CN114847244A - Movable double-mode cocoon picking robot - Google Patents
Movable double-mode cocoon picking robot Download PDFInfo
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- CN114847244A CN114847244A CN202210706613.1A CN202210706613A CN114847244A CN 114847244 A CN114847244 A CN 114847244A CN 202210706613 A CN202210706613 A CN 202210706613A CN 114847244 A CN114847244 A CN 114847244A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K67/00—Rearing or breeding animals, not otherwise provided for; New or modified breeds of animals
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Abstract
The invention discloses a movable double-mode cocoon picking robot which comprises a movable trolley, a rotary lifting device, a transverse moving device, a posture converter, an actuator and a cocoon picking device. According to the invention, the binocular camera is used for guiding the recognition and positioning of the cocoons or the cocoons in the paper cocooning frame and the paper cocooning frame, avoiding obstacles, automatically planning the movement tracks of the actuator and the suction nozzle in the cocoon picking device, and realizing the operation tasks of fully-automatically picking cocoons and picking cocoons without manual intervention. The attitude of the actuator can be adjusted through the attitude converter, the operation tasks of a vertical cocoon picking mode or a horizontal cocoon picking mode are executed, and the adaptability is high. The invention can be matched with the paper cocooning frame, is finished under the guidance of the binocular camera, greatly reduces the labor intensity, improves the production efficiency and can overcome the defects of the prior art. The invention also has the advantages of relatively low equipment cost, compact structure, low energy consumption, convenient adjustment, simple maintenance and the like.
Description
Technical Field
The invention belongs to the technical field of silkworm mechanical equipment, and particularly relates to a movable dual-mode cocoon picking robot.
Background
Cocoon picking is an important link in the mulberry silkworm cocoon industry, the interval of the cocoon picking period is relatively small, and the silkworm cocoons need to be picked in time after pupation. The method is generally applied in China because the cocooning frame silkworm breeding can effectively improve the quality of the silkworm cocoons and is low in cost, but the labor intensity of cocoon picking from the cocooning frame is high, the manual cocoon picking efficiency is low, and the manual cocoon picking time is long, so that the quality of the silkworm cocoons is reduced. Therefore, the method realizes mechanization, automation and intellectualization of cocoon picking of the checker cocooning frame, and has important significance for the large-scale, high-efficiency and specialized production development of the mulberry silkworm cocoon industry.
The existing cocoon picking operation is mainly manual, the cocoons are poked out from cocoon forming holes by fingers during cocoon picking, and then the cocoons are collected one by one, so that time and labor are wasted, and the cocoons are often mixed with other agricultural activities during the cocoon picking period, so that the labor force is insufficient.
Some researchers have proposed some designs of cocoon harvesting devices. For example, chinese patent No. 201120469236.1 proposes a design scheme of a harvesting device for silkworm breeding, in which a knockout rod is incompletely matched with the cells of a checker cocooning frame, the checker cocooning frame and silkworm cocoons are damaged by extrusion, a motor is frequently controlled to pick and place the checker cocooning frame, and continuous operation cannot be realized; meanwhile, the quantity and the arrangement mode of the ejection rods are fixed and cannot be changed, so that the ejection rods are not suitable for checker cocooning frames with different specifications. The chinese patent with patent number 201510413010.2 designs a novel continuous automatic cocoon picking machine, and before changing the cocooning frame with different specifications, the specification, the number and the number of the compression rollers of the distance adjusting shaft sleeve need to be manually adjusted every time, and the cocoon picking efficiency is lower. The Chinese patent with the application number of 202010034781.1 designs a frame bottom cocoon harvesting machine, and when the frame bottom cocoon harvesting machine works, silkworm cocoons with small diameters are easily missed by a brush, and the cocoon harvesting is missed. Chinese patent No. 202111457213.3 proposes a chain type automatic cocoon picking machine and a method of use thereof, wherein the number of pressure heads of the cocoon picking machine is fixed, the specification of the cocooning frame adapted to the cocoon picking device is fixed, the movement mode of the cocoon picking by rolling of the compression roller is relatively fixed, and the cocooning frame is damaged by the pressure heads when the cocooning frame is deformed. The chinese patent No. 202122337308.3 discloses an automatic cocoon picking machine, wherein the size of a square mounting plate is fixed and matched with a square cocooning frame and cannot move, and the square mounting plate is only suitable for a single specification square cocooning frame; before picking cocoons, the paper cocooning frames need to be manually taken down from the hanging rack and put between the upper baffle and the lower baffle after being sorted, so that the cocoon picking efficiency is low.
