CN220023648U - Actuating mechanism for pineapple flower-dropping robot - Google Patents

Abstract

The utility model relates to the technical field of pineapple flower dropping, and particularly discloses an actuating mechanism for a pineapple flower dropping robot, wherein the pineapple flower dropping robot comprises a bracket, a medicine storage box and four electric wheels, a flower dropping opening is arranged in the middle of the bracket, four rectangular arrays of the electric wheels are arranged at the bottom of the bracket, the medicine storage box is arranged on the bracket and positioned outside the flower dropping opening, and the actuating mechanism for the pineapple flower dropping robot comprises: the liquid medicine spraying assembly comprises a medicine pump and a spray head module, wherein the spray head module is connected with the medicine storage box through a medicine conveying pipe, the medicine pump is arranged on the medicine conveying pipe, and the spray head module is positioned in the spot flower opening and is arranged downwards; the multi-shaft sliding table module is arranged on the bracket and comprises an X-shaft sliding table module and a Y-shaft sliding table module, and the X-shaft sliding table module and the Y-shaft sliding table module are respectively used for driving the spray head module to move in the spot flower opening along the X-shaft direction and the Y-shaft direction; the actuating mechanism can effectively reduce the production cost of the pineapple flower-dropping robot and improve the calculation speed when calculating the movement quantity.

Description

Actuating mechanism for pineapple flower-dropping robot

Technical Field

The utility model belongs to the technical field of pineapple flower dropping, and particularly relates to an actuating mechanism for a pineapple flower dropping robot.

Background

The existing pineapple flower-dropping robot comprises a support, a medicine storage box and an actuating mechanism, wherein the medicine storage box is arranged on the support, the height of the support is larger than that of a pineapple, the medicine storage box is used for storing medicine liquid, the actuating mechanism performs flower-dropping operation on the pineapple in a mode of spraying the medicine liquid stored in the medicine storage box downwards, the existing actuating mechanism comprises a parallel mechanical arm, a medicine pump and a spray head, the spray head is fixed at the tail end of the parallel mechanical arm, the spray head is connected with the medicine storage box through a medicine conveying pipe, the medicine pump is arranged on the medicine conveying pipe, and the parallel mechanical arm is used for driving the spray head to move. The work flow of pineapple flower dropping is as follows: the parallel mechanical arm drives the spray head to move so that the spray head is opposite to the pineapple without flower, and the medicine pump drives the medicine liquid in the medicine storage box to be sprayed out by the spray head so as to perform flower-lighting operation on the pineapple without flower. The existing pineapple flower-pointing robot has the defect of high production cost due to high price of the parallel mechanical arm, and has the defect of low calculation speed due to large data volume and calculation difficulty when calculating the movement amount of the actuating mechanism due to large data volume and calculation difficulty when calculating the movement amount of the parallel mechanical arm, so that the pineapple flower-pointing robot has low flower-pointing efficiency.

Accordingly, the prior art is subject to improvement and development.

Disclosure of Invention

The utility model aims to provide an actuating mechanism for a pineapple flower-dropping robot, which can effectively reduce the production cost of the pineapple flower-dropping robot and improve the calculation speed when calculating the movement quantity.

The utility model provides an actuating mechanism for a pineapple flower-dropping robot, which comprises a bracket, a medicine storage box and four electric wheels, wherein a flower-dropping opening is arranged in the middle of the bracket, the four electric wheels are arranged at the bottom of the bracket in a rectangular array, the medicine storage box is arranged on the bracket and is positioned outside the flower-dropping opening, and the actuating mechanism for the pineapple flower-dropping robot comprises:

the liquid medicine spraying assembly comprises a medicine pump and a spray head module, wherein the spray head module is connected with the medicine storage box through a medicine conveying pipe, the medicine pump is arranged on the medicine conveying pipe, and the spray head module is positioned in the spot flower opening and is arranged downwards;

the multi-shaft sliding table module is installed on the support and is in transmission connection with the spray head module, and the multi-shaft sliding table module comprises an X-shaft sliding table module and a Y-shaft sliding table module, and the X-shaft sliding table module and the Y-shaft sliding table module are respectively used for driving the spray head module to move in the spot flower opening along the X-shaft direction and the Y-shaft direction.

