WO2020056942A1

WO2020056942A1 - Automatic tray storing and taking device

Info

Publication number: WO2020056942A1
Application number: PCT/CN2018/120970
Authority: WO
Inventors: 阮文彪; 郑庆元
Original assignee: 罗伯泰克自动化科技（苏州）有限公司
Priority date: 2018-09-18
Filing date: 2018-12-13
Publication date: 2020-03-26
Also published as: CN108792562A

Abstract

Disclosed is an automatic tray storing and taking device, comprising a micro water pump (1), a support (2), a rotary encoder (3), a bidirectional telescopic arm mechanism (4), a photoelectric mechanism (5), a machine frame (6), a telescopic driving clamping mechanism (7), a water storage box (8), a horizontal walking mechanism (9), a driving rod (10), a mounting block (11), a driving transmission shaft (12), a machine head (13), a positioning pin (14), a driven transmission shaft (15) and a drainage mechanism (16), wherein the micro water pump (1) is arranged at a left end of the whole device; a right portion of the micro water pump (1) is provided with the machine head (13); the rotary encoder (3) is mounted to an upper portion of the support (2); the horizontal walking mechanism (9) is arranged at a right end of the whole device; the bidirectional telescopic arm mechanism (4) is mounted at a left side of the horizontal walking mechanism (9) and at a right side of the machine head (13); the telescopic driving clamping mechanism (7) completes the movement of a tray by means of controlling the driving rod (10) and the driving transmission shaft (12); the bidirectional telescopic arm mechanism (4) can complete high acceleration and accurate stable positioning with the cooperation between the horizontal walking mechanism (9) and the driven transmission shaft (15); and the drainage mechanism (16) assists the whole mechanism with drainage.

Description

Automatic storage tray equipment

Technical field

The invention relates to the field of production and processing of modern agricultural handling equipment, in particular to automatic storage tray equipment.

Background technique

With the development of agricultural modernization, planting technologies such as hydroponic technology are also continuously progressing. Vegetables have evolved from traditional soil-intensive planting methods to closed, factory-based, fine-grained planting, and horizontal planting has transitioned to full use. Height space for vertical planting. And this kind of vertical factory modular cultivation is easy to form a big situation of agricultural commercial development. Hydroponics technologies include nutrition formula technology, lighting technology, water circulation system, air circulation and constant temperature and humidity systems, etc. There are currently a large number of applications, and the technology is gradually becoming mature. The existing vertical planting height has a low space utilization rate, and the planting height is within the range convenient for manual transportation and picking, and it is mainly manual transportation. Because plant planting needs to consider factors such as production capacity, land cost, modularity, revenue, etc., it is an inevitable trend to take full advantage of the vertical height space to achieve maximum height under the conditions of planting water circulation, constant temperature and humidity, and air flow. The main problem that vertical planting solves is the transfer of the trays between layers and heights. The entire process from seedling raising, transplanting to harvesting requires frequent transfers of the trays. If it is still manually carried, it will be inconvenient to operate. , Heavy workload, large potential safety hazards, low operating efficiency, inconvenient viewing, etc. In the field of modern agricultural handling equipment production and processing, at present, there is no automatic storage tray equipment.

Summary of the Invention

The present invention is directed to the above problems, and provides an automatic storage tray equipment.

The present invention achieves the foregoing objectives through the following technical solutions:

Automatic storage tray equipment, including miniature water pump, bracket, rotary encoder, two-way telescopic arm mechanism, photoelectric mechanism, frame, telescopic drive clamping mechanism, water storage box, horizontal walking mechanism, drive rod, mounting block, main drive A shaft, a machine head, a positioning pin, a driven transmission shaft, and a drainage mechanism are characterized in that a micro water pump is placed at the left end of the entire device, a right hand head is provided with a head, and a positioning is provided at the front end of the upper and lower sides of the head. Nail, a machine support is provided on the lower right side of the machine head, a rotary encoder is installed on the upper part of the support, a horizontal walking mechanism is provided on the right end of the entire device, a driven transmission shaft is installed in the middle of the horizontal walking mechanism, and the horizontal walking mechanism A two-way telescopic arm mechanism is installed on the left side and the right side of the machine head. A rack is installed at the bottom between the two-way telescopic arm mechanism. A water storage box is provided on the upper left side of the rack, and a water drainage box is provided on the right side of the water storage box. Mechanism, a telescopic driving clamping mechanism is provided at the lower left side of the frame, a main driving shaft is horizontally installed on the lower side of the telescopic driving clamping mechanism, and two drives are horizontally installed in the middle of the frame Is provided between the rod, said drive rod a mounting block is provided with a central lower frame side photoelectric means. The miniature water pump is fixedly connected to the machine head. The driving rod is movably connected to the mounting hole. The telescopic driving clamping mechanism is connected with the bidirectional telescopic arm mechanism through the main transmission shaft. The photoelectric mechanism is preferably a photoelectric positioning system with good performance. The drainage mechanism pumps the water in the water storage tank to the drainage pipe by means of a miniature water pump.

The invention supports the entire equipment through the machine head and the frame. The micro water pump drives the water source into the water storage box through the drive. The tray is mounted on the mounting block. The telescopic drive clamping mechanism completes the tray by controlling the drive rod and the main drive shaft. The mobile, bi-directional telescopic arm mechanism can achieve high acceleration and accurate and stable positioning with the cooperation of the horizontal walking mechanism and the driven transmission shaft. It also solves the problem of the need to smoothly change the layers and lanes of the storage equipment, eliminating the problem of large transition distance. The equipment is in operation. The real-time position detection feedback is performed by the rotary encoder on the bracket, and the fine positioning is performed by the photoelectric mechanism when the speed is decelerated to the target position smoothly. After the material tray is accessed, the drainage mechanism helps the entire mechanism to drain water. After positioning, the invention also has the characteristics of low manufacturing cost, simple structure, convenient operation, firmness and durability, and flexible connection of various components.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the overall structure of the present invention, in which:

1—mini water pump, 2—bracket, 3—rotary encoder, 4—bidirectional telescopic arm mechanism, 5—photoelectric mechanism, 6—frame, 7—telescopic drive clamping mechanism, 8—water storage box, 9—horizontal walking Mechanism, 10—driving rod, 11—mounting block, 12—main drive shaft, 13—head, 14—locating pins, 15—driven shaft, 16—drainage mechanism.

detailed description

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Automatic storage tray equipment, including miniature water pump 1, bracket 2, rotary encoder 3, two-way telescopic arm mechanism 4, photoelectric mechanism 5, frame 6, telescopic drive clamping mechanism 7, water storage box 8, horizontal walking mechanism 9 , Driving rod 10, mounting block 11, main driving shaft 12, head 13, positioning nail 14, driven driving shaft 15, drainage mechanism 16, which is characterized in that the micro water pump 1 is placed at the left end of the entire device, and the right side of the micro water pump 1 is provided There is a machine head 13 with a positioning pin 14 on the front end of the machine head 13 on the upper and lower sides, and a machine bracket 2 on the lower right side of the machine head 13. A rotary encoder 3 is installed on the upper part of the bracket 2 and the entire device There is a horizontal walking mechanism 9 at the right end. A driven transmission shaft 15 is installed in the middle of the horizontal walking mechanism 9. A two-way telescopic arm mechanism 4 is installed on the left side of the horizontal walking mechanism 9 and the right side of the machine head 13. A rack 6 is installed at the bottom between 4; a water storage box 8 is provided on the upper left side of the rack 6; a drainage mechanism 16 is provided on the right side of the water storage box 8; a telescopic drive clip is provided on the lower left side of the rack 6 Tightening mechanism 7, the telescopic driving clamping mechanism 7 is installed laterally on the lower side The root of the main shaft 12, the frame 6 mounted transversely middle two driving rod 10, mounting block 11 is provided with a central lower side of the frame 6 is provided with a photoelectric means 10 between the drive shaft 5. The micro water pump 1 and the head 13 are fixedly connected. The driving rod 10 is movably connected to the mounting hole. The telescopic driving clamping mechanism 7 is connected to the bidirectional telescopic arm mechanism 4 through a main transmission shaft 12. The photoelectric mechanism 5 is preferably a photoelectric positioning system with good performance. The drainage mechanism 16 pumps the water in the water storage tank 8 to the drainage pipe by the micro water pump 1 and discharges it.