The design of the existing cocoon picking equipment is generally divided into a push rod type, a press roller type, a brush type, an air blowing type and the like according to the cocoon picking mode; the push rod type cocoon picking principle is simple, but the using steps are complex, the manual operation flow is more, the damage to the latticed cocooning frame is small, and the cocoon picking efficiency cannot reach the standard. Although the press roller type cocoon picking operation flow is simple and suitable for continuous operation, the depth and the posture of the engagement between the protrusions on the press roller and the checker cocooning frames have high requirements, the engagement between the protrusions and the checker cocooning frames is inaccurate, and the cocoon picking of the machine is problematic. The damage of the brush type cocoon brushing and the air-blowing type cocoon picking to the checker cocooning frame is minimum, but no practical application exists at present, and the brush can not brush the silkworm cocoons out of the checker cocooning frame sometimes, and the problem of missed picking can also occur.
At present, a high-efficiency intelligent cocoon picking robot which is high in adaptability, safe and reliable and does not damage the paper cocooning frames needs to be researched, the labor intensity of workers is reduced, and the cocoon picking efficiency and quality are improved.
Disclosure of Invention
The invention aims to provide a movable dual-mode cocoon picking robot aiming at the defects of the prior art, which can automatically identify a paper cocooning frame and silkworm cocoons, automatically complete cocoon discharging, removing and cocoon picking operations, reduce the labor intensity of workers, reduce the production cost and improve the cocoon picking efficiency and quality.
The technical problem to be solved by the invention is realized by adopting the following technical scheme.
A movable dual-mode cocoon picking robot comprises a moving trolley, a rotary lifting device, a transverse moving device, a posture converter, an actuator and a cocoon picking device. The lower ends of the rotary lifting device and the cocoon picking device are respectively and fixedly arranged at the front end and the middle part of the movable trolley and are respectively used for driving the transverse moving device and the actuator to realize rotary lifting motion and cocoon picking; the rear end of the transverse moving device is fixedly arranged at the top of the rotary lifting device and is used for adjusting the transverse displacement of the attitude converter and the actuator; the upper end of the attitude converter is sleeved on the transverse moving device and can transversely slide along the transverse moving device, and the lower end of the attitude converter is fixedly connected with the upper end of the actuator and is used for adjusting and switching the working attitude of the actuator and executing a vertical cocoon picking operation task or a horizontal cocoon picking operation task; the upper end of the actuator is hoisted at the front end of the transverse moving device through the attitude converter and is used for executing batch cocoon picking tasks; the front end of the cocoon picking device is fixedly arranged on a telescopic guide rod of the actuator and is used for picking the cocoons, and the rear end of the cocoon picking device is fixedly arranged on the movable trolley and is positioned at the rear end of the rotary lifting device; the front end of the cocoon picking device is also provided with a binocular camera which is used for collecting image information of a working site and a paper cocooning frame and is matched with the controller to execute a visual guide task.
The movable trolley comprises a trolley body, traveling wheels, a driving motor, a controller, a power supply and a trolley shell. The four traveling wheels are symmetrically arranged on the left side and the right side of the vehicle body and used for driving the movable trolley to walk or steer; the front end of the vehicle body is provided with a turntable support, a driving motor, a controller and a power supply are fixedly arranged in the vehicle body, and the power supply is fixedly arranged in the middle of the vehicle body and provides electric power for the work of the driving motor, the rotary lifting device, the transverse moving device, the actuator, the cocoon picking device and the binocular camera; the controller is fixedly arranged at the rear end of the vehicle body, acquires information of the binocular camera and other sensors arranged in the controller by using a built-in acquisition card, and controls the driving motor, the rotary lifting device, the transverse moving device, the actuator and power components in the cocoon picking device; the driving motor is connected with the travelling wheels through a coupling and used for driving the travelling wheels to rotate, and the driving motor adopts a servo speed reducing motor; the controller is connected with the driving motor, the transverse moving motor and the binocular camera through cables, and the power supply is connected with the driving motor, the transverse moving motor, the controller, the lifting cylinder, the air pump, the vacuum pump and the binocular camera through cables. The shell is fixedly installed on the vehicle body through screws, and the middle part of the rear end of the shell is also provided with a touch control and display panel.
The rotary lifting device comprises a rotary supporting device, a telescopic column, a lifting cylinder, a lower connecting plate and a top support. The rotary supporting device is electrically driven, and the lower end of the rotary supporting device is fixedly arranged on a turntable bracket at the front end of the vehicle body through a bolt and is used for driving the transverse moving device to realize rotary motion; the bottoms of the two telescopic columns are fixedly connected with the top of the rotary supporting device and used for driving the top support and the transverse moving device fixedly arranged on the top support to carry out lifting adjustment; two ends of the lower connecting plate are fixedly connected with the inner side surfaces of the lower ends of the two telescopic columns by a welding method; the bottom of the top support is fixedly arranged at the tops of the two telescopic columns through screws, and the upper end and the lower end of the lifting cylinder are respectively connected with the top support and the lower connecting plate through hinges and used for providing power for lifting of the top support. The lifting cylinder adopts an air cylinder, a hydraulic cylinder or an electric push rod.
