CN111071720A - Plant factory robot stereoscopic operation device - Google Patents

Plant factory robot stereoscopic operation device Download PDF

Info

Publication number
CN111071720A
CN111071720A CN202010012655.6A CN202010012655A CN111071720A CN 111071720 A CN111071720 A CN 111071720A CN 202010012655 A CN202010012655 A CN 202010012655A CN 111071720 A CN111071720 A CN 111071720A
Authority
CN
China
Prior art keywords
rail
track
positioning plate
robot
sky
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010012655.6A
Other languages
Chinese (zh)
Inventor
崔世钢
陈苗
张永立
吴兴利
刘佳兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Original Assignee
Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin University of Technology and Education China Vocational Training Instructor Training Center filed Critical Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Priority to CN202010012655.6A priority Critical patent/CN111071720A/en
Publication of CN111071720A publication Critical patent/CN111071720A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a plant factory robot three-dimensional operation device, which comprises a ground rail, a robot walking device, a rail frame and a sky rail, wherein the ground rail is arranged on the ground rail; the robot walking device comprises a plurality of track frames, a plurality of robot walking devices and a plurality of robot walking devices, wherein the track frames are of frame-shaped structures, the track frames are sequentially arranged along the direction of a ground rail or a sky rail and are vertically fixed, the ground rail and the sky rail are respectively arranged at the bottom end and the top end of the track frame, and the robot walking devices are arranged between the ground rail and the sky rail and can move along the track direction of the ground rail and the sky rail; the ground rail or the sky rail comprises a fixed rail and a movable module, and the ground rail or the sky rail is assembled into an n-shaped or semi-frame-shaped rail through the transformation of the fixed rail and the movable module. The invention can realize multi-directional carrying and sufficient power by carrying out orbital transfer operation.

