CN210746393U - Grape bagging robot based on horizontal shed frame type cultivation - Google Patents
Grape bagging robot based on horizontal shed frame type cultivation Download PDFInfo
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- CN210746393U CN210746393U CN201921842626.1U CN201921842626U CN210746393U CN 210746393 U CN210746393 U CN 210746393U CN 201921842626 U CN201921842626 U CN 201921842626U CN 210746393 U CN210746393 U CN 210746393U
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Abstract
The utility model discloses a grape bagging robot based on cultivation of horizontal canopy posture, including the travelling car, be equipped with polar coordinates moving mechanism on the travelling car, be equipped with main part elevating system on the polar coordinates moving mechanism, be equipped with pulley elevating system in the main part elevating system, be equipped with on the pulley elevating system and send a bag mechanism, send a bag mechanism top to be equipped with bagging machine and construct. The utility model discloses rational in infrastructure, the stable performance, work efficiency is high, can realize grape cover bag operation under rack formula planting environment automatically accurately to last work.
Description
Technical Field
The utility model relates to a grape bagging robot, especially a grape bagging robot based on cultivation of horizontal canopy posture.
Background
In the production process of high-quality grapes, bagging grape clusters is an extremely effective measure, the grape bagging can effectively protect the clusters from being damaged by rainwater, medicaments, sunshine and bird insects, the smoothness of fruit surfaces is improved, the yield of the high-quality grapes is improved, and the phenomenon of fruit cracking is reduced; the current ear bagging work is mainly completed by manual operation, the labor intensity is high, the efficiency is low, the work is complicated, and in addition, the conditions of untimely bagging and the like caused by the lack of labor force can exist in terms of large-scale plantation. Therefore, the development of the grape bagging robot based on horizontal shed frame type cultivation has very important significance.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a grape bagging robot based on cultivation of horizontal canopy posture. The utility model discloses rational in infrastructure, the stable performance, work efficiency is high, can realize grape cover bag operation under rack formula planting environment automatically accurately to last work.
The technical scheme of the utility model: grape bagging robot based on cultivation of horizontal canopy frame formula, including the travelling car, be equipped with polar coordinate moving mechanism on the travelling car, be equipped with main part elevating system on the polar coordinate moving mechanism, be equipped with pulley elevating system in the main part elevating system, be equipped with on the pulley elevating system and send a bag mechanism, send a bag mechanism top to be equipped with bagging-off mechanism.
In the grape bagging robot based on horizontal shed frame type cultivation, the bagging mechanism comprises a bagging mechanism base, a first linear guide rail cushion block and a second linear guide rail cushion block which are vertically arranged are arranged on the bagging mechanism base, a first linear guide rail is arranged on the first linear guide rail cushion block, two pairs of first linear slide blocks are arranged on the first linear guide rail, each pair of first linear slide blocks are connected through a first slide block connecting plate, a second linear guide rail is arranged on the second linear guide rail cushion block, two pairs of second linear slide blocks are arranged on the second linear guide rail, each pair of second linear slide blocks are connected through a second slide block connecting plate, a sucking disc is arranged between the first slide block connecting plates, a heat-sealing plate is arranged on the first slide block connecting plate, an upper limiting block and a lower limiting block are respectively arranged on the heat-sealing plate, a clamp motor is arranged below the second slide block connecting plate, and a clamp lower, the clamp upper pressing plate is arranged above the clamp lower pressing plate, the clamp is arranged between the clamp lower pressing plate and the clamp upper pressing plate, and the connecting rod is connected between the first slider connecting plate and the second slider connecting plate.
In the grape bagging robot based on horizontal shed frame type cultivation, the bag feeding mechanism comprises a bag storage frame, the bag storage frame is connected with a clamping plate, a spring is arranged below the clamping plate, a bag rubbing wheel is arranged above the clamping plate, the bag rubbing wheel is connected with a first synchronous belt wheel, a protection plate is arranged on one side of the bag rubbing wheel, a friction plate matched with the bag rubbing wheel is arranged below the protection plate, a bag conveying wheel is arranged above the protection plate, the bag conveying wheel is connected with a gear, and the gear is connected with a second synchronous belt wheel; the first synchronous belt pulley is connected with a bag rubbing motor, and the second synchronous belt pulley is connected with a bag conveying motor; the bag storage frame comprises a wide positioning frame, the wide positioning frame is connected with a rear positioning frame, a pair of wide positioning plates are arranged on the wide positioning frame, and a rear positioning plate is arranged on the rear positioning frame.