The transverse moving device comprises a transverse moving motor, a transverse moving slide rod, a transverse moving lead screw and a front connecting plate. The transverse moving motor is fixedly arranged in the middle of the top of a top support in the rotary lifting device through a screw and is used for providing power for the rotation of the transverse moving lead screw; the rear ends of the two parallel transverse sliding rods are respectively arranged on two sides of the top support through fixing lug seats, and the front connecting plate is fixedly arranged at the front ends of the two transverse sliding rods; the front end of the transverse screw rod is connected with the front connecting plate through a bearing, and the rear end of the transverse screw rod is fixedly arranged on the top support through a bearing seat and is connected with a transverse motor through a coupler; the front end of the transverse moving lead screw is connected with the attitude converter through threads and used for driving the attitude converter to transversely move along the transverse moving slide rod. The transverse moving motor adopts a servo speed reducing motor or a stepping speed reducing motor.
The posture converter comprises a guide sleeve, an upper connecting rod, a lower connecting rod, a handle and a T-shaped seat. The guide sleeve is sleeved on a transverse sliding rod in a transverse moving device through guide holes on two sides of the guide sleeve, a transverse moving nut is arranged in the middle of the guide sleeve, and the transverse moving nut is connected with a transverse moving screw rod through threads; the upper end and the lower end of the upper connecting rod are respectively connected with the guide sleeve and the lower connecting rod through hinges, a first limiting block is arranged at the lower end of the upper connecting rod, and a second limiting block is arranged at the rear end of the lower connecting rod and used for avoiding the lower connecting rod from offside when rotating relative to the upper connecting rod and ensuring that the lower connecting rod only rotates within the range of two limit included angles relative to the upper connecting rod; the upper end and the lower end of the T-shaped seat are respectively connected with the guide sleeve and the lower connecting rod through hinges. The handle is arranged on a connecting hinge between the upper connecting rod and the lower connecting rod and used for manually adjusting the relative angle between the upper connecting rod and the lower connecting rod, and the number of the upper connecting rod, the number of the lower connecting rod and the number of the handle are two. The upper connecting rod and the lower connecting rod are adjusted to be at two limit included angles through the handle, and then the actuator is adjusted to be at a vertical or horizontal cocoon picking operation posture respectively.
The actuator comprises a telescopic guide rod, a pushing cylinder, an air pump, a pushing plate, a pushing rod and a profiling pressure head. The upper ends of the two telescopic guide rods are symmetrically and fixedly arranged below the T-shaped seat, the pushing cylinder is positioned between the two telescopic guide rods, the upper end of the pushing cylinder is connected with the T-shaped seat through a hinge, and the lower end of the pushing cylinder is fixedly connected with the upper end of the pushing plate; the air pump is fixedly arranged at the front end of the car body in the movable trolley and is positioned below the turntable support to provide a power source for the pushing cylinder; the pushing rod is of a hollow tubular structure and is used for fixing the profiling pressure head on the pushing plate, the upper end and the lower end of the pushing rod are fixedly connected with the pushing plate and the profiling pressure head through threads respectively, and the number of the pushing rods can be adjusted according to the number of holes of the square lattice clusters. The pushing cylinder adopts a double-acting air cylinder, a double-acting hydraulic cylinder or an electric push rod and is used for driving the pushing plate and the profiling pressure head to execute pushing movement. The shape of the lower surface of the profiling pressure head is similar to the outer surface profile of the cocoon body part, so that a larger contact area between the profiling pressure head and the cocoons is ensured in the cocoon picking operation process, and the cocoons are prevented from being deformed due to the cocoon picking operation.