According to the executing mechanism for the pineapple flower-lighting robot, the multi-shaft sliding table module is used for driving the spray head module to move in the X-axis direction and the Y-axis direction in the flower-lighting opening respectively, the spray head module is opposite to the top of a pineapple, and the spray head module is used for performing flower-lighting operation on a pineapple which is not flower-lighting through the medicine pump and the spray head module.

Further, the multi-axis sliding table module comprises two X-axis sliding table modules and a Y-axis sliding table module, two ends of the Y-axis sliding table module are respectively arranged on the X-axis linear sliding tables of the two X-axis sliding table modules, and the spray head module is arranged on the Y-axis linear sliding table of the Y-axis sliding table module.

Because the both ends of Y axle slip table module are installed respectively on the X axle straight line slip table of two X axle slip table modules, Y axle slip table module both ends atress is even, therefore the X axle slip table module of this technical scheme can drive Y axle slip table module and follow X axle direction steady movement, and Y axle slip table module also can drive shower nozzle module and follow Y axle direction steady movement to improve shower nozzle module's mobility stability effectively.

Further, the X-axis sliding table module comprises an X-axis linear sliding table, the two X-axis linear sliding tables share a speed reducer and an X-axis driving motor, the X-axis driving motor is connected with the speed reducer, and the speed reducer is in transmission connection with the two X-axis linear sliding tables through two couplers.

According to the technical scheme, the two X-axis linear sliding tables can share the speed reducer and the driving motor through the two couplers, so that the number of the X-axis driving motors corresponding to the two X-axis linear sliding tables is reduced from two to one, and the production cost of the pineapple flower-dropping robot is further reduced.

Further, the Y-axis sliding table module comprises a Y-axis linear sliding table and a Y-axis driving motor, and the Y-axis driving motor is in transmission connection with the Y-axis linear sliding table through a speed reducer.

Further, the number of the multi-axis sliding table modules and the number of the liquid medicine spraying assemblies are multiple, and the number of the multi-axis sliding table modules and the number of the liquid medicine spraying assemblies are the same.

The number of the multi-shaft sliding table modules and the number of the liquid medicine spraying components are all multiple, so that the technical scheme can simultaneously perform the flower-lighting operation on a plurality of pineapple which are not flower-lighting, and the flower-lighting efficiency of the pineapple flower-lighting robot is further improved.

Further, the spray head module comprises a spray head clamping seat and a spray head, wherein the spray head is communicated with the medicine conveying pipe, and the spray head clamping seat is used for clamping the spray head and the medicine conveying pipe.

Further, the shower nozzle grip slipper includes fixed grip slipper, slip grip slipper and fixed subassembly, and fixed grip slipper installs on multiaxis slip table module, fixed grip slipper and slip grip slipper sliding connection, and fixed subassembly sets up on fixed grip slipper, and fixed subassembly is used for fixing the slip grip slipper on fixed grip slipper, and fixed grip slipper is used for the centre gripping medicine conveying pipe, and the slip grip slipper is used for the centre gripping shower nozzle.

Because fixed grip slipper installs on multiaxis slip table module, the height of fixed grip slipper is unchangeable promptly, and fixed grip slipper and slip grip slipper sliding connection, the slip grip slipper is used for the centre gripping shower nozzle, therefore this technical scheme can be with the height of fixed grip slipper as the benchmark through the gliding mode drive shower nozzle of drive slip grip slipper upwards or down in order to adjust the height of shower nozzle, and fix the slip grip slipper on fixed grip slipper through fixed subassembly after accomplishing the altitude mixture control of shower nozzle, thereby realize the fast adjustment to the shower nozzle altitude mixture control, and then improve the convenience of shower nozzle altitude mixture control effectively.