In the aforementioned grape cover bag robot based on cultivation of horizontal canopy posture, pulley elevating system includes the cuboid frame, be equipped with cover bag elevating platform in the cuboid frame, cover bag elevating platform below is equipped with elevator motor, cover bag elevating platform top is equipped with and send a bag elevating platform, be equipped with cover bag stock on the cover bag elevating platform, cover bag stock runs through and send a bag elevating platform, cover bag elevating platform and send a bag elevating platform all to be connected through the top of lift pulley with the cuboid frame, the top of cuboid frame is equipped with cover bag mechanism mounting panel, the top of cuboid frame is equipped with cover bag hasp pulley, cover bag hasp pulley is connected with the cover bag hasp spare and the cover bag unlocking piece that set up at the cuboid frame side through the steel wire, the bottom of cuboid frame is equipped with and sends a bag hasp pulley, send a bag hasp pulley to be connected with through the steel wire and set up the bag that send hasp spare and send a bag unlocking piece at the.
In the grape bagging robot based on horizontal shed frame type cultivation, the main body lifting mechanism comprises a lifting frame, a fork frame bottom plate is arranged at the bottom of the lifting frame, a support rail is arranged on the fork frame bottom plate and connected with a two-stage single-shear type fork frame through a support roller, an electric push rod is arranged in the two-stage single-shear type fork frame, a fork frame lifting plate is connected above the two-stage single-shear type fork frame, and fork frame guide wheels are arranged on four corners of the fork frame lifting plate; the double-stage single-shear fork comprises a first fork rod and a second fork rod which are arranged in a crossed mode, the first fork rod is connected with a supporting roller, the second fork rod is hinged to a fork bottom plate, the first fork rod is connected with a third fork rod, the second fork rod is connected with a fourth fork rod, and the third fork rod and the fourth fork rod are connected in a crossed mode.
In the aforementioned grape bagging robot based on cultivation of horizontal canopy frame formula, polar coordinate moving mechanism includes the rotary platform base, is equipped with the rotating electrical machines on the rotary platform base, and the rotating electrical machines is connected with turbine and worm, and turbine and worm top are equipped with the moving platform bottom plate, are equipped with the moving motor on the moving platform bottom plate, and the moving motor has the removal backup pad through the coupling joint, and the removal backup pad below is equipped with linear guide, is equipped with ball screw on the linear guide, is equipped with bull's eye ball bearing between moving platform bottom plate and the rotary platform base.
In the grape bagging robot based on horizontal canopy frame formula cultivation, the travelling car includes vehicle body frame, is equipped with a pair of driving motor in the vehicle body frame, and driving motor all is connected with the reduction gear, and the reduction gear all is connected with the drive wheel, and vehicle body frame bottom is equipped with a pair of universal wheel.
In the grape bagging robot based on horizontal shed frame type cultivation, the length of the first sliding block connecting plate is greater than that of the second sliding block connecting plate.
In the grape bagging robot based on horizontal canopy frame type cultivation, the bagging locking fastener is arranged below the bagging unlocking piece, and the bag feeding locking fastener is arranged above the bag feeding unlocking piece.
The use method of the grape bagging robot based on horizontal shed frame type cultivation comprises the following steps: the main body lifting mechanism is lifted to drive the bag sleeving mechanism, the bag feeding mechanism and the pulley lifting mechanism to be lifted, and the grape bag sleeving robot enters a working mode; the pulley lifting mechanism motor rotates forwards to enable the bag feeding mechanism to ascend to the top end and be connected with the bag sleeving mechanism, the moving trolley moves to enable the grape bag sleeving robot to move into a designated area, the polar coordinate moving mechanism moves to enable the bag sleeving mechanism to move to the position right below a target grape, the bag feeding mechanism feeds the bag to the bag sleeving mechanism, the pulley lifting mechanism motor rotates forwards to enable the bag sleeving mechanism to be separated from the bag feeding mechanism to perform bag sleeving, and after the bag sleeving is finished, the pulley lifting mechanism motor rotates backwards, and the bag sleeving mechanism descends to be connected with the bag feeding mechanism; the grape bagging robot continuously repeats the steps to carry out bag feeding and bagging, when the bag in the bag feeding mechanism is used up, the motor of the pulley lifting mechanism rotates reversely to separate the bag feeding mechanism from the bagging mechanism, the bag feeding mechanism descends to the position of manual bag filling, after the manual bag filling is finished, the motor of the pulley lifting mechanism rotates forwardly to enable the bag feeding mechanism to ascend to the top end to be connected with the bagging mechanism, and the bagging work is continuously repeated; when the bagging work is finished, all the mechanisms return to the initial positions.