The cocoon picking device comprises a vacuum pump, a cocoon discharging box, a negative pressure pipe and a cocoon picking pipe. The vacuum pump is fixedly arranged at the rear end of the vehicle body through a screw and provides power for cocoon picking operation of the cocoon picking device, and the vacuum pump is connected with the lower end of the negative pressure pipe through a pipeline; a cocoon inlet hole is formed in the top of the cocoon discharging box, and the cocoon discharging box is fixedly mounted on the vehicle body through screws and is positioned above the power supply and the vacuum pump; the negative pressure pipe is a hollow pipe and is positioned in the cocoon discharging box, and the upper end and the lower end of the negative pressure pipe are fixedly connected with the top plate and the bottom of the cocoon discharging box respectively; the cocoon picking pipe comprises a corrugated pipe capable of deforming in a telescopic mode, a right-angle pipe and a suction nozzle, the bottom of the corrugated pipe is fixed in a cocoon inlet hole of a lower cocoon box, the rear end of the corrugated pipe is fixedly mounted on a telescopic column through a pipe hoop support, the rear end of the right-angle pipe is fixedly mounted at the upper end of a telescopic guide rod through a pipe hoop and an adjusting cylinder, the tail of the right-angle pipe is fixedly connected with the front end of the corrugated pipe through glue, and the suction nozzle is located at the front end of the right-angle pipe and is embedded in the right-angle pipe at the upper end of the right-angle pipe. The binocular camera pass through clamp fixed mounting at the front end of right angle pipe, and be located the side top of suction nozzle. The cocoon discharging box keeps sealed during working, the negative pressure pipe forms negative pressure in the cocoon discharging box under the action of the vacuum pump, and cocoons are sucked into the cocoon discharging box through the cocoon picking pipe. The length and the angle of the corrugated pipe in the cocoon picking pipe can be adjusted at will along with the movement of the rotary lifting device and the posture converter.
A data acquisition card is also arranged in the controller, linear displacement sensors are arranged in the rotary lifting device and the transverse moving device, and angular displacement sensors are arranged in the rotary lifting device and the attitude converter; the binocular camera is connected with a power supply and a data acquisition card through power lines and data lines respectively, the data acquisition card is connected with the linear displacement sensor and the angular displacement sensor through the data lines, the binocular camera can be set into a set or two sets as required, and an LED illuminating light source is arranged on the binocular camera. Image information acquired by the binocular camera, information of the linear displacement sensor, the angular displacement sensor and the like are acquired and processed by the data acquisition card, and information analysis and processing tasks such as posture adjustment and operation tasks of the cocoon collection robot are completed by the controller.
When a vertical cocoon picking task is executed, fixing the paper cocooning frame at the top of the cocoon collecting box, and moving the movable trolley to an operation area of the cocoon collecting box; the postures of the T-shaped seat and the actuator are adjusted through the handle, and the pushing rod is ensured to be in a vertical state. During cocoon picking operation, according to the image analysis result and the positioning data scanned by the binocular camera, the lifting cylinder drives the top support and the transverse moving device to be adjusted to proper heights; the traversing motor drives the traversing lead screw to rotate, so that the guide sleeve in the attitude converter is traversed to a proper position, and finally the actuator is moved right above the cocooning frame, so that the profiling pressure head is aligned with the cocoons in the cocooning frame. Then, the pushing cylinder extends, and the profiling pressure head pushes the silkworm cocoons out of the paper cocooning frame to finish the cocoon picking action. According to the cocoon picking operation planning, the rotary supporting device, the lifting cylinder and the transverse moving motor are matched to complete the lifting and moving of the actuator relative to the cocooning frames, so that the cocooning frames can be picked in the whole area. When the paper cocooning frame is vertically placed, horizontal cocoon picking operation needs to be executed, and different from vertical cocoon picking operation, the postures of the T-shaped seat and the actuator need to be adjusted through the handle, so that the pushing rod is ensured to be in a horizontal state. If the cocoons exist in the paper cocooning frame during cocoon picking operation, the suction nozzle in the cocoon picking device is adjusted to be aligned with the cocoons through the cooperation of the rotary supporting device, the lifting cylinder and the transverse moving motor, and meanwhile, the vacuum pump is started to suck the cocoons into a cocoon box through the cocoon picking pipe.
The movable dual-mode cocoon picking robot has the advantages that the movable dual-mode cocoon picking robot can complete recognition and positioning of cocoons or cocoons in the paper cocooning frame and obstacle avoidance under the guidance of the binocular camera, automatically plan the movement tracks of the actuator and the suction nozzle in the cocoon picking device, does not need manual intervention, achieves full-automatic cocoon picking and cocoon picking operation, greatly reduces labor intensity, improves production efficiency and can overcome the defects in the prior art. The invention also has the advantages of relatively low equipment cost, compact structure, low energy consumption, convenient adjustment, simple maintenance and the like.
Furthermore, the invention can also adopt negative pressure adsorption type cocoon picking operation, wherein an adsorption hole is required to be arranged on the lower surface of the profiling pressure head and is communicated with a pushing rod with a hollow tubular structure, and the pushing rod is connected with a vacuum pump through a hose.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the mobile cart according to the present invention;
FIG. 3 is a schematic structural view of the rotary lifting device of the present invention;
FIG. 4 is a schematic structural diagram of an attitude converter according to the present invention;
FIG. 5 is a schematic structural diagram of an upper link in the attitude converter according to the present invention;
FIG. 6 is a schematic view showing the assembly relationship between the cocoon box and the vehicle body according to the present invention;
FIG. 7 is a schematic structural view of an actuator of the present invention;
FIG. 8 is a schematic view of the horizontal operation of the actuator of the present invention;
fig. 9 is a schematic diagram of the operation of the actuator of the present invention in vertical operation in conjunction with a checker box.
