CN116439043A - Automatic flower seedling cuttage robot - Google Patents

Abstract

The invention relates to an automatic flower seedling cutting robot, and belongs to the technical field of agricultural mechanical equipment. The base is provided with a conveying system, the conveying system is used for conveying plug trays and seedlings, the rack robot is arranged on the base and is positioned on the upper side of the conveying system, the rack robot comprises a rack, an x-axis transmission system, a y-axis transmission system, a z-axis lifting system, an end actuating mechanism and a controller, the rack is arranged on the base, the x-axis transmission system is arranged on two sides of the base along the x-axis direction, the y-axis transmission system is connected and arranged between the x-axis transmission systems along the y-axis direction, the z-axis lifting system is connected on the y-axis transmission system along the vertical direction, the end actuating mechanism is arranged at the lower end of the z-axis lifting system, and the controller is respectively electrically connected with the x-axis transmission system, the y-axis transmission system, the z-axis lifting system and the end actuating mechanism. The seedling cutting machine is accurate and efficient, saves time and labor, has high automation degree, reduces the labor intensity of workers, and improves the work efficiency of seedling cutting.

Description

An automatic flower seedling cutting robot

technical field

The invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to an automatic flower seedling cutting robot.

Background technique

In recent years, with the deepening of the country's efforts to solve the "three rural" issues, agricultural policies have been continuously improved, and the agricultural planting structure has been gradually adjusted and optimized. For the emerging industry of flowers, governments at all levels have attached great importance to and issued a series of policies that are beneficial to the flower industry. With the policy of improving quality, efficiency and high-quality development, the flower industry has great potential for development. As an emerging industry, the flower industry has a unique advantage in the subtropical monsoon climate area of Yunnan where the four seasons are like spring. It has become one of the key projects in the construction of advantageous and characteristic industrial clusters in Yunnan Province, and has an important position in Yunnan Province.

From the perspective of standardization, the level of flower industrialization in Yunnan Province is still uneven. In the existing flower production technology, cuttings of flower seedlings are generally operated manually. When large-scale production is required, they face problems such as high labor intensity, low work efficiency, and high labor costs. The lack of standardization has become a bottleneck restricting the high-quality development of the flower industry. . So far, there are still few domestic studies on the matching performance of flower planting devices.

Therefore, it is necessary to provide an automatic flower seedling cutting robot, which reduces the labor intensity of workers, improves the work efficiency of seedling cutting, and has a high degree of automation.

Contents of the invention

In order to overcome the problems existing in the background technology, the present invention provides an automatic flower seedling cutting robot. Through the cooperative movement of the transmission system, the end actuator completes the action from clamping the seedlings to completing the cutting, which can reduce the labor intensity of workers. Improve the work efficiency of seedling cutting, high degree of automation.

To achieve the above object, the present invention is achieved through the following technical solutions:

The present invention provides an automatic flower seedling cutting robot, comprising a platform robot 1, a conveying system 2, and a base 3; the conveying system 2 is installed on the base 3, and the conveying system 2 is used to convey the plug tray 11 and the seedling 12, The platform robot 1 is installed on the base 3 and is on the upper side of the conveying system 2. The platform robot 1 includes a platform 4, an x-axis transmission system 5, a y-axis transmission system 6, a z-axis lifting system 7, an end effector 8 and a control system. 9, the stand 4 is installed on the base 3, the x-axis transmission system 5 is arranged on both sides of the base 3 along the x-axis direction, the y-axis transmission system 6 is connected and arranged between the x-axis transmission systems 5 along the y-axis direction, z The axis lifting system 7 is connected to the y-axis transmission system 6 along the vertical direction, the end effector 8 is installed at the lower end of the z-axis lifting system 7, and the controller 9 is connected with the x-axis transmission system 5, the y-axis transmission system 6, and the z-axis lifting system respectively. The system 7 and the end effector 8 are electrically connected.

As a preference, the platform 4 is constructed of a square tube made of aluminum profiles, and is detachably connected to the base 3 through corner connectors 13 through bolts.