Compared with the prior art, the utility model realizes the automatic process of grape bagging, and the bagging mechanism of the utility model ensures the smoothness of opening and closing of the bag mouth through the double-slider mechanism, and has reasonable and compact structure; the bag feeding mechanism of the utility model skillfully utilizes the relationship between the friction coefficients of the bag twisting wheel and the bag, the bag and the bag, and the bag and the friction plate, and ensures the stability of the bag discharge; the pulley block and the locking mechanism in the pulley lifting mechanism of the utility model are mutually matched, so that the alternative lifting of the bag sleeving mechanism and the bag conveying mechanism is realized; the main body lifting mechanism of the utility model utilizes a double-stage single-shear type lifting platform, when the robot does not need to sleeve bags, the main body of the sleeve bag is lowered to reduce the volume and save space resources, and the device has simple structure, convenient assembly, stable mechanism and convenient maintenance; the polar coordinate moving mechanism of the utility model skillfully utilizes the polar coordinate principle, realizes the control of the position of the grape bagging, and has simple structure, accurate positioning and strong bearing capacity; the utility model discloses a travelling car uses two universal wheels to remove around two drive wheels drive, can accomplish actions such as freely advance and retreat, rotation in the plane, and control is simple, and bearing capacity is strong, and is with low costs. To sum up, the utility model discloses rational in infrastructure, the stable performance, work efficiency is high, can realize grape bagging work under the rack formula planting environment automatically accurately to last work.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic structural view of a bagging mechanism;
FIG. 3 is a schematic structural view of a bag feeding mechanism;
FIG. 4 is a side view of the bag feeding mechanism;
FIG. 5 is an enlarged view of a portion of the bag feeding mechanism;
FIG. 6 is a schematic structural view of the pulley elevating mechanism;
FIG. 7 is a schematic structural view of the main body elevating mechanism;
FIG. 8 is a schematic view of the structure of a polar moving mechanism;
fig. 9 is a schematic structural view of the traveling carriage.
The labels in the figures are: 1-mobile carriage, 101-body frame, 102-drive motor, 103-reducer, 104-drive wheel, 105-universal wheel, 2-polar coordinate moving mechanism, 201-rotating platform base, 202-rotating motor, 203-turbine, 204-worm, 205-moving platform base plate, 206-moving motor, 207-coupler, 208-moving support plate, 209-linear guide rail, 210-ball screw, 211-bull's eye ball bearing, 3-body elevator, 301-elevator frame, 302-fork base plate, 303-support rail, 304-support roller, 305-double stage single shear fork, 306-electric push rod, 307-fork elevator plate, 308-fork guide wheel, 309-first fork rod, 310-a second fork lever, 311-a third fork lever, 312-a fourth fork lever, 4-pulley lifting mechanism, 401-a rectangular parallelepiped frame, 402-a bag-encasing lifting table, 403-a lifting motor, 404-a bag-feeding lifting table, 405-a bag-encasing long lever, 406-a lifting pulley, 407-a bag-encasing mechanism mounting plate, 408-a bag-encasing latching pulley, 409-a bag-encasing latching member, 410-a bag-encasing unlocking member, 411-a bag-feeding latching pulley, 412-a bag-feeding latching member, 413-a bag-feeding unlocking member, 5-a bag-feeding mechanism, 501-a bag-storing frame, 502-a clamping plate, 503-a spring, 504-a bag-rubbing wheel, 505-a first synchronous pulley, 506-a protecting plate, 507-a friction plate, 508-a bag-transporting wheel, 509-a gear, 510-a second synchronous pulley, 511-a bag rolling motor, 512-a bag conveying motor, 513-a wide positioning frame, 514-a rear positioning frame, 515-a wide positioning plate, 516-a rear positioning plate, 6-a bag sleeving mechanism, 601-a bag sleeving mechanism base, 602-a first linear guide rail cushion block, 603-a second linear guide rail cushion block, 604-a first linear guide rail, 605-a first linear slide block, 606-a first slide block connecting plate, 607-a second linear guide rail, 608-a second linear slide block, 609-a second slide block connecting plate, 610-a sucker, 611-a heat-seal plate, 612-an upper limiting block, 613-a lower limiting block, 614-a clamp motor, 615-a clamp lower pressing plate, 616-a clamp upper pressing plate, 617-a clamp and 618-a connecting rod.
Detailed Description
The following description is made with reference to the accompanying drawings and examples, but not to be construed as limiting the invention.
Example (b): grape bagging robot based on horizontal canopy frame type cultivation, the structure is as shown in figure 1, including travelling car 1, be equipped with polar coordinate moving mechanism 2 on the travelling car 1, be equipped with main part elevating system 3 on the polar coordinate moving mechanism 2, be equipped with pulley elevating system 4 in the main part elevating system 3, be equipped with on the pulley elevating system 4 and send a bag mechanism 5, send a bag mechanism 5 top to be equipped with bagging-off mechanism 6.
