CN113651126A

CN113651126A - Vertical automatic pickup device based on moving platform

Info

Publication number: CN113651126A
Application number: CN202110969311.9A
Authority: CN
Inventors: 孟凡通
Original assignee: Shenzhen Zhongqi Technology Co ltd
Current assignee: Shenzhen Zhongqi Technology Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-16

Abstract

The invention provides a vertical automatic pickup device based on a mobile platform, which comprises: the picking box shell is internally provided with a cavity structure, one side of the picking box shell is provided with an object inlet, and the opposite side of the object inlet is provided with an object outlet; the object receiving channel is arranged in the picking shell and enables the object to move from the object inlet to the object outlet along an arc path; the flying disc rotates in the storage box shell to drive a shifting piece connected with the flying disc to drive an object to move in the object collecting channel, and the flying disc and the object collecting channel are coaxially arranged; the driving device drives the flying disc to rotate; and the article collecting basket is arranged at the article outlet and is used for collecting the articles ejected by the article outlet. The invention has simple structure and high picking efficiency.

Description

Vertical automatic pickup device based on moving platform

Technical Field

The invention relates to the technical field of agricultural auxiliary production, the technical field of industrial high-efficiency production and the technical field of sports service equipment, in particular to a vertical automatic picking device based on a mobile platform.

Background

With the improvement of the technological level, people rely on mechanical equipment more and more in production and life. In agricultural production, in industrial production and in people's daily life, often meet the pick-up of various spheroids and spherical object, like the pick-up classification of apple in the agricultural production process, the collection of some parts in industrial production, the pick-up of ball in people's daily physical training. Most of these work are heavy and single, and not only can waste a large amount of time and energy and aggravate the physical burden by picking up in a manual mode, but also the picking up efficiency is not high.

Disclosure of Invention

According to the technical problem that the efficiency of manually picking up the sphere-like objects is low, the vertical automatic picking device based on the moving platform is provided. The invention has simple structure and high picking efficiency.

The technical means adopted by the invention are as follows:

the utility model provides a vertical automatic pickup apparatus based on moving platform, mainly includes: the storage box shell is internally provided with a cavity structure, one side of the storage box shell is provided with an object inlet, and the opposite side of the object inlet is provided with an object outlet; the object receiving channel is arranged in the storage box shell and enables objects to move from the inlet to the outlet along an arc path; the flying disc rotates in the housing of the collecting and accommodating device to drive a shifting sheet connected with the flying disc to drive the picked object to move in the object collecting channel, and the flying disc and the object collecting channel are coaxially arranged; the driving device drives the flying disc to rotate; and the article collecting basket is arranged at the article outlet and is used for collecting the articles ejected by the article outlet.

In one embodiment, the flying disc is uniformly provided with a plurality of shifting pieces in a circumferential radial shape, and the shifting pieces comprise a fixing part used for connecting the flying disc and a working part used for shifting an object.

In one embodiment, the working portion forms an angle of less than 90 degrees with the horizontal plane.

In one embodiment, the plane of the working part and the plane of the fixing part form a certain included angle.

In one embodiment, the thickness of the working part becomes thinner gradually from bottom to top.

In one embodiment, the thickness of the working portion is gradually reduced from inside to outside.

In one embodiment, the object outlet is provided with a wedge-shaped block, and when the received object moves to the object outlet along with the flying disc, the received object falls into the object receiving basket along a first guide channel connected to the object outlet under the resistance generated by the side surface of the wedge-shaped block.

In one embodiment, a second guide channel is arranged on the chassis of the storage box shell, and the width of the second guide channel is gradually reduced to be the same as that of an object inlet connected with the second guide channel.

In one embodiment, when the current of the driving device exceeds a preset locked-rotor current value, the driving device automatically rotates reversely so as to drive the flying disc to rotate reversely.

In one embodiment, an infrared pair tube is disposed at the outlet.