As a preference, the x-axis transmission system 5 includes a screw rack 51, an x-axis screw 52, a sliding seat 53 and an x-axis belt drive mechanism 54, and the screw rack 51 is detachably mounted on two of the stand 4 through bolts. On the opposite column, the two ends of the x-axis screw rod 52 are rotationally connected with the screw rod holder 51, the sliding seat 53 is connected with the x-axis screw rod 52 through the x-axis screw nut 55, and the x-axis screw nut 55 is connected with the x-axis wire The rod 52 is screwed and connected with the sliding seat 53 in rotation. The x-axis belt transmission mechanism 54 is connected with the x-axis screw rod 52. The sliding seat 53 is a boss structure with a through hole symmetrical up and down.

Preferably, the x-axis belt transmission mechanism 54 includes an x-axis transmission belt 541, an x-axis screw pulley 542, an x-axis motor pulley 543, and an x-axis servo motor 544 that provides power. The x-axis servo motor 544 passes through the x-axis The motor base 545 is installed on the platform 4 , and the x-axis servo motor 544 is connected to the x-axis screw 52 through the x-axis screw pulley 542 , the x-axis motor pulley 543 and the x-axis transmission belt 541 .

As preferably, the y-axis transmission system 6 includes a y-axis screw 61, an optical shaft 62, a y-axis screw nut 63, a sliding plate 64 and a y-axis belt transmission mechanism 65, and the end of the y-axis screw 61 is connected to the sliding seat The shaft hole of the upper boss of 53 is matched, the end of the optical axis 62 is matched with the shaft hole of the lower boss of the sliding seat 53, the y-axis screw nut 63 is installed in the slot on the back of the sliding plate 64, and the y-axis screw 61 and the optical axis 62 pass through the y-axis The screw nut 63 is arranged in parallel on the back of the sliding plate 64 , and the y-axis belt transmission mechanism 65 is in drive connection with the y-axis screw 61 .

Preferably, the y-axis belt transmission mechanism 65 includes a y-axis transmission belt 651, a y-axis screw pulley 652, a y-axis motor pulley 653, and a y-axis servo motor 654 that provides power. The y-axis servo motor 654 passes through the y-axis The motor seat 655 is installed on the sliding seat 53 on one side, and moves with the sliding seat 53. The y-axis servo motor 654 and the y-axis screw 61 pass through the y-axis screw pulley 652, the y-axis motor pulley 653, and the y-axis Transmission belt 651 transmission connection.

As a preference, the z-axis lifting system 7 is fixed on the front side of the sliding plate 64. The z-axis lifting system 7 includes a fixed seat 71, a hydraulic system 72, a shaft sleeve 73 and a sliding platform 74. The fixed seat 71 and the sliding plate 64 are installed by The holes are connected, the hydraulic system 72 is arranged at the bottom of the fixed seat 71 and the hydraulic rod is connected with the fixed plate 75 at the bottom of the sliding platform 74 through a coupling, the bushing 73 is fixedly connected with the bottom of the fixed seat 71, and the sliding platform 74 passes through the slide bar 76 Cooperate with the shaft sleeve 73.

Preferably, the end effector 8 is fixed below the sliding platform 74, including a fixed joint 81, a movable joint 82, a steering gear 83 and an air claw 84, and the fixed joint 81 is connected to the fixed plate 75 at the bottom of the sliding platform 74 through a mounting hole. The movable joint 82 is rotatably installed on the lower side of the fixed joint 81, the rotation axis is the x axis, and the maximum rotation limit is 90°. The steering gear 83 is installed inside the movable joint 82, and the air claw 84 is arranged on the lower surface of the movable joint 82.

As preferably, the air claw 84 includes a fixed end 841, a cylinder 842, a slider 843, a rubber pad support frame 844 and a polyester rubber pad 845, the fixed end 841 is connected to the lower surface of the movable joint 82, and the large end surface of the fixed end 841 is connected to the The cylinder 842 is connected, the two sliders 843 are connected with the cylinder 842 through the chute, the two rubber pad support frames 844 are respectively arranged on the two sliders 843, and the polyester rubber pad 845 is connected to the rubber pad support frame through the mounting holes. 844 on the opposite side.