The bagging mechanism 6 is structurally shown in fig. 2, and comprises a bagging mechanism base 601, wherein a first linear guide rail cushion block 602 and a second linear guide rail cushion block 603 which are vertically arranged are arranged on the bagging mechanism base 601, a first linear guide rail 604 is arranged on the first linear guide rail cushion block 602, two pairs of first linear sliders 605 are arranged on the first linear guide rail 604, each pair of first linear sliders 605 are connected through a first slider connecting plate 606, a second linear guide rail 607 is arranged on the second linear guide rail cushion block 603, two pairs of second linear sliders 608 are arranged on the second linear guide rail 607, each pair of second linear sliders 608 are connected through a second slider connecting plate 609, a suction cup 610 is arranged between the first slider connecting plates 606, a heat-sealing plate 611 is arranged on the first slider connecting plate 606, an upper limiting block 612 and a lower limiting block 613 are respectively arranged on the heat-sealing plate 611, a clamp motor 614 is arranged below the second slider connecting plate 609, a clamp lower pressing plate 615 is arranged on the second, a clamp upper pressing plate 616 is arranged above the clamp lower pressing plate 615, a clamp 617 is arranged between the clamp lower pressing plate 615 and the clamp upper pressing plate 616, and a connecting rod 618 is connected between the first slider connecting plate 606 and the second slider connecting plate 609.
The bag feeding mechanism 5 is structurally shown in fig. 3 to 5, and comprises a bag storage frame 501, the bag storage frame 501 is connected with a clamp plate 502, a spring 503 is arranged below the clamp plate 502, a bag rubbing wheel 504 is arranged above the clamp plate 502, the bag rubbing wheel 504 is connected with a first synchronous pulley 505, a protective plate 506 is arranged on one side of the bag rubbing wheel 504, a friction plate 507 matched with the bag rubbing wheel 504 is arranged below the protective plate 506, a bag conveying wheel 508 is arranged above the protective plate 506, the bag conveying wheel 508 is connected with a gear 509, and the gear 509 is connected with a second synchronous pulley 510; the first synchronous belt wheel 505 is connected with a bag rubbing motor 511, and the second synchronous belt wheel 510 is connected with a bag conveying motor 512; the bag storage frame 501 comprises a wide positioning frame 513, the wide positioning frame 513 is connected with a rear positioning frame 514, a pair of wide positioning plates 515 is arranged on the wide positioning frame 513, and a rear positioning plate 516 is arranged on the rear positioning frame 514.
Pulley elevating system 4, the structure is as shown in fig. 6, including cuboid frame 401, be equipped with cover bag elevating platform 402 in the cuboid frame 401, cover bag elevating platform 402 below is equipped with elevator motor 403, cover bag elevating platform 402 top is equipped with and send a bag elevating platform 404, be equipped with cover bag stock 405 on the cover bag elevating platform 402, cover bag stock 405 runs through and sends a bag elevating platform 404, cover bag elevating platform 402 and send a bag elevating platform 404 all to be connected with the top of cuboid frame 401 through lifting pulley 406, the top of cuboid frame 401 is equipped with cover bag mechanism mounting panel 407, the top of cuboid frame 401 is equipped with cover bag hasp pulley 408, cover bag hasp pulley 408 is connected with cover bag hasp 409 and cover bag unblocking piece 410 that sets up at cuboid frame 401 side through the steel wire, the bottom of cuboid frame 401 is equipped with send a bag hasp pulley 411, send a bag pulley hasp 411 to be connected with through the steel wire and send bag unblocking piece 412 and send a bag unblocking piece 413 that set up at cuboid frame 401 side.
The main body lifting mechanism 3 is structurally shown in fig. 7, and comprises a lifting frame 301, a fork frame bottom plate 302 is arranged at the bottom of the lifting frame 301, a support rail 303 is arranged on the fork frame bottom plate 302, the support rail 303 is connected with a double-stage single-shear fork frame 305 through a support roller 304, an electric push rod 306 is arranged in the double-stage single-shear fork frame 305, a fork frame lifting plate 307 is connected above the double-stage single-shear fork frame 305, and fork frame guide wheels 308 are arranged at four corners of the fork frame lifting plate 307; the double-stage single-scissor fork 305 comprises a first fork rod 309 and a second fork rod 310 which are arranged in a crossed manner, the first fork rod 309 is connected with a support roller 304, the second fork rod 310 is hinged on a fork base plate 302, the first fork rod 309 is connected with a third fork rod 311, the second fork rod 310 is connected with a fourth fork rod 312, and the third fork rod 311 and the fourth fork rod 312 are connected in a crossed manner.