Compared with the prior art, the invention has the following advantages:

1. the invention realizes centralized collection by rotating the objects to be carried along the object collecting channel through the flying disc, and has simple structure and high working efficiency.

2. According to the invention, through the matching design of the object receiving channel and the shifting sheet, the phenomena of blockage and damage in the object receiving process of the device are reduced, and the efficiency of the device is further improved.

3. According to the invention, the locked-rotor current is set, so that the device can automatically reverse when being clamped, and the problem of jamming in the object collecting process is effectively solved.

4. According to the invention, the infrared geminate transistors are arranged at the outlet, so that the flying disc can enter a dormant state when no object exists, and the energy consumption of the device is reduced. Meanwhile, object counting can be realized through infrared geminate transistors.

Based on the reason, the invention can be widely popularized in the field of collecting various spheres.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of the structure of the apparatus of the present invention.

FIG. 2 is a schematic view of the internal structure of the apparatus of the present invention.

FIG. 3 is an assembly view of the flying disc of the present invention.

FIG. 4 is a schematic view of the receiving passage of the present invention.

FIG. 5 is a schematic view of the setting angle of the pick of the present invention.

Fig. 6 is a schematic structural diagram of a first pick of the present invention.

FIG. 7 is a schematic diagram of a first flying disc of the present invention.

FIG. 8 is a schematic view of a second pick structure according to the present invention.

FIG. 9 is a schematic diagram of a second flying disc of the present invention.

FIG. 10 is a schematic view of a third pick structure according to the present invention.

FIG. 11 is a schematic diagram of a third flying disc configuration in accordance with the present invention.

FIG. 12 is a schematic view of a fourth pick structure according to the present invention.

FIG. 13 is a schematic diagram of a fourth flying disc configuration in accordance with the present invention.

FIG. 14 is a schematic view of a first guide channel according to the present invention.

FIG. 15 is a schematic view of a second guide channel according to the present invention.

Fig. 16 is a schematic view of a wedge block of the present invention.

In the figure: 1. a storage box housing; 2. a flying disc; 3. a boss is arranged on the side surface; 4. an outlet; 5. an inlet; 6. the rear cover is provided with a boss; 7. a shifting sheet; 8. a drive gear; 9. a flying disc drive shaft; 10. and a deflector rod mounting hole.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1 to 3, the present invention provides a vertical automatic pickup device based on a mobile platform, which can freely walk in a work site, and mainly comprises: the storage box shell is internally provided with a cavity structure, one side of the storage box shell is provided with an object inlet, and the opposite side of the object inlet is provided with an object outlet; the object receiving channel is arranged in the storage box shell and enables objects to move from the object inlet to the object outlet along an arc path; the flying disc rotates in the storage box shell to drive a shifting piece connected with the flying disc to drive an object to move in the object collecting channel, and the flying disc and the object collecting channel are coaxially arranged; the driving device drives the flying disc to rotate; and the article collecting basket is arranged at the article outlet and is used for collecting the articles ejected by the article outlet. In specific implementation, the driving device is a motor, a gear is fixed on a motor shaft, a gear is also fixed on the flying disc shaft, bearings are arranged on the storage box shell and the storage box rear baffle, and the flying disc shaft is arranged in the two bearings and connected with the driving device through the gear. The central part of the flying disc is provided with a rectangular groove, a deflector rod penetrates through the flying disc shaft, and the deflector rod is arranged in the rectangular groove to realize the fixation of the flying disc, so that the flying disc can rotate along with the driving device to realize the function of collecting objects. In this design, in order to make the cartridge more compact, a square area is opened in the cartridge case portion, and the drive motor is fixed in this square area.

As a preferred embodiment, the receiving track of the storage box and the flying disc are arranged coaxially, as shown in fig. 4, and the receiving track adopts two concentric arcs, the inner track and the outer track both have a certain thickness, and the size of the receiving track is slightly larger than the diameter of the received object and the size of the shifting piece, so that the object can smoothly move in the receiving track, and the shifting piece can also realize free rotation along with the flying disc without jamming.