As preferably, a positioning camera 10 is installed on the side of the sliding plate 64, and the positioning camera 10 is electrically connected to the controller 9. After the positioning camera 10 recognizes the seedling 12, the position signal is transmitted to the controller 9, and the controller 9 respectively It is electrically connected with the x-axis servo motor 544, the y-axis servo motor 654, the hydraulic system 72, and the cylinder 842 to control their work.

Beneficial effects of the present invention:

The present invention adopts the x, y, z three-axis transmission system, the mechanism is simple, and the movement speed is fast. The positioning camera is installed on the side of the sliding plate, which can accurately identify and locate. The coordinated movement of the steering gear and the cylinder completes the cutting action, which is accurate and efficient, saves time and effort, and has a high degree of automation, which reduces the labor intensity of workers and improves the work efficiency of seedling cuttings.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is the structure schematic diagram of platform robot of the present invention;

3 is a schematic diagram of the overall structure of the x, y, z three-axis transmission system of the present invention;

Fig. 4 is a schematic structural diagram of the x-axis transmission system of the present invention;

Fig. 5 is a structural schematic diagram of the y-axis transmission system of the present invention;

Fig. 6 is a schematic structural diagram of the z-axis lifting system of the present invention;

Fig. 7 is a schematic structural diagram of the end effector of the present invention;

Fig. 8 is a schematic diagram of the structure of the air gripper of the present invention;

Fig. 9 is a control circuit diagram of the present invention.

In the figure, 1-gantry robot, 2-conveyor system, 3-base, 4-gantry, 5-x-axis transmission system, 6-y-axis transmission system, 7-z-axis lifting system, 8-end actuator, 9-controller, 10-positioning camera, 11-tray, 12-seedling, 13-angle connector, 51-screw rack, 52-x-axis screw, 53-sliding seat, 54-x-axis belt drive Mechanism, 55-x axis screw nut, 541-x axis transmission belt, 542-x axis screw pulley, 543-x axis motor pulley, 544-x axis servo motor, 545-x axis motor seat, 61-y Shaft screw, 62-optical shaft, 63-y-axis screw nut, 64-sliding plate, 65-y-axis belt drive mechanism, 651-y-axis drive belt, 652-y-axis screw pulley, 653-y-axis motor Pulley, 654-y-axis servo motor, 655-y-axis motor seat, 71-fixed seat, 72-hydraulic system, 73-shaft sleeve, 74-sliding platform, 75-fixed plate, 76-sliding rod, 81-fixed Joint, 82-movable joint, 83-steering gear, 84-air claw, 841-fixed end, 842-cylinder, 843-slider, 844-pad support frame, 845-polyester pad.

Detailed ways

In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so as to facilitate the understanding of technical personnel.

As shown in Figures 1-3, the automatic flower seedling cutting robot includes a platform robot 1, a delivery system 2, and a base 3; Seedlings 12, the platform robot 1 is installed on the base 3 and is on the upper side of the conveying system 2, the platform robot 1 includes a platform 4, an x-axis transmission system 5, a y-axis transmission system 6, a z-axis lifting system 7, and an end execution The mechanism 8 and the controller 9, the platform 4 is installed on the base 3, and the platform 4 is constructed of an aluminum profile square tube, and the corner connector 13 is detachably connected to the base 3 through bolts, which can be easily installed and disassembled, x The shaft transmission system 5 is arranged on both sides of the base 3 along the x-axis direction, the y-axis transmission system 6 is connected and arranged between the x-axis transmission systems 5 along the y-axis direction, and the z-axis lifting system 7 is connected to the y-axis transmission system along the vertical direction 6, the end effector 8 is installed at the lower end of the z-axis lift system 7, and the controller 9 is electrically connected to the x-axis drive system 5, the y-axis drive system 6, the z-axis lift system 7, and the end effector 8 respectively.