Further, the nozzle is a check valve nozzle.

The check valve shower nozzle can prevent that the condition that air from upwards flowing backwards and liquid medicine from leaking from appearing, consequently this technical scheme can avoid appearing effectively because the condition that has the air in the medicine conveying pipe that the air upwards flows backwards to improve the control accuracy of liquid medicine use amount effectively.

Further, the drug delivery tube is a flexible tube.

Because the medicine conveying pipe is flexible pipe, this technical scheme can avoid appearing the condition that the medicine conveying pipe was bent when multiaxis slip table module drive shower nozzle module removed to avoid appearing effectively because the medicine conveying pipe is bent and lead to the unable normal spun condition of liquid medicine.

Further, the multi-axis sliding table module further comprises a Z-axis sliding table module, and the X-axis sliding table module, the Y-axis sliding table module and the Z-axis sliding table module are respectively used for driving the spray head module to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

Because this technical scheme makes the shower nozzle can follow Z axle direction free movement through setting up Z axle slip table module, consequently if need adjust the height of shower nozzle at some flowers in-process, this technical scheme only needs control Z axle slip table module drive shower nozzle and remove along Z axle direction, and need not to control pineapple point flower robot stopping point flower to solve effectively and just can adjust the height of shower nozzle and lead to the fact the problem of influence to pineapple point flower robot point flower efficiency owing to need control pineapple point flower robot stopping point flower.

According to the actuating mechanism for the pineapple flower-lighting robot, the multi-axis sliding table module is used for driving the spray head module to move in the X-axis direction and the Y-axis direction in the flower-lighting opening respectively so that the spray head module faces the top of a pineapple, and the spray head module is used for performing flower-lighting operation on a pineapple which is not flower-lighting through the medicine pump and the spray head module.

Drawings

Fig. 1 is a schematic structural diagram of a pineapple flower-dropping robot according to an embodiment of the present utility model.

Fig. 2 is a schematic top view of a bracket according to an embodiment of the present utility model.

Fig. 3 is a schematic structural diagram of an implementation structure of a pineapple flower robot according to an embodiment of the present utility model.

Fig. 4 is a schematic side view of an implementation structure of a pineapple flower robot according to an embodiment of the present utility model.

Fig. 5 is a schematic structural diagram of an implementation structure of a pineapple flower robot according to another embodiment of the present utility model.

Fig. 6 is a schematic structural diagram of a spray head module according to an embodiment of the present utility model.

Description of the reference numerals: 1. a bracket; 2. a medicine storage box; 3. an electric wheel; 4. a liquid medicine spraying assembly; 41. a drug pump; 42. a spray head module; 421. a spray head clamping seat; 4211. fixing the clamping seat; 4212. a sliding clamping seat; 4213. a fixing assembly; 422. a spray head; 5. a drug delivery tube; 6. a multi-axis sliding table module; 61. an X-axis sliding table module; 611. an X-axis linear sliding table; 612. an X-axis driving motor; 62. a Y-axis sliding table module; 621. a Y-axis linear sliding table; 622. a Y-axis driving motor; 7. a speed reducer; 8. a coupling.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.

The following disclosure provides many different embodiments, or examples, for implementing different features of the utility model. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the utility model. Furthermore, the present utility model may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.