The polar coordinate moving mechanism 2 is structurally shown in fig. 8 and comprises a rotating platform base 201, a rotating motor 202 is arranged on the rotating platform base 201, the rotating motor 202 is connected with a turbine 203 and a worm 204, a moving platform bottom plate 205 is arranged above the turbine 203 and the worm 204, a moving motor 206 is arranged on the moving platform bottom plate 205, the moving motor 206 is connected with a moving support plate 208 through a coupler 207, a linear guide rail 209 is arranged below the moving support plate 208, a ball screw 210 is arranged on the linear guide rail 209, and an eyeball bearing 211 is arranged between the moving platform bottom plate 205 and the rotating platform base 201.
The moving trolley 1 has a structure shown in fig. 9, and includes a trolley body frame 101, a pair of driving motors 102 is arranged in the trolley body frame 101, the driving motors 102 are all connected with speed reducers 103, the speed reducers 103 are all connected with driving wheels 104, and a pair of universal wheels 105 is arranged at the bottom of the trolley body frame 101.
The first slider attachment plate 606 has a length greater than the length of the second slider attachment plate 609.
The pouch locking member 409 is disposed below the pouch unlocking member 410, and the pouch feeding locking member 412 is disposed above the pouch feeding unlocking member 413.
The main body lifting mechanism is lifted to drive the bag sleeving mechanism, the bag feeding mechanism and the pulley lifting mechanism to be lifted, and the grape bag sleeving robot enters a working mode; the pulley lifting mechanism motor rotates forwards to enable the bag feeding mechanism to ascend to the top end and be connected with the bag sleeving mechanism, the moving trolley moves to enable the grape bag sleeving robot to move into a designated area, the polar coordinate moving mechanism moves to enable the bag sleeving mechanism to move to the position right below a target grape, the bag feeding mechanism feeds the bag to the bag sleeving mechanism, the pulley lifting mechanism motor rotates forwards to enable the bag sleeving mechanism to be separated from the bag feeding mechanism to perform bag sleeving, and after the bag sleeving is finished, the pulley lifting mechanism motor rotates backwards, and the bag sleeving mechanism descends to be connected with the bag feeding mechanism; the grape bagging robot continuously repeats the steps to carry out bag feeding and bagging, when the bag in the bag feeding mechanism is used up, the motor of the pulley lifting mechanism rotates reversely to separate the bag feeding mechanism from the bagging mechanism, the bag feeding mechanism descends to the position of manual bag filling, after the manual bag filling is finished, the motor of the pulley lifting mechanism rotates forwardly to enable the bag feeding mechanism to ascend to the top end to be connected with the bagging mechanism, and the bagging work is continuously repeated; when the bagging work is finished, all the mechanisms return to the initial positions.
The utility model discloses a theory of operation: the main body lifting mechanism 3 is lifted to drive the bagging mechanism 6, the bag feeding mechanism 5 and the pulley lifting mechanism 4 to be lifted, and the grape bagging robot enters a working mode; the motor of the pulley lifting mechanism 4 rotates forwards to enable the bag feeding mechanism 5 to ascend to the top end and be connected with the bag sleeving mechanism 6, the movable trolley 1 moves to enable the grape bag sleeving robot to move into a designated area, the polar coordinate moving mechanism 2 moves to enable the bag sleeving mechanism 6 to move to the position right below a target grape, the bag feeding mechanism 5 feeds the bag to the bag sleeving mechanism 6, the motor of the pulley lifting mechanism 4 rotates forwards to enable the bag sleeving mechanism 6 to be separated from the bag feeding mechanism 5 to perform bag sleeving, the bag sleeving is finished, the motor of the pulley lifting mechanism 4 rotates backwards, and the bag sleeving mechanism 6 descends to be connected with the bag feeding mechanism 5; the grape bagging robot continuously repeats the steps to carry out bag feeding and bagging, when the bag in the bag feeding mechanism 5 is used up, the motor of the pulley lifting mechanism 4 rotates reversely to separate the bag feeding mechanism 5 from the bagging mechanism 6, the bag feeding mechanism 5 descends to the manual bag filling position, after the manual bag filling is finished, the motor of the pulley lifting mechanism 4 rotates forwardly to enable the bag feeding mechanism 5 to ascend to the top end to be connected with the bagging mechanism 6, and the bagging work is continuously repeated; when the bagging work is finished, all the mechanisms return to the initial positions.