As shown in Figure 4, the x-axis transmission system 5 includes a screw frame 51, an x-axis screw rod 52, a sliding seat 53 and an x-axis belt transmission mechanism 54, and the screw frame 51 is detachably mounted on the stand 4 by bolts On the two opposite side columns, the two ends of the x-axis screw rod 52 are rotationally connected with the screw rod frame 51, the sliding seat 53 is connected with the x-axis screw rod 52 through the x-axis screw nut 55, and the x-axis screw nut 55 is connected with the x-axis screw nut 55. The x-axis screw rod 52 is screwed and connected with the sliding seat 53 in rotation. The x-axis belt transmission mechanism 54 is connected with the x-axis screw rod 52. The sliding seat 53 is a boss structure with a through hole that is symmetrical up and down; The mechanism 54 includes an x-axis transmission belt 541, an x-axis screw pulley 542, an x-axis motor pulley 543, and an x-axis servo motor 544 that provides power. The x-axis servo motor 544 is installed on the stand 4 through an x-axis motor seat 545. The x-axis servo motor 544 is connected with the x-axis screw mandrel 52 through the x-axis screw pulley 542, the x-axis motor pulley 543 and the x-axis transmission belt 541; during work, the x-axis servo motor 544 rotates, and the x-axis motor belt The wheel 543 drives the x-axis screw pulley 542 to rotate through the x-axis transmission belt 541, drives the x-axis screw pulley 542 to rotate, and the x-axis servo motor 544 can realize the reciprocating motion of the sliding seat 53 along the x-axis.

As shown in Figure 5, the y-axis transmission system 6 includes a y-axis screw 61, an optical shaft 62, a y-axis screw nut 63, a sliding plate 64 and a y-axis belt transmission mechanism 65, and the end of the y-axis screw 61 is Cooperate with the shaft hole of the upper boss of the sliding seat 53, the end of the optical axis 62 is matched with the shaft hole of the lower boss of the sliding seat 53, the y-axis screw nut 63 is installed in the slot on the back of the sliding plate 64, the y-axis screw 61 and the optical axis 62 The y-axis screw nut 63 is arranged in parallel on the back of the sliding plate 64, and the y-axis belt transmission mechanism 65 is connected to the y-axis screw rod 61; the y-axis belt transmission mechanism 65 includes a y-axis transmission belt 651, a y-axis screw pulley 652, The y-axis motor pulley 653 and the y-axis servo motor 654 that provides power, the y-axis servo motor 654 is installed on the sliding seat 53 on one side through the y-axis motor seat 655, and moves with the sliding seat 53. The y-axis servo motor 654 is connected to the y-axis The shaft screw rods 61 are connected through the y-axis screw pulley 652, the y-axis motor pulley 653, and the y-axis transmission belt 651; when working, the y-axis servo motor 654 rotates, and the y-axis motor pulley 653 passes through the y-axis transmission belt 651 Drive the y-axis screw pulley 652 to rotate, drive the y-axis screw 61 to rotate, the optical axis 62 plays a supporting role, and the y-axis servo motor 654 can realize the reciprocating motion of the sliding plate 64 along the y-axis.

As shown in Figure 6, the z-axis lifting system 7 is fixed on the front side of the sliding plate 64, the z-axis lifting system 7 includes a fixed seat 71, a hydraulic system 72, a shaft sleeve 73 and a sliding platform 74, the fixed seat 71 and the sliding plate 64 is connected through the installation hole, the hydraulic system 72 is arranged at the bottom of the fixed seat 71 and the hydraulic rod is connected with the fixed plate 75 at the bottom of the sliding platform 74 through a coupling, the shaft sleeve 73 is fixedly connected with the bottom of the fixed seat 71, and the sliding platform 74 passes through The sliding rod 76 cooperates with the shaft sleeve 73; when working, the hydraulic rod of the hydraulic system 72 is elongated to withstand the fixed plate 75, thereby driving the sliding platform 74 to reciprocate along the z-axis.

As shown in Figure 7, the end effector 8 is fixed below the sliding platform 74, including a fixed joint 81, a movable joint 82, a steering gear 83 and an air claw 84, and the fixed joint 81 and the fixed plate 75 at the bottom of the sliding platform 74 are installed The holes are connected, the movable joint 82 is rotatably installed on the lower side of the fixed joint 81, the rotation axis is the x-axis, the maximum rotation limit is 90°, the steering gear 83 is installed inside the movable joint 82, and the air claw 84 is arranged under the movable joint 82 surface.