Detailed Description
In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.
As shown in fig. 1, 2, 6, 8 and 9, the movable dual-mode cocoon picking robot comprises a moving trolley 1, a rotary lifting device 2, a traversing device 3, a posture converter 4, an actuator 5 and a cocoon picking device 6. The lower ends of the rotary lifting device 2 and the cocoon picking device 6 are respectively and fixedly arranged at the front end and the middle part of the movable trolley 1 and are respectively used for driving the transverse moving device 3 and the actuator 5 to realize rotary lifting motion and cocoon picking; the rear end of the traversing device 3 is fixedly arranged at the top of the rotary lifting device 2 and is used for adjusting the transverse displacement of the attitude converter 4 and the actuator 5; the upper end of the attitude converter 4 is sleeved on the transverse moving device 3, the lower end of the attitude converter is fixedly connected with the upper end of the actuator 5, and the attitude converter is used for adjusting and switching the working attitude of the actuator 5 and executing a vertical cocoon picking operation task or a horizontal cocoon picking operation task; the upper end of the actuator 5 is hung at the front end of the traversing device 3 through the attitude converter 4 and is used for executing a batch cocoon picking task; the front end of the cocoon picking device 6 is fixedly arranged on the telescopic guide rod 51 of the actuator 5 and is used for picking cocoons, and the rear end of the cocoon picking device 6 is fixedly arranged on the movable trolley 1 and is positioned at the rear end of the rotary lifting device 2; the front end of the cocoon picking device 6 is also provided with a binocular camera 7 which is used for collecting image information of a working site and a paper cocooning frame 8 and is matched with a controller 14 of the invention to execute a visual guide task.
As shown in fig. 1, 2, 6, 8 and 9, the mobile cart 1 includes a cart body 11, road wheels 12, a driving motor 13, a controller 14, a power supply 15 and a cart housing 16. The four traveling wheels 12 are symmetrically arranged on the left side and the right side of the vehicle body 11 and are used for driving the movable trolley 1 to walk or steer; the front end of the vehicle body 11 is provided with a turntable support 111, the driving motor 13, the controller 14 and the power supply 15 are fixedly arranged in the vehicle body 11, and the power supply 15 is fixedly arranged in the middle of the vehicle body 11 and provides electric power for the work of the driving motor 13, the rotary lifting device 2, the traversing device 3, the actuator 5, the cocoon picking device 6 and the binocular camera 7; the controller 14 is fixedly arranged at the rear end of the vehicle body 11, collects information of the binocular camera 7 and other sensors arranged in the controller by using a built-in acquisition card, and controls the driving motor 13, the power components in the rotary lifting device 2, the transverse moving device 3, the actuator 5 and the cocoon picking device 6; the driving motor 13 is connected with the walking wheels 12 through a coupling and used for driving the walking wheels 12 to rotate, and the driving motor 13 adopts a servo speed reducing motor; the controller 14 is connected with the driving motor 13, the traversing motor 31 and the binocular camera 7 through cables, and the power supply 15 is connected with the driving motor 13, the traversing motor 31, the controller 14, the lifting cylinder 23, the air pump 53, the vacuum pump 61 and the binocular camera 7 through cables. The shell 16 is fixedly mounted on the vehicle body 11 through screws, and a touch control and display panel 17 is further arranged in the middle of the rear end of the shell 16.
As shown in fig. 1, 3, 8 and 9, the rotary lifting device 2 includes a rotary supporting device 21, a telescopic column 22, a lifting cylinder 23, a lower connecting plate 24 and a top support 25. The rotary supporting device 21 is an electrically driven rotary supporting device, and the lower end of the rotary supporting device is fixedly mounted on a turntable bracket 111 at the front end of the vehicle body 11 through bolts and used for driving the traversing device 3 to realize rotary motion; the bottoms of the two telescopic columns 22 are fixedly connected with the top of the rotary supporting device 21 and are used for driving the top support 25 and the transverse moving device 3 fixedly arranged on the top support 25 to carry out lifting adjustment; two ends of the lower connecting plate 24 are fixedly connected with the inner side surfaces of the lower ends of the two telescopic columns 22 by a welding method; the bottom of the top support 25 is fixedly arranged at the tops of the two telescopic columns 22 through screws, and the upper end and the lower end of the lifting cylinder 23 are respectively connected with the top support 25 and the lower connecting plate 24 through hinges and used for providing power for lifting of the top support 25. The lifting cylinder 23 adopts an air cylinder, a hydraulic cylinder or an electric push rod.