Description

Plant factory robot stereoscopic operation device
Technical Field
The invention belongs to the technical field of plant factory robots, and particularly relates to a three-dimensional operation device of a plant factory robot.
Background
In large-scale bacterial and algae plant factories, manual handling of bacterial and algae is a labor-intensive manual labor. The manual handling not only has low efficiency, but also has high labor cost and investment cost. Thus, a work robot having a carrying function has been produced.
Traditional fungus alga plant factory transfer robot, only restrict to and carry out work at ground or low-rise plant cabinet, its work receives the ground condition, removes restriction such as unstable, is difficult to reach three-dimensional plant factory's transport requirement. The track is a road where the robot walks, and the walking space of the robot is not limited if the road is wide; the motor is the power that the robot gos forward, and power is sufficient, and then the robot is not worried about when accomplishing the task.
Therefore, in view of these problems, it is important to provide a plant factory robot three-dimensional operation device capable of performing orbital transfer operation in multiple directions and having sufficient power.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a plant factory robot three-dimensional operation device which can realize multi-directional transportation by performing orbital transfer operation and has sufficient power.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the plant factory robot stereoscopic operation device comprises a ground rail, a robot walking device, a track frame and a sky rail; the robot walking device comprises a plurality of track frames, a plurality of robot walking devices and a plurality of robot walking devices, wherein the track frames are of frame-shaped structures, the track frames are sequentially arranged along the direction of a ground rail or a sky rail and are vertically fixed, the ground rail and the sky rail are respectively arranged at the bottom end and the top end of the track frame, and the robot walking devices are arranged between the ground rail and the sky rail and can move along the track direction of the ground rail and the sky rail;
the ground rail or the sky rail comprises a fixed rail and a movable module, and the ground rail or the sky rail is assembled into an n-shaped or semi-frame-shaped rail through the transformation of the fixed rail and the movable module.
Furthermore, the movable module comprises a slide rail base, a screw rod, a first alternating current motor, a supporting plate, a first movable rail and a second movable rail; first alternating current motor fixed mounting be in on the slide rail base, and first alternating current motor passes through shaft coupling and screw connection, the backup pad with lead screw threaded connection, the equal fixed mounting of first portable track, the portable track of second is in the backup pad, the backup pad both sides with slide rail on the slide rail base matches, makes first portable track, the portable track of second pass through the slide rail spacing when lead screw axial direction removes.
Still include travel switch, travel switch is fixed to be set up on the slide rail base, travel switch auxiliary control the first movable track, the removal distance of second movable track make first movable track or second movable track and fixed track equipment form "n" type or half frame type track.
Furthermore, the robot walking device comprises a mechanical arm, a lifting device and at least one mechanical arm mechanism, wherein the walking mechanisms are fixedly arranged at two ends of the mechanical arm, each walking mechanism at least comprises a pair of driving wheels, a driven wheel is respectively arranged at two sides of each driving wheel, any one driving wheel drives the driving wheel to move through a first servo motor, and the driving wheels and the driven wheels can rotate along with the shape change of the ground rail and the sky rail, so that the robot walking device moves on the ground rail and the sky rail through the driving wheels and the driven wheels;
the lifting device can lift along the mechanical arm, the manipulator mechanism is fixedly connected with the lifting device, and the manipulator mechanism can be driven to lift when the lifting device lifts;
the manipulator mechanism comprises a mounting seat, a servo motor, a first positioning plate, a second positioning plate, mechanical claws, a control mechanism and a gear rolling device, wherein the first positioning plate is mounted inside the mounting seat, a plurality of mechanical claws are fixedly arranged below the second positioning plate, the servo motor is fixedly mounted at the top of the mounting seat, the first positioning plate is driven by the servo motor to move along the length direction of the mounting seat, and the second positioning plate can move along the moving direction of the first positioning plate through the gear rolling device when the first positioning plate moves;
the control mechanism controls the lifting device, the first servo motor, the first alternating current motor and the servo motor to work.