As shown in Figure 8, the air claw 84 includes a fixed end 841, a cylinder 842, a slider 843, a rubber pad support frame 844 and a polyester rubber pad 845, the fixed end 841 is connected to the lower surface of the movable joint 82, and the fixed end 841 The large end surface is connected with the cylinder 842, the two sliders 843 are connected with the cylinder 842 through the chute, the two rubber pad support frames 844 are respectively arranged on the two sliders 843, and the polyester rubber pad 845 is connected to the rubber pad through the installation hole. The opposite surface of the pad support frame 844; during work, the cylinder 842 promotes the slide block 843, so that the polyester rubber pad 845 is clamped, and the grooves on the inner surface of the polyester rubber pad 845 can prevent the seedlings 12 from rolling, making the clamping more accurate Stablize.

A positioning camera 10 is installed on the side of the sliding plate 64, and the positioning camera 10 is electrically connected to the controller 9. After the positioning camera 10 recognizes the seedling 12, the position signal is transmitted to the controller 9, and the controller 9 is connected to the x-axis respectively. The servo motor 544, the y-axis servo motor 654, the hydraulic system 72, and the cylinder 842 are electrically connected and controlled to work.

The present invention adopts the x, y, z three-axis transmission system, the mechanism is simple, and the movement speed is fast. The positioning camera 10 is installed on the side of the sliding plate 64, which can accurately identify and locate. The terminal actuator 8 can accurately clamp and not damage the seedlings 12 epidermis, the cutting action is completed through the coordinated movement of the steering gear 83 and the cylinder 842, which is accurate and efficient, saves time and effort, and has a high degree of automation, which reduces the labor intensity of workers and improves the work efficiency of seedling cuttings.

Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than limit them. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that it can be described in terms of form and Various changes may be made in the details without departing from the scope of the invention defined by the claims.

Claims (10)