As shown in fig. 1, 8 and 9, the traverse device 3 includes a traverse motor 31, a traverse slide 32, a traverse screw 33 and a front connection plate 34. The traversing motor 31 is fixedly arranged at the middle position of the top support 25 in the rotary lifting device 2 through a screw, and is used for providing power for the rotation of the traversing lead screw 33; the rear ends of the two parallel transverse sliding rods 32 are respectively arranged on two sides of the top support 25 through fixing lug seats, and the front connecting plate 34 is fixedly arranged at the front ends of the two transverse sliding rods 32; the front end of the traversing lead screw 33 is connected with the front connecting plate 34 through a bearing, and the rear end of the traversing lead screw 33 is fixedly arranged on the top support 25 through a bearing seat and is connected with the traversing motor 31 through a coupler; the front end of the traverse screw 33 is connected with the posture converter 4 through a thread, and is used for driving the posture converter 4 to move transversely along the traverse slide bar 32. The traversing motor 31 adopts a servo speed reducing motor or a stepping speed reducing motor.
As shown in fig. 1, 4, 5, 8 and 9, the posture changer 4 includes a guide sleeve 41, an upper link 42, a lower link 43, a handle 44 and a T-shaped seat 45. The guide sleeve 41 is sleeved on the traverse slide bar 32 in the traverse device 3 through the guide holes 411 on both sides of the guide sleeve, a traverse nut 412 is arranged in the middle of the guide sleeve 41, and the traverse nut 412 is connected with the traverse screw 33 through threads; the upper end and the lower end of the upper connecting rod 42 are respectively connected with the guide sleeve 41 and the lower connecting rod 43 through hinges, the lower end of the upper connecting rod 42 is provided with a first limiting block 421, the rear end of the lower connecting rod 43 is provided with a second limiting block 431 for avoiding the lower connecting rod 43 from offside when rotating relative to the upper connecting rod 42 and ensuring that the lower connecting rod 43 rotates relative to the upper connecting rod 42 only within the range of two limit included angles; the upper end and the lower end of the T-shaped seat 45 are respectively connected with the guide sleeve 41 and the lower connecting rod 43 through hinges. The handle 44 is mounted on a connecting hinge between the upper connecting rod 42 and the lower connecting rod 43 and used for manually adjusting the relative angle between the upper connecting rod 42 and the lower connecting rod 43, and the number of the upper connecting rod 42, the number of the lower connecting rod 43 and the number of the handle 44 are two. The handle 44 is used for adjusting the upper connecting rod 42 and the lower connecting rod 43 to be at two limit included angles, and then the actuator 5 is adjusted to be at the vertical or horizontal cocoon picking operation posture respectively.
As shown in fig. 1, 4, 6, 7, 8 and 9, the actuator 5 includes a telescopic guide rod 51, a push cylinder 52, an air pump 53, a push plate 54, a push rod 55 and a copying ram 56. The upper ends of the two telescopic guide rods 51 are symmetrically and fixedly arranged below the T-shaped seat 45, the pushing cylinder 52 is positioned between the two telescopic guide rods 51, the upper end of the pushing cylinder 52 is connected with the T-shaped seat 45 through a hinge, and the lower end of the pushing cylinder 52 is fixedly connected with the upper end of the pushing plate 54; the air pump 53 is fixedly arranged at the front end of the vehicle body 11 in the movable trolley 1 and is positioned below the turntable support 111 to provide a power source for the pushing cylinder 52; the pushing rod 55 is of a hollow tubular structure and is used for fixing the profiling pressure head 56 on the pushing plate 54, and the upper end and the lower end of the pushing rod 55 are fixedly connected with the pushing plate 54 and the profiling pressure head 56 through threads respectively. The pushing cylinder 52 is a double-acting cylinder, a double-acting hydraulic cylinder or an electric push rod, and is used for driving the pushing plate 54 and the profiling ram 56 to perform pushing movement. The lower surface shape of the profiling pressure head 56 is similar to the outer surface profile of the silkworm cocoon body part, so that the profiling pressure head 56 is ensured to keep a larger contact area with the silkworm cocoons in the cocoon picking operation process, and the silkworm cocoons are prevented from being deformed due to the cocoon picking operation.