Furthermore, the gear rolling device comprises a first sawtooth strip, a second sawtooth strip, a third sawtooth strip and a pair of I-shaped positioning plates, wherein sunken slideways are formed on two sides of the pair of I-shaped positioning plates, the top parts of the pair of I-shaped positioning plates are fixedly connected with the bottom surfaces of the first positioning plates, the mounting seat is of a half-frame structure, a plurality of pulleys are arranged on two side walls of the mounting seat, the pulleys are positioned in the slideways on one side of the I-shaped positioning plates, a pair of supporting plates are arranged on the upper surface of the second positioning plate, a plurality of pulleys are arranged on the supporting plates, the pulleys are positioned in the slideways on the other side of the I-shaped positioning plates, the first sawtooth strip is fixedly positioned on the upper surface of the first positioning plate, the servo motor can drive the first sawtooth strip to drive the first positioning plates to move, and the second sawtooth strip is fixedly positioned, the third sawtooth strip is fixedly arranged on the upper surface of the second positioning plate, a gear is further rotatably arranged on the first positioning plate, and the gear penetrates through the first positioning plate and is respectively meshed with the second sawtooth strip and the third sawtooth strip.
Furthermore, the gripper is of a strip-shaped structure, and electromagnet suckers are respectively installed on the bottom surfaces of the two ends of the gripper.
Furthermore, the electromagnet sucker controls the power supply to electrify the electromagnet sucker through the control mechanism to grab the goods.
Furthermore, the lifting device lifts along the mechanical arm through a guide rail on the mechanical arm, and the mounting seat is fixed with the lifting device through a connecting rod.
Furthermore, the lifting device is of a frame structure with a through middle, the inner frame wall of the lifting device is fixedly connected with a belt, and the belt is driven to rotate by a motor so as to drive the lifting device to lift up and down.
The invention has the advantages and positive effects that:
the invention can make the driving wheel driven by the first servo motor through the control mechanism, thus realize the advance or retreat of the running gear of the robot, according to the plant factory transport needs, can choose whether to choose the running gear of the robot to change the orbit to run, assist and control mechanism control first AC motor and control the first movable orbit, second movable orbital movement distance through the travel switch, make the first movable orbit or second movable orbit and fixed orbit assemble and form the orbit of "n" type or half-frame; if the plant growth cabinet needs to be transported on a high layer, the control box controls the lifting device to transport the manipulator mechanism to a specified height, and then the servo motor drives the first positioning plate to move, so that the second positioning plate is driven to reach a specified position, and the power supply is used for powering on the electromagnet sucker to grab and transport the goods.
Drawings
The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus do not limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a plant factory robot three-dimensional operation device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a movable module of a plant factory robot stereo operation device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a driving wheel and a driven wheel of a stereoscopic operation device of a plant factory robot provided by an embodiment of the invention on a ground rail or a sky rail;
fig. 4 is a schematic structural diagram of a robot walking device of a plant factory robot stereo operation device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a manipulator mechanism and a lifting device of a robot walking device of a plant factory robot stereo working device according to an embodiment of the present invention;
fig. 6 is a cross-sectional view of a robot mechanism of a robot traveling device of a plant factory robot stereo working device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of the lifting device of the robot walking device of the plant factory robot stereo operation device according to the embodiment of the present invention;
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The present invention will be specifically described with reference to fig. 1 to 7.
Example 1
Fig. 1 is a schematic structural diagram of a plant factory robot three-dimensional operation device according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a movable module of a plant factory robot stereo operation device according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a driving wheel and a driven wheel of a stereoscopic operation device of a plant factory robot provided by an embodiment of the invention on a ground rail or a sky rail; fig. 4 is a schematic structural diagram of a robot walking device of a plant factory robot stereo operation device according to an embodiment of the present invention; fig. 5 is a schematic structural diagram of a manipulator mechanism and a lifting device of a robot walking device of a plant factory robot stereo working device according to an embodiment of the present invention; fig. 6 is a cross-sectional view of a robot mechanism of a robot traveling device of a plant factory robot stereo working device according to an embodiment of the present invention; fig. 7 is a schematic structural diagram of the lifting device of the robot walking device of the plant factory robot stereo operation device according to the embodiment of the present invention; as shown in fig. 1 to 7, the plant factory robot stereo-operation device provided in this embodiment includes a ground rail 20, a robot walking device, a rail frame 21, and a top rail 22; the track frame 21 is of a frame structure, the track frame 21 is sequentially arranged along the direction of the ground track 20 or the sky track 22 and is vertically fixed, the ground track 20 and the sky track 22 are respectively installed at the bottom end and the top end of the track frame 21, and the robot walking device is installed between the ground track 20 and the sky track 22 and can move along the track direction of the ground track 20 and the sky track 22;