In the present invention, the entire equipment is supported by the machine head 13 and the frame 6. The micro water pump 1 drives the water source into the water storage box 8 by driving, the tray is mounted on the mounting block 11, and the telescopic driving clamping mechanism 7 controls the driving rod 10 and the main The transmission shaft 12 completes the movement of the tray, and the bi-directional telescopic arm mechanism 4 can complete high acceleration and accurate and stable positioning with the cooperation of the horizontal walking mechanism 9 and the driven transmission shaft 15, and solves the need to smoothly change layers and lanes of the storage equipment. In order to eliminate the problem of large transition distance, the equipment performs real-time position detection feedback through the rotary encoder 3 on the bracket 2 during the operation, and finely positions the photoelectric mechanism 5 when it is smoothly decelerated to the target position. After completing the access of the tray The drainage mechanism 16 helps the entire mechanism to drain water, and the positioning nails 14 assist the mechanism to complete positioning during operation. The present invention also has the characteristics of low manufacturing cost, simple structure, convenient operation, strong and durable, and flexible connection of various components.

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, the embodiments are to be regarded as exemplary and non-limiting in every respect, and the scope of the present invention is defined by the appended claims rather than the above description, and therefore is intended to fall within the claims. All changes that are within the meaning and scope of equivalent elements are encompassed by the invention. Any reference signs in the claims should not be construed as limiting the claims involved.

In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment includes only an independent technical solution. This description of the specification is for clarity only, and those skilled in the art should take the specification as a whole. The technical solutions in the embodiments can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

Automatic storage tray equipment, including miniature water pump, bracket, rotary encoder, two-way telescopic arm mechanism, photoelectric mechanism, frame, telescopic drive clamping mechanism, water storage box, horizontal walking mechanism, drive rod, mounting block, main drive A shaft, a machine head, a positioning pin, a driven transmission shaft, and a drainage mechanism are characterized in that a micro water pump is placed at the left end of the entire device, a right hand head is provided with a head, and a positioning is provided at the front end of the upper and lower sides of the head. Nail, a machine support is provided on the lower right side of the machine head, a rotary encoder is installed on the upper part of the support, a horizontal walking mechanism is provided on the right end of the entire device, a driven transmission shaft is installed in the middle of the horizontal walking mechanism, and the horizontal walking mechanism A two-way telescopic arm mechanism is installed on the left side and the right side of the machine head. A rack is installed at the bottom between the two-way telescopic arm mechanism. A water storage box is provided on the upper left side of the rack, and a water drainage box is provided on the right side of the water storage box. Mechanism, a telescopic driving clamping mechanism is provided at the lower left side of the frame, a main driving shaft is horizontally installed on the lower side of the telescopic driving clamping mechanism, and two drives are horizontally installed in the middle of the frame Is provided between the rod, said drive rod a mounting block is provided with a central lower frame side photoelectric means.
The automatic storage tray equipment according to claim 1, wherein the miniature water pump is fixedly connected to the machine head.
The automatic storage tray equipment according to claim 1, wherein the driving rod is movably connected to the mounting hole.
The automatic storage tray equipment according to claim 1, characterized in that the telescopic driving clamping mechanism is connected to the bidirectional telescopic arm mechanism through a main transmission shaft.
The automatic storage tray equipment according to claim 1, wherein the photoelectric mechanism is preferably a photoelectric positioning system with good performance.
The automatic storage tray equipment according to claim 1, characterized in that the drainage mechanism draws water in the water storage tank to a drainage pipe by means of a micro water pump to discharge.