As shown in fig. 1 to 6, the utility model provides an actuating mechanism for a pineapple flower-dropping robot, the pineapple flower-dropping robot comprises a bracket 1, a medicine storage box 2 and four electric wheels 3, a flower-dropping opening is arranged in the middle of the bracket 1, the four electric wheels 3 are rectangular and arrayed at the bottom of the bracket 1, the medicine storage box 2 is arranged on the bracket 1 and is positioned outside the flower-dropping opening, and the actuating mechanism for the pineapple flower-dropping robot comprises:

the liquid medicine spraying assembly 4 comprises a medicine pump 41 and a spray head module 42, wherein the spray head module 42 is connected with the medicine storage box 2 through a medicine delivery pipe 5, the medicine pump 41 is arranged on the medicine delivery pipe 5, and the spray head module 42 is positioned in the spot flower opening and is arranged downwards;

the multi-shaft sliding table module 6 is arranged on the bracket 1 and is in transmission connection with the spray head module 42, and comprises an X-shaft sliding table module 61 and a Y-shaft sliding table module 62, wherein the X-shaft sliding table module 61 and the Y-shaft sliding table module 62 are respectively used for driving the spray head module 42 to move in the spot flower opening along the X-shaft direction and the Y-shaft direction.

The support 1 of this embodiment is formed by welding a steel frame, the support 1 has a supporting function on the medicine storage box 2 and the multi-axis sliding table module 6, the bottom of the support 1 is higher than the top of the pineapple, namely the pineapple passes through the lower part of the support 1, the pineapple flower-dropping robot performs flower-dropping operation on the pineapple in a mode of spraying medicine downwards, the multi-axis sliding table module 6 is mounted on the support 1, and the multi-axis sliding table module 6 is used for driving the spray head module 42 to move along the X axis direction and the Y axis direction, so that the support 1 is prevented from blocking the multi-axis sliding table module 6 to drive the spray head module 42 to move, a flower-dropping opening is arranged in the middle of the support 1, and the spray head module 42 is arranged in the flower-dropping opening. Four electric wheels 3 rectangular arrays are arranged at the bottom of the bracket 1, the electric wheels 3 are used for driving the pineapple flower-dropping robot to move, the electric wheels 3 are in the prior art, and the working principle of the electric wheels 3 is not discussed in detail here. The medicine storage box 2 is arranged at the top of the bracket 1 and is positioned outside the flower dispensing opening, and the medicine storage box 2 is used for storing medicine liquid which needs to be used when flowers are dispensed. The liquid medicine spraying assembly 4 comprises a medicine pump 41 and a spray head module 42, the spray head module 42 at least comprises a spray head 422, the spray head module 42 can be a spray type spray head module or a spray type spray head module and the like for spraying liquid medicine, specifically, the spray head 422 of the spray head module 42 is connected with the medicine storage box 2 through the medicine conveying pipe 5, the spray head 422 is communicated with the medicine conveying pipe 5, the medicine pump 41 is arranged on the medicine conveying pipe 5, and the medicine pump 41 is used for supplying liquid medicine for the spray head 422. The multi-axis sliding table module 6 is installed at the top of the support 1 and is located outside the spot flower opening, the multi-axis sliding table module 6 is in transmission connection with the spray head module 42, specifically, the spray head module 42 is installed on the multi-axis sliding table module 6, the multi-axis sliding table module 6 comprises an X-axis sliding table module 61 and a Y-axis sliding table module 62, the X-axis sliding table module 61 and the Y-axis sliding table module 62 comprise a linear sliding table and a driving motor, for convenience in distinguishing, the linear sliding table of the X-axis sliding table module 61 is hereinafter referred to as an X-axis linear sliding table 611, the driving motor of the X-axis sliding table module 61 is referred to as an X-axis driving motor 612, the linear sliding table of the Y-axis sliding table module 62 is referred to as a Y-axis linear sliding table 621, and the driving motor of the Y-axis sliding table module 62 is referred to as a Y-axis driving motor 622. The X-axis sliding table module 61 is used for driving the spray head module 42 to move along the X-axis direction in the spot-flower opening, and the Y-axis sliding table module 62 is used for driving the spray head module 42 to move along the Y-axis direction in the spot-flower opening, that is, the multi-axis sliding table module 6 of this embodiment can drive the spray head module 42 to move along two axial directions. Specifically, the mounting relationship of the multi-axis slide table module 6 and the head module 42 of this embodiment may be any one of the following relationships: 1. the X-axis sliding table module 61 is arranged on the bracket 1, the Y-axis sliding table module 62 is arranged on the X-axis linear sliding table 611 of the X-axis sliding table module 61, and the spray head module 42 is arranged on the Y-axis linear sliding table 621 of the Y-axis sliding table module 62; 2. the Y-axis sliding table module 62 is installed on the support 1, the X-axis sliding table module 61 is installed on the Y-axis linear sliding table 621 of the Y-axis sliding table module 62, and the nozzle module 42 is installed on the X-axis linear sliding table 611 of the X-axis sliding table module 61.