the ground rail 20 or the sky rail 22 comprises a fixed rail 201 and a movable module, and the ground rail 20 or the sky rail 22 forms an n-shaped or semi-frame-shaped rail through the transformation and assembly of the fixed rail 201 and the movable module.
Specifically, the movable module comprises a slide rail base 202, a lead screw 203, a first alternating current motor 204, a support plate 205, a first movable rail 206 and a second movable rail 207; the first alternating current motor 204 is fixedly installed on the slide rail base 202, the first alternating current motor 204 is connected with the lead screw 203 through a coupler, the supporting plate 205 is in threaded connection with the lead screw 203, the first movable rail 206 and the second movable rail 207 are both fixedly installed on the supporting plate 205, two sides of the supporting plate 205 are matched with the slide rail 208 on the slide rail base 202, so that the first movable rail 206 and the second movable rail 207 are limited through the slide rail 208 when moving in the axial direction of the lead screw 203, the lead screw 203 is driven to rotate through the first alternating current motor 204, and the first movable rail 206 and the second movable rail 207 are driven to move, so that the shape of the ground rail 20 or the sky rail 22 is changed.
The travel switch 209 is fixedly arranged on the slide rail base 202, the travel switch 209 assists the first alternating current motor 204 to control the moving distance of the first movable rail 206 and the second movable rail 207, so that the first movable rail 206 or the second movable rail 207 and the fixed rail 201 are assembled to form an n-shaped or half-frame-shaped rail, specifically, the travel switch 209 can be a product existing in the market, and the travel switch 209 can be installed according to the size or the installation position of the first movable rail 206 and the second movable rail 207 on the slide rail base 202 during installation.
It should be noted that the robot walking device includes a robot arm 12, a lifting device 6, and at least one robot mechanism, where both ends of the robot arm 12 are fixedly provided with a walking mechanism, the walking mechanism includes at least a pair of driving wheels 23, two sides of the driving wheels 23 are respectively provided with a driven wheel 24, in this embodiment, the cross-sectional shape of the ground rail 20 or the top rail 22 is as shown in fig. 3, such that the driving wheels 23 and the driven wheels 24 on both sides are embedded on the ground rail 20 or the top rail 22, any one of the driving wheels 23 is driven to move by a first servo motor 25, and the other driving wheels 23 are driven to move on the ground rail 20 or the top rail 22, in this embodiment, the driving wheel 23 on the advancing side, which is in contact with the ground rail 20, is driven by the first servo motor 25, and the driving wheels 23 and the driven wheels 24 can rotate with the change of the shapes of the ground rail, the driving wheel 23 and the driven wheel 24 are rotatably mounted at two ends of the mechanical arm 12 when being mounted, in this embodiment, the driving wheel 23 and the driven wheel 24 are rotatably mounted on mounting plates 26 at two ends of the mechanical arm 12, so that the robot walking device moves on the ground rail 20 and the sky rail 22 through the driving wheel 23 and the driven wheel 24; the lifting device 6 can be lifted along the mechanical arm 12, the manipulator mechanism is fixedly connected with the lifting device 6, and the manipulator mechanism can be driven to lift when the lifting device 6 is lifted, specifically, in this embodiment, the manipulator mechanism is fixedly connected with the lifting device 6 through a connecting roller 19;
the manipulator mechanism comprises an installation seat 1, a servo motor 2, a first positioning plate 31, a second positioning plate 32, mechanical claws 4, a control mechanism 8 and a gear rolling device 10, wherein the first positioning plate 31 is installed inside the installation seat 1, a plurality of mechanical claws 4 are fixedly arranged below the second positioning plate 32, the servo motor 2 is fixedly installed at the top of the installation seat 1, the first positioning plate 31 moves along the length direction of the installation seat 1 under the driving of the servo motor 2, and the second positioning plate 32 can move along the moving direction of the first positioning plate 31 through the gear rolling device 10 when the first positioning plate 31 moves;
the control mechanism 8 controls the lifting device 6, the first servo motor 25, the first ac motor 204 and the servo motor 2 to work, it should be noted that the control mechanism 8 may adopt an existing control module, such as a PLC controller or a single chip microcomputer, as long as the requirements required by the present invention are met, and the present invention is not limited to a specific model or structure.