In one embodiment, the flying disc is uniformly provided with a plurality of poking pieces in a circumferential radial shape, the poking pieces comprise a fixing part for connecting the flying disc and a working part for poking an object, as shown in fig. 6, and the corresponding flying disc structure is as shown in fig. 7. As a better implementation mode, the material of the flying disc surface is selected from engineering plastics with relatively large roughness, a plurality of radial poking sheets are designed on the flying disc surface, and the distance between every two adjacent poking sheets is larger than the diameter of an object. In order to realize better picking effect and prevent the pick from being clamped on the outer shell of the picking device when the pick moves, the invention comprehensively considers the relationship between the movement of the spherical object and the disc-separating movement, and designs various shapes of the flying disc pick after simple stress analysis. The shifting sheet is divided into an actual working part which is in contact with the object and a part which is not in contact with the object and radiates from the circle center of the flying disc. The height of the actual working position of the poking sheet is larger than the non-working position, the height is slightly larger than two thirds of the diameter of an object, and the height is smaller than the distance between the storage box shell and the side sealing plate. The contact point of the shifting sheet and the object is lower than the two-thirds position of the diameter of the object, when the shifting sheet pushes the object to enter the object receiving track, the shifting sheet provides an oblique upward force for the object, as shown in fig. 5, the angle B between the shifting sheet and the ground is smaller than 90 degrees, the stress of the actual working part of the flying disc shifting sheet when contacting with the object is fully considered, the upper part of the actual working part of the shifting sheet is made into an inclined plane with a certain inclination angle, when the shifting sheet pushes the object to enter the object receiving track, if the object collides with the outer shell of the pickup device, the object can move along the inclined plane, so the object cannot be clamped, the shifting sheet is in good contact with the object, and the object receiving effect is better. In a preferred embodiment, the thickness of the working portion is tapered from bottom to top, as shown in figures 8-9. In a preferred embodiment, the working portion tapers in thickness from the inside to the outside, as shown in fig. 10-11. In a more preferred embodiment, as shown in fig. 12-13, the plane of the working portion and the plane of the fixing portion form an angle.

In one embodiment, the outlet is provided with a wedge block, as shown in fig. 14, when the object moves to the position of the outlet along with the flying disc, the object falls into the article receiving basket along a first guide channel connected to the outlet by the resistance generated by the side surface of the wedge block, and the structure of the first guide channel is shown in fig. 15. In one embodiment, a second guide channel is arranged on the chassis of the storage box shell, and the width of the second guide channel is gradually reduced to be the same as that of an object inlet connected with the second guide channel.

During the concrete implementation, it has the thing mouth to open at the downside of receiver, and the thing mouth of advancing is covered a breach of opening out behind receiver side and, and its size is greater than the diameter of object, but is less than the diameter of twice object, can avoid once getting into two or more objects like this, causes the problem that plectrum and object blocked. In addition, the position of the object inlet is as close to the middle of the bottom of the pickup device as possible, so that objects can be fed more smoothly. The object outlet is a notch formed in the side part of the shell of the pick-up device, the size of the notch is slightly larger than the diameter of the object, a wedge block is installed on the right side of the object outlet, when the flying disc brings the object to the position of the wedge block, the object can collide against the wedge block, the side with the smaller gradient of the wedge block faces the object outlet, and therefore the object can be blocked by the wedge block and falls into the object receiving basket from the object outlet through a track of the object outlet. Because the objects scattered on the ground are mostly disordered, in order to ensure that the objects can smoothly enter the object collecting opening of the storage box, the flying disc can smoothly collect the objects, the second guide channel is designed below the base plate, the front end of the second guide channel is wider, the rear end of the second guide channel is gradually narrowed, the distance between the guide plates on the two sides at the object collecting opening is the same as the size of the object collecting opening, and the design of gradual transition and reduction can ensure that the objects as much as possible enter and improve the object collecting efficiency.