1. An automatic flower seedling cutting robot, characterized in that: the automatic flower seedling cutting robot includes a platform robot (1), a conveying system (2), and a base (3); the base (3) is equipped with a conveying The system (2), the conveying system (2) is used to convey the trays (11) and the seedlings (12), the platform robot (1) is installed on the base (3) and is on the upper side of the conveying system (2), the platform The robot (1) includes a platform (4), an x-axis transmission system (5), a y-axis transmission system (6), a z-axis lifting system (7), an end effector (8) and a controller (9), the platform (4) Installed on the base (3), the x-axis transmission system (5) is arranged on both sides of the base (3) along the x-axis direction, and the y-axis transmission system (6) is connected to the x-axis transmission system along the y-axis direction Between (5), the z-axis lifting system (7) is vertically connected to the y-axis transmission system (6), the end effector (8) is installed at the lower end of the z-axis lifting system (7), and the controller (9) They are respectively electrically connected to the x-axis transmission system (5), the y-axis transmission system (6), the z-axis lifting system (7), and the end actuator (8). 2. An automatic flower seedling cutting robot according to claim 1, characterized in that: the stand (4) is constructed of an aluminum profile square tube, and the corner connector (13) and the base (3) pass through Bolt detachable connection. 3. An automatic flower seedling cutting robot according to claim 1 or 2, characterized in that: the x-axis transmission system (5) includes a screw rack (51), an x-axis screw (52), a sliding seat (53) and the x-axis belt drive mechanism (54), the screw rack (51) is detachably installed on two opposite side columns of the stand (4) by bolts, and the two ends of the x-axis screw rod (52) are connected with the wire The rod frame (51) is connected in rotation, the sliding seat (53) is connected with the x-axis screw nut (55) and the x-axis screw (52), and the x-axis screw nut (55) is threaded with the x-axis screw (52) Connected, connected in rotation with the sliding seat (53), the x-axis belt drive mechanism (54) is transmission connected with the x-axis screw mandrel (52), and the sliding seat (53) is a boss structure with up-down symmetry and through holes. 4. An automatic flower seedling cutting robot according to claim 3, characterized in that: the x-axis belt transmission mechanism (54) includes an x-axis transmission belt (541), an x-axis screw pulley (542), x The axis motor pulley (543) and the x-axis servo motor (544) providing power, the x-axis servo motor (544) is installed on the stand (4) through the x-axis motor seat (545), and the x-axis servo motor (544) It is connected with the x-axis screw mandrel (52) through the x-axis screw pulley (542), the x-axis motor belt pulley (543) and the x-axis transmission belt (541). 5. An automatic flower seedling cutting robot according to claim 1, 2 or 4, characterized in that: the y-axis transmission system (6) includes a y-axis screw rod (61), an optical axis (62), a y-axis Axis screw nut (63), sliding plate (64) and y-axis belt transmission mechanism (65), the end of y-axis screw (61) fits with the shaft hole of the upper boss of sliding seat (53), optical axis (62) The end part fits with the shaft hole of the lower boss of the sliding seat (53), the y-axis screw nut (63) is installed in the slot on the back of the sliding plate (64), the y-axis screw rod (61) and the optical axis (62) pass through the y-axis wire The rod nut (63) is arranged on the back of the slide plate (64) in parallel, and the y-axis belt transmission mechanism (65) is connected to the y-axis screw rod (61) by transmission. 6. An automatic flower seedling cutting robot according to claim 5, characterized in that: the y-axis belt transmission mechanism (65) includes a y-axis transmission belt (651), a y-axis screw pulley (652), a y-axis The axis motor pulley (653) and the y-axis servo motor (654) that provide power, the y-axis servo motor (654) is installed on the sliding seat (53) on one side through the y-axis motor seat (655), and follows the sliding seat ( 53) Movement, the y-axis servo motor (654) and the y-axis screw (61) are connected through the y-axis screw pulley (652), the y-axis motor pulley (653), and the y-axis transmission belt (651). 7. An automatic flower seedling cutting robot according to claim 6, characterized in that: the z-axis lifting system (7) is fixed on the front side of the sliding plate (64), and the z-axis lifting system (7) includes a fixing seat (71), hydraulic system (72), shaft sleeve (73) and sliding platform (74), the fixed seat (71) is connected with the sliding plate (64) through the installation hole, and the hydraulic system (72) is arranged on the fixed seat (71 ) bottom and the hydraulic rod is connected with the fixed plate (75) at the bottom of the sliding platform (74) through a coupling, the bushing (73) is fixedly connected with the bottom of the fixed seat (71), and the sliding platform (74) is connected through the sliding rod (76 ) cooperate with the shaft sleeve (73). 8. An automatic flower seedling cutting robot according to claim 7, characterized in that: the end effector (8) is fixed under the sliding platform (74), including fixed joints (81) and movable joints (82) , the steering gear (83) and the air claw (84), the fixed joint (81) is connected with the fixed plate (75) at the bottom of the sliding platform (74) through the installation hole, and the movable joint (82) is rotatably installed under the fixed joint (81) On the side, the rotation axis is the x-axis, the maximum rotation limit is 90°, the steering gear (83) is installed inside the movable joint (82), and the air claw (84) is arranged on the lower surface of the movable joint (82). 9. An automatic flower seedling cutting robot according to claim 8, characterized in that: the air claw (84) includes a fixed end (841), a cylinder (842), a slider (843), a rubber pad support frame (844) and polyester pad (845), the fixed end (841) is connected to the lower surface of the movable joint (82), the large end surface of the fixed end (841) is connected to the cylinder (842), and the two sliders (843) are connected to the The cylinder (842) is connected through the chute, the two rubber pad support frames (844) are respectively set on the two sliders (843), and the polyester rubber pad (845) is connected to the rubber pad support frame (844) through the installation hole. on the opposite side. 10. An automatic flower seedling cutting robot according to claim 9, characterized in that: a positioning camera (10) is installed on the side of the sliding plate (64), and the positioning camera (10) is electrically connected to the controller (9). After the positioning camera (10) identifies the seedlings (12), the position signal is transmitted to the controller (9), and the controller (9) communicates with the x-axis servo motor (544), y-axis servo motor (654), and The hydraulic system (72) and the cylinder (842) are electrically connected to control their work.