It should be noted that, in this embodiment, gear rolling device 10 includes first sawtooth rack 101, second sawtooth rack 102, third sawtooth rack 103, a pair of i shape locating plate 104, and a pair of i shape locating plate 104 both sides form sunken slide 105, and are a pair of i shape locating plate 104 top and first locating plate 31 underrun bolt fixed connection, mount pad 1 is half frame construction, all be equipped with a plurality of pulley 7 on the wall of mount pad 1 both sides, pulley 7 adopt current product can, pulley 7 is located the slide 105 of i shape locating plate 104 one side, second locating plate 32 upper surface is equipped with a pair of backup pad 11, be equipped with a plurality of pulley 7 in the backup pad 11, pulley 7 is located the slide 105 of i shape locating plate 104 opposite side, first sawtooth rack 101 is fixed to be located first locating plate 31 upper surface, thereby servo motor 2 accessible drive first sawtooth rack 101 drives first locating plate 31 moves Move, in this embodiment, the output of servo motor 2 shifts back, drives first sawtooth rack 101 through the gear and removes, and when first locating plate 31 removed, I shape locating plate 104 with a plurality of pulley 7 relative slip on the wall of mount pad 1 both sides have reduced frictional force, second sawtooth rack 102 is fixed to be located on the inner wall of mount pad 1 top, third sawtooth rack 103 is fixed to be located second locating plate 32 upper surface, it is equipped with gear 14 still to rotate on the first locating plate 31, gear 14 passes first locating plate 31 and meshes with second sawtooth rack 102, third sawtooth rack 103 respectively, and is concrete, in this embodiment, first locating plate 31 bottom surface is fixed and is equipped with a pair of mounting panel 15, gear 14 installs through the pivot between mounting panel 15, in order to reduce the friction, can consider, set up the bearing between pivot and the mounting panel 15, when the first positioning plate 31 moves, the gear 14 rotates under the action of the second sawtooth rack 102, so as to drive the third sawtooth rack 103 to move, the third sawtooth rack 103 moves to drive the second positioning plate 32 to move, and when the second positioning plate 32 moves, the pulley 7 on the supporting plate 11 slides along the slide way 105 on the other side of the i-shaped positioning plate 104, so as to reduce friction.
The gripper is of a long strip structure, the electromagnet suckers 5 are respectively mounted on the bottom surfaces of the two ends of the gripper 4, it should be noted that the electromagnet suckers 5 are existing products, in this embodiment, electromagnets of TS-P25/20 model manufactured by seiko electric appliances limited are adopted, wherein the electromagnet suckers 5 control the power supply 13 to be powered on through the control mechanism 8 to grab goods, and it should be noted that the power supply 13 supplies power to modules in the device, which need to be powered on.
The lifting device 6 is lifted along the mechanical arm 12 through the guide rail 9 on the mechanical arm 12, and the mounting base 1 is fixed with the lifting device 6 through the connecting rod 15, it should be noted that, in this embodiment, it is considered that a plurality of pulleys 7 are mounted on the lifting device, and the pulleys 7 are embedded into the guide rail 9, so that friction is reduced during lifting.
It should be noted that, the lifting device 6 is a frame structure with a through middle, and the inner frame wall of the lifting device 6 is fixedly connected with the belt, in this embodiment, it can be considered that, as shown in fig. 7, two opposite sides of the inner frame wall of the lifting device 6 are fixedly connected with the belt 17 through the fixing modules 16, and the fixing modules 16 adopt conventional fixing mechanisms, as long as the fixing of the lifting device 6 and the belt 17 is realized, and the belt 17 is lifted up and down through the belt pulleys 18, in this embodiment, four belt pulleys 18 are adopted, and the driving of the motor to the belt pulleys is realized through the installation of appropriate positions, where the belt pulleys 1801 are driven by the motor, the four belt pulleys are fixedly installed at appropriate positions of the mechanical arm 12, and the belt pulleys 1801 are driven to rotate through the motor, so that the lifting device 6 is driven to lift up and.
It should be noted that the fixing and connecting manner in the present invention adopts conventional means such as bolts, rivets, welding, etc. which are mature in the prior art, and is not described herein again, but due to the above reasons, the repeated reproduction of those skilled in the art will not be affected.
For example, in the present embodiment, the operator operates the control mechanism 8, such that the driving wheel 23 located on the forward side of the contact end of the ground rail 20 is driven by the first servo motor 25, and the remaining driving wheels 23 are driven, and according to the transportation requirement of the plant factory, whether the robot walking device needs to change the track operation can be selected, and when the track needs to be changed, the travel switch 209 assists and the control mechanism 8 to control the first ac motor 204 to control the moving distance of the first movable track 206 and the second movable track 207, such that the first movable track 206 or the second movable track 207 and the fixed track 201 are assembled to form an "n" type or half frame type track; if the high-rise plant growth cabinet needs to be transported, the control box 8 controls the lifting device 6 to transport the manipulator mechanism to a specified height, and then the servo motor 2 operates to control the gear rolling device 10 in the mounting base 1, so that the second positioning plate 32, the mechanical claw 4 arranged below the second positioning plate 32 and the electromagnet suckers 5 arranged at two ends of the mechanical claw 4 are driven to move forwards and backwards, when the second positioning plate 32 reaches the specified position forwards, the electromagnet suckers 5 are powered on by the power supply 13 to grab the goods, after the goods are grabbed, the servo motor works again to drive the gear rolling device 10 to move, so that the second positioning plate 32, the mechanical claw 4 arranged below the second positioning plate 32 and the electromagnet suckers 5 arranged at two ends of the mechanical claw 4 are operated to the initial position, and the recovery of the manipulator is completed.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims (8)