During the concrete implementation, because actual operating condition and pickup situation probably are not so ideal, when collecting the in-process object and the frisbee and block motionlessly, in the design, locked rotor current value has been set up according to actual conditions to this patent. When the card dun appears, the current of the driving motor is increased along with the sudden increase of the load, and after the current value of the motor reaches the set locked-rotor current value, the program can control the motor to rotate reversely, so that the flying disc gives way to the object, and the problem of the card dun in the picking process is effectively solved.

In one embodiment, an infrared pair tube is disposed at the outlet.

During specific implementation, the infrared geminate transistors are installed at the object inlet, the arrival of an object is detected, and awakening and sleeping of the frisbee are realized: the position of the object inlet is provided with the infrared pair tubes, when the object moves to the position of the infrared pair tubes, the infrared pair tubes can detect the signal of the object and transmit the signal to the flying disc driving motor, and the motor starts to drive the flying disc to move. When no object enters the object receiving opening, no signal is sent by the infrared geminate transistor, the flying disc driving motor can automatically stop moving, and the flying disc enters a sleep mode. The outlet is provided with infrared geminate transistors to count the collected objects, and when the objects are fully collected, an alarm is given or the number of the objects left in the field and not collected is estimated; an infrared pair tube is also installed at the position of the outlet to count the collected objects.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a vertical automatic pickup apparatus based on moving platform which characterized in that mainly includes:

the storage box shell is internally provided with a cavity structure, one side of the storage box shell is provided with an object inlet, and the opposite side of the object inlet is provided with an object outlet;

the object receiving channel is arranged in the storage box shell and enables objects to move from the object inlet to the object outlet along an arc path;

the flying disc rotates in the storage box shell to drive a shifting piece connected with the flying disc to drive an object to move in the object collecting channel, and the flying disc and the object collecting channel are coaxially arranged;

the driving device drives the flying disc to rotate;

and the article collecting basket is arranged at the article outlet and is used for collecting the articles ejected from the article outlet.

2. The vertical automatic picking device based on the moving platform is characterized in that a plurality of shifting pieces are uniformly arranged on the flying disc in a circumferential radial mode, and each shifting piece comprises a fixing portion used for being connected with the flying disc and a working portion used for shifting an object.

3. The mobile platform-based upright automatic picking apparatus of claim 2, wherein the working portion is angled less than 90 degrees from horizontal.

4. The mobile platform based vertical automatic picking device of claim 2, wherein the plane of the working portion is at an angle with respect to the plane of the fixed portion.

5. The mobile platform based vertical automatic picking apparatus of claims 2-4, wherein the thickness of the working portion is gradually reduced from bottom to top.

6. The mobile platform based vertical automatic picking apparatus of claims 2-4, wherein the thickness of the working portion is gradually reduced from inside to outside.

7. The mobile platform based vertical automatic picking device according to claim 1, wherein the outlet is provided with a wedge block, and when the object moves to the outlet position along with the flying disc, the object drops into the receiving basket along a first guide channel connected to the outlet by resistance generated by the side surface of the wedge block.

8. The mobile platform based upright automatic picking apparatus of claim 1, wherein a second guide channel is provided on the chassis of the cartridge housing, and the width of the second guide channel is gradually reduced to be the same as the width of the inlet to which it is connected.

9. The vertical automatic picking device based on the moving platform as claimed in claim 1, wherein when the current of the driving device exceeds a preset locked-rotor current value, the driving device automatically rotates reversely to drive the flying disc to rotate reversely, and the preset locked-rotor current value can be adjusted properly according to the material characteristics of different received objects, so as to ensure that the received objects are not damaged during the picking process.

10. The mobile platform based vertical automatic pickup apparatus of claim 1 wherein an infrared pair of tubes is provided at the exit opening.