The bagging mechanism 6 has the working principle that: the clamps 617 on the two sides of the bagging mechanism 6 clamp the bag under the driving of the clamp motor 614, the first slider connecting plate 606 is separated towards the two sides to drive the heat sealing plate 611, the suction cup 610, the lower limiting block 613, the upper limiting block 612 and the first linear slider 605 to be separated towards the two sides, the suction cup 610 sucks the bag open, meanwhile, the clamps 617 are contracted inwards under the driving of the connecting rod 618, the bag is not separated from the suction cup 610 or the clamps 617, the bag can be opened to the maximum extent to protect grape clusters, after the grapes completely fall into the bag, the suction cup 610 is close to the bag, the bag is closed, the clamps 617 on the two sides move outwards under the driving of the connecting rod 618 to keep the bag mouth flat, the upper limiting block 612 and the lower limiting block 613 limit the grape stalks in the middle of the bag mouth to avoid interference with the heat sealing plate 611, and meanwhile, the heat sealing plate 611 clamps; after the heat sealing is finished, the bagging is finished, the suction cup 610 and the clamp 617 release the bag, the heat sealing plate 611 is separated, and the bagging mechanism 6 descends.
The bag feeding mechanism 5 has the working principle that: before placing bags, a rear positioning plate 516 on a rear positioning frame 514 moves backwards, a wide positioning plate 515 on a wide positioning frame 513 is separated towards two sides, the bags are placed, after the bags are placed, the bags are limited in a bag storage frame 501 by the rear positioning plate 516 and the wide positioning plate 515, a clamping plate 502 at the bag opening is supported by a spring 503 to enable the bag opening to be in contact with a bag rubbing wheel 504, a bag rubbing motor 511 drives the bag rubbing wheel 504 to rotate through a first synchronous belt pulley 505 to rub the bags out of the bag storage frame 501, if two bags are rubbed out, the second bag is stopped by a friction plate 507 below, the bags are rubbed out and are acted by a protection plate 506, the bags change the moving direction and move upwards, and a bag conveying motor 512 rotates to be matched with and driven through a second synchronous belt pulley 510 and a gear 509 to drive a bag conveying wheel 508 to rotate to convey the bags upwards, so that the bags are kept flat.
The working principle of the pulley lifting mechanism 4 is as follows: the lifting motor 403 rotates forwards, the bag feeding lifting platform 404 is driven by the lifting motor 403 to ascend to push the bag unlocking piece 410 because the bag sleeving lifting platform 402 is in a locking state and is fixed, the bag sleeving locking piece 409 is driven to retract through a steel wire and a bag sleeving locking pulley 408 to unlock the bag sleeving lifting platform 402, and the bag feeding mechanism 5 is connected with the bag sleeving mechanism 6 to feed bags; after the bag feeding is finished, the lifting motor 403 continues to rotate forwards, and the bag feeding lifting platform 404 rises to the top, so that the bag sleeving lifting platform 402 rises under the driving of the lifting motor 403, the bag feeding unlocking piece 413 loses pressure, the bag feeding locking piece 412 pops up to lock the bag feeding lifting platform 404, and along with the rising of the bag sleeving lifting platform 402, the bag sleeving long rod 405 on the bag sleeving lifting platform 402 pushes the bag sleeving mechanism 6 to rise, and the bag sleeving mechanism 6 is separated from the bag feeding mechanism 5 to perform bag sleeving; after bagging is finished, the lifting motor 403 rotates reversely, the bag feeding lifting table 404 is in a locked state and is fixed, the bag feeding lifting table 402 descends under the action of gravity to push the bag feeding unlocking piece 413, the bag feeding locking piece 412 is driven to retract through a steel wire and the bag feeding locking pulley 411, the bag feeding lifting table 404 is unlocked, the bag feeding mechanism 6 is connected with the bag feeding mechanism 5, and the grape bagging robot continuously repeats the steps to feed and sleeve bags; when the bags in the bag feeding mechanism 5 are used up, the lifting motor 403 continues to rotate reversely, and as the bag sleeving lifting platform 402 is lowered to the bottommost part, the bag feeding lifting platform 404 is lowered under the action of self gravity, the bag sleeving unlocking piece 410 loses pressure, the bag sleeving locking piece 409 is ejected out, the bag sleeving lifting platform 402 is locked, the bag feeding mechanism 5 is separated from the bag sleeving mechanism 6 and moves to the manual bag filling position to perform manual bag filling, after the manual bag filling is finished, the lifting motor 403 rotates forwards, the bag feeding mechanism 5 is lifted to the top end to be connected with the bag sleeving mechanism 6, and bag sleeving operation is continuously repeated; when the robot does not work, the pulley lifting mechanism 4 is also restored to the manual bag filling state.