1. Plant factory robot three-dimensional operation device, its characterized in that: comprises a ground rail, a robot walking device, a rail frame and a sky rail; the robot walking device comprises a plurality of track frames, a plurality of robot walking devices and a plurality of robot walking devices, wherein the track frames are of frame-shaped structures, the track frames are sequentially arranged along the direction of a ground rail or a sky rail and are vertically fixed, the ground rail and the sky rail are respectively arranged at the bottom end and the top end of the track frame, and the robot walking devices are arranged between the ground rail and the sky rail and can move along the track direction of the ground rail and the sky rail;
the ground rail or the sky rail comprises a fixed rail and a movable module, and the ground rail or the sky rail is assembled into an n-shaped or semi-frame-shaped rail through the transformation of the fixed rail and the movable module.
2. The plant factory robot stereo working apparatus according to claim 1, wherein: the movable module comprises a slide rail base, a screw rod, a first alternating current motor, a supporting plate, a first movable rail and a second movable rail; first alternating current motor fixed mounting be in on the slide rail base, and first alternating current motor passes through shaft coupling and screw connection, the backup pad with lead screw threaded connection, the equal fixed mounting of first portable track, the portable track of second is in the backup pad, the backup pad both sides with slide rail on the slide rail base matches, makes first portable track, the portable track of second pass through the slide rail spacing when lead screw axial direction removes.
Still include travel switch, travel switch is fixed to be set up on the slide rail base, travel switch auxiliary control the first movable track, the removal distance of second movable track make first movable track or second movable track and fixed track equipment form "n" type or half frame type track.
3. The plant factory robot stereo working apparatus according to claim 1, wherein: the robot walking device comprises a mechanical arm, a lifting device and at least one manipulator mechanism, wherein the two ends of the mechanical arm are fixedly provided with walking mechanisms, each walking mechanism at least comprises a pair of driving wheels, two sides of each driving wheel are respectively provided with a driven wheel, any one driving wheel drives the driving wheel to move through a first servo motor, and the driving wheels and the driven wheels can rotate along with the shape change of a ground rail and a sky rail, so that the robot walking device moves on the ground rail and the sky rail through the driving wheels and the driven wheels;
the lifting device can lift along the mechanical arm, the manipulator mechanism is fixedly connected with the lifting device, and the manipulator mechanism can be driven to lift when the lifting device lifts;
the manipulator mechanism comprises a mounting seat, a servo motor, a first positioning plate, a second positioning plate, mechanical claws, a control mechanism and a gear rolling device, wherein the first positioning plate is mounted inside the mounting seat, a plurality of mechanical claws are fixedly arranged below the second positioning plate, the servo motor is fixedly mounted at the top of the mounting seat, the first positioning plate is driven by the servo motor to move along the length direction of the mounting seat, and the second positioning plate can move along the moving direction of the first positioning plate through the gear rolling device when the first positioning plate moves;
the control mechanism controls the lifting device, the first servo motor, the first alternating current motor and the servo motor to work.
4. The plant factory robot stereo working apparatus according to claim 3, wherein: the gear rolling device comprises a first sawtooth strip, a second sawtooth strip, a third sawtooth strip, a pair of I-shaped positioning plates and a pair of slide ways formed by two sides of the I-shaped positioning plates, wherein the top of each I-shaped positioning plate is fixedly connected with the bottom surface of the first positioning plate, the mounting seat is of a half-frame structure, a plurality of pulleys are arranged on two side walls of the mounting seat, the pulleys are positioned in the slide ways on one side of the I-shaped positioning plates, a pair of supporting plates are arranged on the upper surface of the second positioning plate, a plurality of pulleys are arranged on the supporting plates, the pulleys are positioned in the slide ways on the other side of the I-shaped positioning plates, the first sawtooth strip is fixedly positioned on the upper surface of the first positioning plate, the servo motor can drive the first sawtooth strip to drive the first positioning plates to move, the second sawtooth strip is fixedly positioned on the inner wall of the top end, the first positioning plate is further rotatably provided with a gear, and the gear penetrates through the first positioning plate and is respectively meshed with the second sawtooth strips and the third sawtooth strips.
5. The plant factory robot stereo working apparatus according to claim 3, wherein: the gripper is of a strip-shaped structure, and electromagnet suckers are respectively installed on the bottom surfaces of two ends of the gripper.
6. The plant factory robot stereo working apparatus according to claim 5, wherein: the electromagnet sucker controls the power supply to electrify the electromagnet sucker through the control mechanism to grab the goods.
7. The plant factory robot stereo working apparatus according to claim 3, wherein: the lifting device is lifted along the mechanical arm through a guide rail on the mechanical arm, and the mounting seat is fixed with the lifting device through a connecting rod.
8. The plant factory robot stereo working apparatus according to claim 7, wherein: the lifting device is of a frame structure with a through middle, the inner frame wall of the lifting device is fixedly connected with a belt, and the belt is driven to rotate by a motor so as to drive the lifting device to lift up and down.
CN202010012655.6A 2020-01-07 2020-01-07 Plant factory robot stereoscopic operation device Pending CN111071720A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010012655.6A CN111071720A (en) 2020-01-07 2020-01-07 Plant factory robot stereoscopic operation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010012655.6A CN111071720A (en) 2020-01-07 2020-01-07 Plant factory robot stereoscopic operation device