As shown in FIGS. 1, 8 and 9, the cocoon picking device 6 comprises a vacuum pump 61, a cocoon box 62, a negative pressure pipe 63 and a cocoon picking pipe 64. The vacuum pump 61 is fixedly arranged at the rear end of the vehicle body 11 through screws and provides power for cocoon picking operation of the cocoon picking device 6, and the vacuum pump 61 is connected with the lower end of the negative pressure pipe 63 through a pipeline; a cocoon inlet hole 621 is formed in the top of the cocoon box 62, and the cocoon box 62 is fixedly mounted on the vehicle body 11 through screws and is positioned above the power supply 15 and the vacuum pump 61; the negative pressure pipe 63 is a hollow pipe and is positioned inside the cocoon box 62, and the upper end and the lower end of the negative pressure pipe are fixedly connected with the top plate and the bottom of the cocoon box 62 respectively; the cocoon picking pipe 64 comprises a corrugated pipe 641, a right-angle pipe 642 and a suction nozzle 643, the bottom of the corrugated pipe 641 is fixed in a cocoon inlet 621 of the cocoon box 62, the rear end of the corrugated pipe 641 is fixedly arranged on the telescopic column 22 through a pipe hoop support 65, the rear end of the right-angle pipe 642 is fixedly arranged at the upper end of the telescopic guide rod 51 through a pipe hoop and an adjusting cylinder 66, the tail of the right-angle pipe 642 is fixedly connected with the front end of the corrugated pipe 641 through glue, and the suction nozzle 643 is positioned at the front end of the right-angle pipe 642 and the upper end of the suction nozzle 643 is embedded in the right-angle pipe 642. The binocular camera 7 is fixedly installed at the front end of the right-angle pipe 642 through a hoop and is located above the side of the suction nozzle 643. The cocoon discharging box 62 is kept sealed during working, negative pressure is formed in the cocoon discharging box 62 through the negative pressure pipe 63 under the action of the vacuum pump 61, and cocoons are sucked into the cocoon discharging box 62 through the cocoon picking pipe 64. The length and angle of the corrugated tube 641 of the cocoon picking tube 64 can be adjusted arbitrarily along with the movement of the rotary lifting device 2 and the posture converter 4. The adjusting cylinder 66 adopts a double-acting cylinder.
A data acquisition card is also arranged in the controller 14, linear displacement sensors are arranged in the rotary lifting device 2 and the transverse moving device 3, and angular displacement sensors are arranged in the rotary lifting device 2 and the attitude converter 4; binocular camera 7 be connected through power cord and data line respectively with power 15, data acquisition card the linear displacement sensor, angle displacement sensor be connected through the data line with the controller, binocular camera 7 can set up a set of or two sets of as required, and be equipped with LED light source on binocular camera 7. Image information acquired by the binocular camera 7, information of the linear displacement sensor, the angular displacement sensor and the like are acquired and processed by the data acquisition card, and information analysis and processing tasks such as posture adjustment and operation tasks of the cocoon collection robot are completed by the controller 14.
Before use, the invention is well distributed according to the cocoon picking site environment, and when a vertical cocoon picking task is executed, the paper cocooning frame 8 is fixed at the top of the cocoon collecting box 9, and then the movable trolley 1 is moved to the operation area of the cocoon collecting box 9; the pull handle 44 adjusts the postures of the T-shaped seat 45 and the actuator 5, thereby ensuring that the push rod 55 is in a vertical state. During cocoon picking operation, according to the image analysis result and the positioning data scanned by the binocular camera 7, the lifting cylinder 23 drives the top support 25 and the transverse moving device 3 to be adjusted to a proper height; the traversing motor 31 drives the traversing lead screw 33 to rotate, so that the guide sleeve 41 in the attitude converter 4 is traversed to a proper position, and finally the actuator 5 is moved to the position right above the paper cocooning frame 8, so that the profiling pressure head 56 is aligned with the silkworm cocoons in the paper cocooning frame 8. Then, the pushing cylinder 52 is extended, and the copying ram 56 pushes the silkworm cocoon out of the cocooning frame 8, thereby completing the cocoon picking operation. According to the cocoon picking operation plan, the rotary supporting device 21, the lifting cylinder 23 and the transverse moving motor 31 are matched to complete the lifting and moving of the actuator 5 relative to the square cocooning frames 8, so that the whole area cocoon picking of the square cocooning frames 8 is realized. When the cocooning frame 8 is vertically placed, horizontal cocoon picking work needs to be performed, and unlike the vertical cocoon picking work, the postures of the T-shaped seat 45 and the actuator 5 need to be adjusted by the handle 44 to ensure that the pushing rod 55 is in a horizontal state. If cocoons exist in the paper cocooning frame 8 during cocoon picking operation, the rotating support device 21, the lifting cylinder 23 and the traversing motor 31 are matched to adjust the suction nozzle 643 of the cocoon picking device 6 to be aligned with the cocoons, and the vacuum pump 61 is started to suck the cocoons into the cocoon box 62 through the cocoon picking pipe 64.