The working principle of the embodiment is as follows: the actuating mechanism drives the spray head module 42 to move along the X axis direction and the Y axis direction in the spot-flower opening through the multi-axis sliding table module 6 respectively to enable the spray head module 42 to face the top of the pineapple, and spot-flower operation is carried out on the pineapple which is not spot-flower through the medicine pump 41 and the spray head module 42, because the multi-axis sliding table module 6 of the actuating mechanism has the same function as that of the existing parallel mechanical arm, the actuating mechanism is used for driving the spray head 422 to move so as to enable the spray head 422 to face the top of the pineapple, the multi-axis sliding table module 6 of the actuating mechanism can replace the existing parallel mechanical arm, and because the price of the multi-axis sliding table module 6 is far lower than that of the parallel mechanical arm, and under the condition that the moving quantity is the same, the data quantity when the moving quantity of the multi-axis sliding table module 6 is calculated is far smaller than that when the moving quantity of the parallel mechanical arm is calculated, the actuating mechanism can effectively reduce the production cost of the pineapple spot-flower robot and improve the calculating speed when the moving quantity is calculated, so that the spot-flower efficiency of the pineapple spot-flower robot is effectively improved.

The workflow of the pineapple flower dropping robot of the embodiment is as follows: the method comprises the steps of determining the position of a pineapple which is not spotted by utilizing an image acquired by an existing image sensor (not shown in the figure) in the moving process of a pineapple spotting robot, calculating the moving amount of a spray head module 42 according to the position of the pineapple which is not spotted, controlling a multi-shaft sliding table module 6 according to the moving amount to drive the spray head module 42 to move in a spotted opening so that a spray head 422 of the spray head module 42 is opposite to the top of the pineapple, and controlling a medicine pump 41 to spray medicine liquid in a medicine storage box 2 from the spray head 422 so as to perform spotting operation on the pineapple.

In some embodiments, the multi-axis sliding table module 6 includes two X-axis sliding table modules 61 and one Y-axis sliding table module 62, two ends of the Y-axis sliding table module 62 are respectively mounted on the X-axis linear sliding tables 611 of the two X-axis sliding table modules 61, and the nozzle module 42 is mounted on the Y-axis linear sliding tables 621 of the Y-axis sliding table module 62. The two X-axis sliding table modules 61 of this embodiment are both installed at the top of the support 1, and since two ends of the Y-axis sliding table module 62 are respectively installed on the X-axis linear sliding tables 611 of the two X-axis sliding table modules 61, and the spray head module 42 is installed on the Y-axis linear sliding table 621 of the Y-axis sliding table module 62, the embodiment can drive the spray head module 42 to move along the X-axis direction in a manner that the X-axis sliding table module 61 drives the Y-axis sliding table module 62 to move along the X-axis direction. Because the two ends of the Y-axis sliding table module 62 are respectively installed on the X-axis linear sliding tables 611 of the two X-axis sliding table modules 61, the two ends of the Y-axis sliding table module 62 are uniformly stressed, so that the X-axis sliding table module 61 of this embodiment can drive the Y-axis sliding table module 62 to move smoothly along the X-axis direction, and the Y-axis sliding table module 62 can also drive the spray head module 42 to move smoothly along the Y-axis direction, thereby effectively improving the movement stability of the spray head module 42.