Publications (1)

Publication Number Publication Date
CN111071720A true CN111071720A (en) 2020-04-28

Family

ID=70322257

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010012655.6A Pending CN111071720A (en) 2020-01-07 2020-01-07 Plant factory robot stereoscopic operation device

Country Status (1)

Country Link
CN (1) CN111071720A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113016421A (en) * 2020-07-29 2021-06-25 湖北火爆机器人科技有限公司 Plant factory planting automatic system and use method
CN115119647A (en) * 2022-06-21 2022-09-30 航天智联(海南)科技有限公司 Novel digital planting structure
CN117047735A (en) * 2023-10-11 2023-11-14 常州万码智能科技有限公司 Seven-axis robot enameled wire carrying equipment and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113016421A (en) * 2020-07-29 2021-06-25 湖北火爆机器人科技有限公司 Plant factory planting automatic system and use method
CN113016421B (en) * 2020-07-29 2022-07-08 湖北火爆机器人科技有限公司 Plant factory planting automation system and use method
CN115119647A (en) * 2022-06-21 2022-09-30 航天智联(海南)科技有限公司 Novel digital planting structure
CN117047735A (en) * 2023-10-11 2023-11-14 常州万码智能科技有限公司 Seven-axis robot enameled wire carrying equipment and method
CN117047735B (en) * 2023-10-11 2023-12-19 常州万码智能科技有限公司 Seven-axis robot enameled wire carrying equipment and method

Similar Documents

Publication Publication Date Title
CN107934544B (en) Automatic plate feeding equipment and using method thereof
CN111071720A (en) Plant factory robot stereoscopic operation device
CN109848751B (en) Feeding and discharging transfer system for metal plate cutting production line
CN107934543B (en) Frame type plate conveying equipment
CN111906531B (en) Electric locomotive wheel drive unit assembly line
KR101281453B1 (en) single-arm type cassette lifting robot
CN211687018U (en) Plant factory robot stereoscopic operation device
CN207618622U (en) A kind of frame-type plate conveying equipment
CN209889825U (en) Building block collet handling device
CN213054826U (en) Gantry three-axis manipulator
CN207759683U (en) A kind of plate automatic feeding equipment
CN115771734A (en) Truss type stacking robot
CN202518976U (en) Feeding device
CN113292012B (en) Industrial electric automatization AGV dolly overhauls device
CN211643665U (en) Industrial lifting reciprocating conveying device
CN211569397U (en) Multifunctional carrying mechanism of plant factory three-dimensional operation robot
CN210971707U (en) Snatch mechanism and air conditioner production equipment for packing
CN104326202A (en) Stereoscopic warehouse
CN210594112U (en) Draw gear that section bar production line was used
CN111071793A (en) Multifunctional carrying mechanism of plant factory three-dimensional operation robot
CN216967785U (en) Side-mounted manipulator
CN219136117U (en) Triaxial cargo conveying equipment
CN215557137U (en) Walking frame manipulator
CN217625833U (en) Double-track conveying trolley
CN218255142U (en) Gantry truss mechanical arm with low noise

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination