according to claim 1, and is characterized in that the mobile chassis (2) comprises a front group of driving units and a rear group of driving units, each unit comprises two driving wheels and four universal wheels, and the two groups of driving units are connected with a vehicle body through a chassis steel frame.
3. The mobile chassis is suitable for the multi-region logistics robot for the three-dimensional cultivation of plant factories according to claim 1, characterized in that the inserting and taking mechanism (27) further comprises a turning motor (40) and a rotating shaft (44), the rotating shaft (44) is connected with an output shaft of the turning motor (40), the rotating shaft (44) is arranged on a fixed frame, and the fork fingers (41) are fixed on the rotating shaft (44); the fixing frame is cantilever type, the section of the fixing frame is U-shaped purline (43), and the rotating shaft (44) is located in a groove of the U-shaped purline (43).
4. The multi-region logistics robot with the mobile chassis suitable for the three-dimensional cultivation of plant factories according to claim 1 is characterized in that the high-lift lifting device (3) comprises a primary lifting mechanism (5), a secondary lifting mechanism (6), a tertiary lifting mechanism (7), a ball screw lifting mechanism (8) and an electric push rod (9) which are sequentially nested,
the primary lifting mechanism (5) is fixed on the movable chassis (2), one end of an electric push rod (9) is fixed on the base, and the other end of the electric push rod is connected with the secondary lifting mechanism (6);
a synchronous belt wheel (12) is installed at the top of the secondary lifting mechanism (6), the synchronous belt (13) bypasses the synchronous belt wheel (12), and two ends of the synchronous belt (13) are respectively fixed at the top of the primary lifting mechanism (5) and the bottom of the tertiary upgrading mechanism (7) through a synchronous belt pressing plate (14);
two parallel guide rails (16) are arranged on the three-stage lifting mechanism (7), the ball screw lifting mechanism (8) is positioned between the two guide rails (16), the ball screw lifting mechanism (8) comprises a first motor (23), a ball screw (21), a screw nut (20) and a slide block (15), the first motor (23) is arranged at the bottom of the three-stage lifting mechanism (7), the output shaft of the first motor (23) is connected with the ball screw (21), the ball screw (21) longitudinally penetrates through the three-stage lifting mechanism (7), a screw nut (20) is arranged on the ball screw (21), a first mounting plate (17) is fixed on the screw nut (20), and a sliding block (15) is fixed on the first mounting plate (17) at a position corresponding to the guide rail (16), and the sliding block (15) is slidably mounted on the guide rail (16).
5. The multi-area logistics robot for plant factory stereo cultivation according to claim 4, characterized in that the bottom outer surface of the tertiary lifting mechanism (7) is installed with a rolling pulley (11), the rolling pulley (11) is tangent with the inner surface of the frame of the secondary lifting mechanism (6); the front surface and the rear surface of the bottom of the secondary lifting mechanism (6) are respectively provided with a rolling pulley (11) and a pulley (10), and the rolling pulley (11) and the pulley (10) are respectively tangent to the inner surface of the primary lifting mechanism (5).
6. The multi-area logistics robot for the stereoscopic cultivation of plant factories of claim 4 is characterized in that the top end of the ball screw (21) is installed with a support seat (18); and a first coupling (22) is arranged at the joint of the first motor (23) and the ball screw (21).
7. The multi-zoned logistics robot for the stereoscopic cultivation of plant factories according to claim 3 is characterized in that two of the fingers (41) are parallel to each other, and both sides of the fingers (41) are saw-toothed.
8. The multi-region logistics robot with mobile chassis suitable for plant factory three-dimensional cultivation according to claim 1, characterized in that the horizontal translation mechanism comprises a primary translation mechanism (24), a secondary translation mechanism (25), a tertiary translation mechanism (26),
the primary translation mechanism (24) is positioned on the first mounting plate (17), and the primary translation mechanism (24) is in sliding connection with the secondary translation mechanism (25) through a heavy sliding rail; a synchronous rack (29) is arranged on the primary translation mechanism (24),
a first driven synchronous gear (31) meshed with the synchronous rack (29) is arranged at two ends of the secondary translation mechanism (25), and a first driving synchronous gear (33) is driven by a second motor (32); the first driving synchronous gear (33) and the two first driven synchronous gears (31) form a toothed belt gear train;
tertiary translation mechanism (26) and second grade translation mechanism (25) sliding connection, including translation mounting panel (35), the left and right sides edge of translation mounting panel (35) respectively is equipped with a second driven synchronizing gear (36), install third motor (37) on translation mounting panel (35), second drive synchronizing gear (38) are driven by third motor (37), and second drive synchronizing gear (38) constitute the cingulum train with two second driven synchronizing gear (36).
9. The multi-region logistics robot platform for plant factory three-dimensional cultivation of multi-region logistics robot suitable for plant factory three-dimensional cultivation of claim 1, characterized by comprising at least one multi-region logistics robot, an identification system and a control center, wherein the identification system is used for arranging a navigation line (49) and a magnetic identification point (50) on the ground of a plant factory; the control center is in communication connection with the multi-region logistics robots and is used for monitoring the working states of the robots in real time and sending working instructions to the robots.
10. The method of operating a multi-area logistic robot platform for plant factory three-dimensional cultivation according to claim 9,
initializing a system: starting the multi-region logistics robot platform, carrying out self-checking on the system, and starting the platform to work after all equipment works normally; setting a starting point, an operation area, an operation path, station parameters and carrying work of the robot during automatic cruising through a control center or a controller of the robot according to different task requirements;
seedling culture and carrying operation: when seedling raising and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a seedling tray storage region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts, takes and loads seedling trays onto the inserting and taking mechanism of the robot, enters a seedling raising region according to the planned path and places the seedling trays at the preset position for seeding and seedling raising operation, and the operation is completed after all the seedling trays are placed into corresponding seedling raising regions;
transplanting and carrying operation: when transplanting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a transplanting region along a planned path, adjusts the height and the horizontal position of an inserting and taking mechanism, inserts and loads a transplanted cultivation plate onto the inserting and taking mechanism of the robot, then enters the cultivation region according to the planned path, lifts and places the cultivation plate on a cultivation frame for cultivation operation, and repeats the steps until all cultivation plates are placed in corresponding cultivation regions, and the operation is completed;
harvesting and carrying operation: when harvesting and carrying operation is needed, the multi-region logistics robot automatically cruises according to a preset path, starts from an initial position, cruises according to an identification system, walks to a cultivation region along a planned path, inserts and loads a cultivation plate of a mature crop to be harvested onto an inserting and taking mechanism of the robot, then enters according to a specified magnetic identification point, unloads the cultivation plate onto a conveying belt, conveys the cultivation plate to a harvesting region and a packaging region, and performs harvesting, sorting and packaging operation; and repeating the steps until all the cultivation plates are placed in corresponding zones, and finishing the operation.
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| CN201911202452.7A CN110921168A (en) | 2019-11-29 | 2019-11-29 | Multi-region logistics robot and platform suitable for three-dimensional cultivation of plant factory and operation method |
| PCT/CN2019/123992 WO2021103128A1 (en) | 2019-11-29 | 2019-12-09 | Multi-region logistics robot, platform and operation method suitable for three-dimensional cultivation of plant factory |
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| CN112136623A (en) * | 2020-08-21 | 2020-12-29 | 杨永波 | Factory-type automatic rice planting method |
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