In some embodiments, the X-axis sliding table module 61 includes an X-axis linear sliding table 611, where two X-axis linear sliding tables 611 share one reducer 7 and one X-axis driving motor 612, the X-axis driving motor 612 is connected to the reducer 7, and the reducer 7 is in driving connection with the two X-axis linear sliding tables 611 through two couplings 8. In the embodiment, two couplings 8 are arranged to enable two X-axis linear sliding tables 611 to share one speed reducer 7 and one driving motor, so that the number of X-axis driving motors 612 corresponding to the two X-axis linear sliding tables 611 is reduced from two to one, and the production cost of the pineapple flower-dispensing robot is further reduced.

In some embodiments, the Y-axis slipway module 62 includes a Y-axis linear slipway 621 and a Y-axis drive motor 622, and the Y-axis drive motor 622 is in driving connection with the Y-axis linear slipway 621 via a speed reducer 7.

In some embodiments, the number of multi-axis sliding table modules 6 and the number of liquid medicine spraying assemblies 4 are all plural, and the number of multi-axis sliding table modules 6 is the same as the number of liquid medicine spraying assemblies 4. The number of the multi-axis sliding table modules 6 and the liquid medicine spraying assemblies 4 in this embodiment is preferably two, and the two multi-axis sliding table modules 6 and the two liquid medicine spraying assemblies 4 are symmetrically installed on the support 1 with the center of the partial hollow structure of the support 1 as the center of symmetry. The number of the multi-shaft sliding table modules 6 and the number of the liquid medicine spraying assemblies 4 are all multiple, so that the pineapple flower-lighting operation can be performed on a plurality of pineapple flowers which are not flower-lighting at the same time, and the flower-lighting efficiency of the pineapple flower-lighting robot is further improved.

In some embodiments, the spray head module 42 includes a spray head holder 421 and a spray head 422, the spray head 422 being in communication with the drug delivery tube 5, the spray head holder 421 being configured to hold the spray head 422 and the drug delivery tube 5. The nozzle holder 421 of this embodiment is mounted on the multi-axis sliding table module 6, and the nozzle holder 421 of this embodiment is used for holding the nozzle 422 and the drug delivery tube 5, i.e. the nozzle holder 421 has a fixing effect on the nozzle 422 and the drug delivery tube 5.

In some embodiments, the spray head holder 421 includes a fixed holder 4211, a sliding holder 4212, and a fixing component 4213, the fixed holder 4211 is mounted on the multi-axis sliding table module 6, the fixed holder 4211 is slidably connected with the sliding holder 4212, the fixing component 4213 is disposed on the fixed holder 4211, the fixing component 4213 is used to fix the sliding holder 4212 on the fixed holder 4211, the fixed holder 4211 is used to hold the drug delivery tube 5, and the sliding holder 4212 is used to hold the spray head 422. Specifically, the fixing assembly 4213 of this embodiment includes an adjusting screw, a sliding groove is formed on the sliding grip block 4212, the adjusting screw passes through the sliding groove and is screwed with the fixing grip block 4211, and the sliding grip block 4212 may be fixed on the fixing grip block 4211 by screwing the adjusting screw. In this embodiment, since the fixed clamping seat 4211 is mounted on the multi-axis sliding table module 6, i.e. the height of the fixed clamping seat 4211 is unchanged, and the fixed clamping seat 4211 is slidably connected with the sliding clamping seat 4212, and the sliding clamping seat 4212 is used for clamping the spray head 422, the embodiment can drive the spray head 422 to move up or down by driving the sliding clamping seat 4212 to slide relative to the fixed clamping seat 4211 with the height of the fixed clamping seat 4211 as a reference, and fix the sliding clamping seat 4212 on the fixed clamping seat 4211 through the fixing component 4213 after the height adjustment of the spray head 422 is completed, thereby realizing the rapid adjustment of the height of the spray head 422, and further effectively improving the convenience of the height adjustment of the spray head 422.