The working principle of the main body lifting mechanism 3 is as follows: the electric push rod 306 extends to drive the first fork rod 309, the second fork rod 310, the third fork rod 311 and the fourth fork rod 312 to move, so as to push the fork lifting plate 307 to ascend, and the electric push rod 306 shortens to enable the fork lifting plate 307 to descend; because the pulley lifting mechanism 4, the bag feeding mechanism 5 and the bag sleeving mechanism 6 which are arranged above the main body lifting mechanism 3 are high in overall dimension, the fork lifting plate 307 can shake in the moving process, so that the bag sleeving precision is reduced, even grape clusters are accidentally injured, and the yield is reduced, therefore, the fork guide wheels 308 are added at four corners of the fork lifting plate 307, and the fork lifting plate can be kept stable in the lifting frame 301.
The working principle of the polar coordinate moving mechanism 2 is as follows: the rotating motor 202 drives the worm 204 to rotate, the worm gear 203 is matched with the worm 204, so that the mechanisms on the bottom plate 205 of the moving platform and above are in rotating motion, the moving motor 206 drives the ball screw 210 to rotate through the coupler 207, the mechanisms on the moving support plate 208 and above are in linear motion under the guide of the linear guide rail 209, and the linear motion is matched with the rotating motion, so that the position of the grape bagging is controlled.
The working principle of the movable trolley 1 is as follows: the left and right driving motors 102 control the driving wheels 104 on both sides to move through the speed reducer 103, and the two driving wheels 104 have a speed difference, so that the traveling carriage 1 can freely advance and retreat, rotate and the like in a plane.
Claims (8)
1. Grape bagging robot based on cultivation of horizontal canopy posture, its characterized in that: the bag conveying device comprises a moving trolley (1), wherein a polar coordinate moving mechanism (2) is arranged on the moving trolley (1), a main body lifting mechanism (3) is arranged on the polar coordinate moving mechanism (2), a pulley lifting mechanism (4) is arranged in the main body lifting mechanism (3), a bag conveying mechanism (5) is arranged on the pulley lifting mechanism (4), and a bag sleeving mechanism (6) is arranged above the bag conveying mechanism (5).
2. The grape bagging robot based on horizontal shed frame type cultivation according to claim 1, wherein: the bagging mechanism (6) comprises a bagging mechanism base (601), a first linear guide rail cushion block (602) and a second linear guide rail cushion block (603) are vertically arranged on the bagging mechanism base (601), a first linear guide rail (604) is arranged on the first linear guide rail cushion block (602), two pairs of first linear sliding blocks (605) are arranged on the first linear guide rail (604), each pair of first linear sliding blocks (605) are connected through a first sliding block connecting plate (606), a second linear guide rail (607) is arranged on the second linear guide rail cushion block (603), two pairs of second linear sliding blocks (608) are arranged on the second linear guide rail (607), each pair of second linear sliding blocks (608) are connected through a second sliding block connecting plate (609), a suction cup (610) is arranged between the first sliding block connecting plates (606), a heat sealing plate (611) is arranged on the first sliding block connecting plate (606), an upper limiting block (612) and a lower limiting block (613) are respectively arranged on the heat sealing plate (611), a clamp motor (614) is arranged below the second sliding block connecting plate (609), a clamp lower pressing plate (615) is arranged on the second sliding block connecting plate (609), a clamp upper pressing plate (616) is arranged above the clamp lower pressing plate (615), a clamp (617) is arranged between the clamp lower pressing plate (615) and the clamp upper pressing plate (616), and a connecting rod (618) is connected between the first sliding block connecting plate (606) and the second sliding block connecting plate (609).
3. The grape bagging robot based on horizontal shed frame type cultivation according to claim 1, wherein: the bag conveying mechanism (5) comprises a bag storage frame (501), the bag storage frame (501) is connected with a clamping plate (502), a spring (503) is arranged below the clamping plate (502), a bag rubbing wheel (504) is arranged above the clamping plate (502), the bag rubbing wheel (504) is connected with a first synchronous belt wheel (505), a protective plate (506) is arranged on one side of the bag rubbing wheel (504), a friction plate (507) matched with the bag rubbing wheel (504) is arranged below the protective plate (506), a bag conveying wheel (508) is arranged above the protective plate (506), the bag conveying wheel (508) is connected with a gear (509), and the gear (509) is connected with a second synchronous belt wheel (510); the first synchronous belt wheel (505) is connected with a bag twisting motor (511), and the second synchronous belt wheel (510) is connected with a bag conveying motor (512); the bag storage frame (501) comprises a wide positioning frame (513), the wide positioning frame (513) is connected with a rear positioning frame (514), a pair of wide positioning plates (515) is arranged on the wide positioning frame (513), and a rear positioning plate (516) is arranged on the rear positioning frame (514).