The cocoon picking and locating device disclosed by the invention has the advantages that the recognition and the location of the cocooning frame 8 and the silkworm cocoons or the cocoons in the cocooning frame 8 are completed under the guidance of the binocular camera 7, the obstacle avoidance is realized, the movement tracks of the actuator 5 and the suction nozzle 643 in the cocoon picking device 6 are automatically planned, the manual intervention is not needed, the full-automatic cocoon picking and cocoon removing operations are realized, the labor intensity is greatly reduced, the production efficiency is improved, the cost of equipment is relatively low, the structure is compact, the energy consumption is low, the adjustment is convenient, the maintenance is simple and the like.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "horizontal", "inner", "outer", "front", "rear", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, are not to be construed as limiting the present invention.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a portable dual mode cocoon picking robot, includes travelling car, rotatory elevating gear, sideslip device, gesture converter, executor and cocoon picking device, its characterized in that: the lower ends of the rotary lifting device and the cocoon picking device are respectively and fixedly arranged at the front end and the middle part of the movable trolley, the rear end of the transverse moving device is fixedly arranged at the top of the rotary lifting device, the upper end of the actuator is hoisted at the front end of the transverse moving device through the attitude converter, the front end of the cocoon picking device is fixedly arranged on a telescopic guide rod of the actuator, and the rear end of the cocoon picking device is fixedly arranged on the movable trolley and is positioned at the rear end of the rotary lifting device;
the lower end of the rotary lifting device is provided with an electrically-driven rotary supporting device connected with the body of the moving trolley, and a lifting cylinder is arranged in the rotary lifting device; a vacuum pump and a hollow negative pressure pipe are arranged in a cocoon discharging box at the rear end of the cocoon picking device, and a binocular camera is arranged at the front end of the cocoon picking device; a handle is arranged in the middle of the posture converter; the upper end of the actuator is provided with a pushing cylinder; a pushing rod and a profiling pressure head are arranged below a pushing plate of the actuator, and the number of rows and columns of the pushing rod is an integral multiple of three.
2. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the posture converter comprises a guide sleeve, an upper connecting rod, a lower connecting rod, a handle and a T-shaped seat, wherein the guide sleeve is sleeved on a transverse sliding rod in the transverse moving device through guide holes on two sides of the guide sleeve, and a transverse moving nut is arranged in the middle of the guide sleeve and is connected with a transverse moving lead screw through threads; the upper end and the lower end of the upper connecting rod are respectively connected with the guide sleeve and the lower connecting rod through hinges, a first limiting block is arranged at the lower end of the upper connecting rod, and a second limiting block is arranged at the rear end of the lower connecting rod; the upper end and the lower end of the T-shaped seat are respectively connected with the guide sleeve and the lower connecting rod through hinges; the handle is arranged on a connecting hinge between the upper connecting rod and the lower connecting rod, and the number of the upper connecting rod, the number of the lower connecting rod and the number of the handle are two.
3. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the cocoon picking device comprises a vacuum pump, a cocoon discharging box, a negative pressure pipe and a cocoon picking pipe, wherein the vacuum pump is fixedly arranged at the rear end of the body of the movable trolley through a screw, and the vacuum pump is connected with the lower end of the negative pressure pipe through a pipeline; the cocoon discharging box is fixedly arranged on the vehicle body through screws, and a cocoon inlet hole is formed in the top of the cocoon discharging box; the negative pressure pipe is a hollow pipe and is fixedly arranged in the cocoon discharging box; the rear end of the cocoon picking pipe is provided with a corrugated pipe which can stretch and deform, and the front end of the cocoon picking pipe is provided with a suction nozzle; the binocular camera is fixedly installed at the front end of the cocoon picking pipe through a hoop and is located above the side of the suction nozzle.
4. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the lifting cylinder adopts an air cylinder, a hydraulic cylinder or an electric push rod, and the pushing cylinder adopts a double-acting air cylinder, a double-acting hydraulic cylinder or an electric push rod.
5. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the transverse moving motor in the transverse moving device adopts a servo speed reducing motor or a stepping speed reducing motor.
6. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the pushing rod in the actuator is of a hollow tubular structure, and the upper end and the lower end of the pushing rod are respectively connected with the pushing plate and the profiling pressure head through threads.
7. The movable dual-mode cocoon harvesting robot of claim 1, characterized in that: the lower surface shape of the profiling pressure head is similar to the outer surface profile of the silkworm cocoon body part.
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| CN202210706613.1A CN114847244B (en) | 2022-06-21 | 2022-06-21 | Movable double-mode cocoon picking robot |
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| CN202210706613.1A CN114847244B (en) | 2022-06-21 | 2022-06-21 | Movable double-mode cocoon picking robot |
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