The medicine delivery tube 5 needs to be kept full of liquid, and because the condition that air flows upwards and reversely possibly occurs after the spot flower is finished, the air exists in the medicine delivery tube 5 and can influence the outflow of medicine liquid, so that the situation that the medicine liquid usage amount cannot be accurately controlled due to the air exists in the medicine delivery tube 5 exists in the embodiment. To address this technical issue, in some embodiments, the injector 422 is a check valve injector 422. The check valve head 422 of this embodiment is a head 422 having a check valve, and this check valve head 422 can prevent the occurrence of the condition that air is reversed upward and the liquid medicine leaks, so this embodiment can effectively avoid the occurrence of the condition that air exists in the medicine delivery tube 5 due to the air being reversed upward, thereby effectively improving the control accuracy of the amount of the liquid medicine used.

In some embodiments, the drug delivery tube 5 is a flexible tube. The embodiment selects the flexible tube as the medicine delivery tube 5, and the flexible tube can be a tube made of flexible materials such as a rubber tube or a silicone tube, and because the medicine delivery tube 5 is a flexible tube, the embodiment can avoid the situation that the medicine delivery tube 5 is bent when the multi-axis sliding table module 6 drives the nozzle module 42 to move, thereby effectively avoiding the situation that the medicine liquid cannot be normally sprayed out due to the bending of the medicine delivery tube 5.

In the above embodiment, the height of the spray head 422 is adjusted by driving the sliding grip block 4212 to slide relative to the fixed grip block 4211, and the sliding grip block 4212 is fixed on the fixed grip block 4211 by the fixing component 4213 after the height adjustment of the spray head 422 is completed, but since the height position of the spray head 422 is fixed after the fixing component 4213 fixes the sliding grip block 4212 on the fixed grip block 4211, if the height of the spray head 422 needs to be adjusted during the flower-lighting process, the pineapple flower-lighting robot needs to be controlled to stop flower, thereby affecting the flower-lighting efficiency of the pineapple flower-lighting robot.

To solve this technical problem, in some embodiments, the multi-axis sliding table module 6 further includes a Z-axis sliding table module (not shown in the drawing), and the X-axis sliding table module 61, the Y-axis sliding table module 62, and the Z-axis sliding table module are used to drive the nozzle module 42 to move in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. Because this embodiment makes shower nozzle 422 can freely remove along the Z axis direction through setting up Z axle slip table module, consequently if need adjust the height of shower nozzle 422 at some flowers in-process, this embodiment only need control Z axle slip table module drive shower nozzle 422 and remove along the Z axis direction, and need not to control pineapple point flower robot stopping point flower to effectively solve the problem that the efficiency of the point flower of pineapple point flower robot is influenced because the height of shower nozzle 422 can be adjusted to the needs control pineapple point flower robot stopping point flower.

As can be seen from the above, according to the actuating mechanism for pineapple flower-dispensing robot provided by the utility model, the multi-axis sliding table module 6 drives the spray head module 42 to move along the X-axis direction and the Y-axis direction in the flower-dispensing opening respectively, so that the spray head module 42 is opposite to the top of the pineapple, and the spray head module 42 is used for performing flower-dispensing operation on the pineapple which is not flower-dispensed, and the multi-axis sliding table module 6 of the actuating mechanism has the same function as the existing parallel mechanical arm, so that the spray head 422 is driven to move so that the spray head 422 is opposite to the top of the pineapple, therefore, the multi-axis sliding table module 6 of the actuating mechanism can replace the existing parallel mechanical arm, and the price of the multi-axis sliding table module 6 is far lower than that of the parallel mechanical arm, and under the same moving amount, the data amount when the moving amount of the multi-axis sliding table module 6 is calculated is far smaller than that when the moving amount of the parallel mechanical arm is calculated, therefore, the actuating mechanism can effectively reduce the production cost of the pineapple flower-dispensing robot and increase the calculating speed when the moving amount is calculated, and the efficiency of the pineapple flower-dispensing robot is effectively increased.