4. The grape bagging robot based on horizontal shed frame type cultivation according to claim 1, wherein: the pulley lifting mechanism (4) comprises a cuboid frame (401), a bag sleeving lifting platform (402) is arranged in the cuboid frame (401), a lifting motor (403) is arranged below the bag sleeving lifting platform (402), a bag conveying lifting platform (404) is arranged above the bag sleeving lifting platform (402), a bag sleeving long rod (405) is arranged on the bag sleeving lifting platform (402), the bag sleeving long rod (405) penetrates through the bag conveying lifting platform (404), the bag sleeving lifting platform (402) and the bag conveying lifting platform (404) are connected with the top of the cuboid frame (401) through lifting pulleys (406), a bag sleeving mechanism mounting plate (407) is arranged at the top of the cuboid frame (401), a bag sleeving locking pulley (408) is arranged at the top of the cuboid frame (401), a bag sleeving locking piece (409) and a bag unlocking piece (410) which are arranged on the side edge of the cuboid frame (401) are connected through steel wires, and a bag conveying locking pulley (411) is arranged at the bottom of the cuboid frame (401), the bag feeding locking pulley (411) is connected with a bag feeding locking piece (412) and a bag feeding unlocking piece (413) which are arranged on the side edge of the cuboid frame (401) through steel wires.
5. The grape bagging robot based on horizontal shed frame type cultivation according to claim 1, wherein: the main body lifting mechanism (3) comprises a lifting frame (301), a fork frame bottom plate (302) is arranged at the bottom of the lifting frame (301), a supporting track (303) is arranged on the fork frame bottom plate (302), the supporting track (303) is connected with a double-stage single-shearing fork frame (305) through a supporting roller (304), an electric push rod (306) is arranged in the double-stage single-shearing fork frame (305), a fork frame lifting plate (307) is connected above the double-stage single-shearing fork frame (305), and fork frame guide wheels (308) are arranged on four corners of the fork frame lifting plate (307); the double-stage single-shear fork (305) comprises a first fork rod (309) and a second fork rod (310) which are arranged in a crossed mode, the first fork rod (309) is connected with a supporting roller (304), the second fork rod (310) is hinged to a fork base plate (302), the first fork rod (309) is connected with a third fork rod (311), the second fork rod (310) is connected with a fourth fork rod (312), and the third fork rod (311) and the fourth fork rod (312) are connected in a crossed mode.
6. The grape bagging robot based on horizontal shed frame type cultivation according to claim 1, wherein: polar coordinate moving mechanism (2) is including rotating platform base (201), be equipped with rotating electrical machines (202) on rotating platform base (201), rotating electrical machines (202) are connected with turbine (203) and worm (204), turbine (203) and worm (204) top are equipped with moving platform bottom plate (205), be equipped with moving electrical machines (206) on moving platform bottom plate (205), moving electrical machines (206) are connected with removal backup pad (208) through shaft coupling (207), it is equipped with linear guide (209) to remove backup pad (208) below, be equipped with ball screw (210) on linear guide (209), be equipped with bull's eye ball bearing (211) between moving platform bottom plate (205) and rotating platform base (201).
7. The grape bagging robot based on horizontal shed frame type cultivation according to claim 2, wherein: the length of the first slider connecting plate (606) is greater than the length of the second slider connecting plate (609).
8. The grape bagging robot based on horizontal shed frame type cultivation according to claim 4, wherein: the bag covering locking piece (409) is arranged below the bag covering unlocking piece (410), and the bag feeding locking piece (412) is arranged above the bag feeding unlocking piece (413).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921842626.1U CN210746393U (en) | 2019-10-30 | 2019-10-30 | Grape bagging robot based on horizontal shed frame type cultivation |
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| CN201921842626.1U CN210746393U (en) | 2019-10-30 | 2019-10-30 | Grape bagging robot based on horizontal shed frame type cultivation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113950995A (en) * | 2021-12-02 | 2022-01-21 | 济宁市南四湖自然保护区服务中心(济宁市野生动植物保护中心、济宁市微山湖湿地生态系统观测站) | Shed frame net rack type cultivation pear garden inter-row nursing management equipment |
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2019
- 2019-10-30 CN CN201921842626.1U patent/CN210746393U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113950995A (en) * | 2021-12-02 | 2022-01-21 | 济宁市南四湖自然保护区服务中心(济宁市野生动植物保护中心、济宁市微山湖湿地生态系统观测站) | Shed frame net rack type cultivation pear garden inter-row nursing management equipment |
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