In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above is merely some embodiments of the present utility model. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the utility model.

Claims (10)

1. An actuating mechanism for pineapple flower-dispensing robot, its characterized in that, pineapple flower-dispensing robot includes support, medicine storage box and four electric wheels, the support middle part is equipped with the flower-dispensing opening, four electric wheel rectangular arrays are in the support bottom, the medicine storage box is installed on the support and be located outside the flower-dispensing opening, an actuating mechanism for pineapple flower-dispensing robot includes:

the liquid medicine spraying assembly comprises a medicine pump and a spray head module, the spray head module is connected with the medicine storage box through a medicine conveying pipe, the medicine pump is arranged on the medicine conveying pipe, and the spray head module is positioned in the spot flower opening and is arranged downwards;

the multi-shaft sliding table module is installed on the support and in transmission connection with the spray head module, and comprises an X-shaft sliding table module and a Y-shaft sliding table module, wherein the X-shaft sliding table module and the Y-shaft sliding table module are respectively used for driving the spray head module to move in the spot flower opening along the X-shaft direction and the Y-shaft direction.

2. The actuator for a pineapple flower dispensing robot of claim 1, wherein the multi-axis slipway module comprises two X-axis slipway modules and a Y-axis slipway module, wherein two ends of the Y-axis slipway module are respectively mounted on the X-axis linear slipways of the two X-axis slipway modules, and the spray head module is mounted on the Y-axis linear slipway of the Y-axis slipway module.

3. The actuator for a pineapple flower robot of claim 2, wherein the X-axis slipway module comprises an X-axis linear slipway, two X-axis linear slipways share a reducer and an X-axis driving motor, the X-axis driving motor is connected with the reducer, and the reducer is in transmission connection with the two X-axis linear slipways through two couplers.

4. The actuator for a pineapple flower dispensing robot of claim 1, wherein the Y-axis slipway module comprises a Y-axis linear slipway and a Y-axis drive motor, and the Y-axis drive motor is in driving connection with the Y-axis linear slipway through a speed reducer.

5. The actuator for a pineapple flower dispensing robot of claim 1, wherein the number of the multi-axis slide table modules and the number of the liquid medicine spraying components are all plural, and the number of the multi-axis slide table modules is the same as the number of the liquid medicine spraying components.

6. The actuator for a pineapple flower dispensing robot of claim 1, wherein the spray head module comprises a spray head holder and a spray head, the spray head being in communication with the drug delivery tube, the spray head holder being configured to hold the spray head and the drug delivery tube.

7. The actuator for a pineapple flower dispensing robot of claim 6, wherein the spray head holder comprises a fixed holder, a sliding holder and a fixing assembly, the fixed holder is mounted on the multi-axis sliding table module, the fixed holder is slidably connected with the sliding holder, the fixing assembly is disposed on the fixed holder, the fixing assembly is used for fixing the sliding holder on the fixed holder, the fixed holder is used for holding the drug delivery tube, and the sliding holder is used for holding the spray head.

8. The actuator for a pineapple flower robot of claim 6, wherein the spray head is a check valve spray head.

9. The actuator for a pineapple flower robot of claim 6, wherein the drug delivery tube is a flexible tube.

10. The actuator for a pineapple flower robot of claim 1, wherein the multi-axis slipway module further comprises a Z-axis slipway module, and the X-axis slipway module, the Y-axis slipway module, and the Z-axis slipway module are respectively used for driving the spray head module to move along the X-axis direction, the Y-axis direction, and the Z-axis direction.