A fully automatic picking robot and a picking method

Abstract

The present invention discloses a full-automatic picking robot and a picking method, which include a substrate, a feeding component, a discharging component, a picking component and a first camera. The picking method includes Step 1, equipment initialization; Step 2, placing the container basket; Step 3, automatic picking; Step 4, transporting the container basket. Compared with the existing picking robots, the present invention is designed with a feeding component, which can automatically place the collection box, improving the picking efficiency. The present invention is designed with a discharging component, which can safely and stably transport the full collection box to the ground. The picking component of the present invention is designed as a double robotic arm, with high picking efficiency. With the assistance of a double camera for positioning, the accuracy of the picking position is ensured. The present invention adopts an internal battery and an external DC dual-power supply mode, which can avoid the equipment from not working due to external power failure. The present invention is designed with an anti-tilting function and an obstacle avoidance function, improving the safety and stability of the equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of picking robots, and particularly to a fully automatic picking robot and a picking method. Background Art

[0002] A picking robot is a highly intelligent crop harvesting device that can reduce picking costs and improve picking efficiency. Existing picking robots lack the function of automatically placing the collection basket, and manual arrangement of the collection basket is required, which greatly affects the picking efficiency. Existing picking robots cannot unload materials safely and stably after the collection basket is full, and the collection basket is prone to tipping over, resulting in crop damage. Existing picking robots only have a single robotic arm for picking, with relatively low efficiency, and cannot accurately locate the picking position, easily causing incomplete picking or over-picking, so that the cultivation pile is cut off. Summary of the Invention

[0003] The purpose of the present invention is to provide a fully automatic picking robot and a picking method to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A fully automatic picking robot, including a base plate, a feeding component, a blanking component, a picking component, a first mounting seat, a first connecting shaft, moving wheels, a wireless charger, a power supply arm, a second mounting seat, a first electric telescopic rod, a controller, a level gauge, and a first camera. A feeding component is installed on the outer wall of the top end of the base plate. The feeding component includes a container basket group, a limiting rod, a support rod, a first motor, a second connecting shaft, a connecting rod, a blocking rod, a second motor, a first pulley, a support plate, a conveyor belt, and a second pulley. A container basket group is arranged at the top end of the base plate. Limiting rods are symmetrically arranged on the outer walls on both sides of the container basket group, and the limiting rods are fixedly connected to the outer wall of the top end of the base plate. Support rods are distributed on both sides of the container basket group, and the support rods are fixedly connected to the outer wall of the top end of the base plate. A first motor is arranged on one side of the container basket group, and the first motor is fixedly connected to the outer wall of one side of the support rod. A second connecting shaft is fixedly connected to the outer wall of one side of the output end of the first motor, and the second connecting shaft is rotatably connected to the inner wall of the support rod. Blocking rods are distributed on the outer side of the second connecting shaft. A connecting rod is fixed to the outer wall of one side of the blocking rod, and one end of the connecting rod is fixedly connected to the outer wall of the second connecting shaft.

[0005] Preferably, a second motor is arranged on one side of the container basket group, and the second motor is fixedly connected to the outer wall of one side of the support rod. A first pulley is fixedly connected to the outer wall of one side of the output end of the second motor. A conveyor belt is sleeved on the outer wall of the first pulley. A second pulley is sleeved on the inner wall of one side of the conveyor belt, and the second pulley is rotatably connected to the outer wall of one side of the support rod. A support plate is arranged on the inner wall of one side of the conveyor belt, and the support plate is fixedly connected to the outer wall of the limiting rod.

[0006] Preferably, a first mounting seat is fixedly distributed on the outer wall of the bottom end of the substrate. A first connecting shaft is rotatably connected to the inner wall of one side of the first mounting seat. A moving wheel is mounted on the outer wall of one side of the first connecting shaft. Second mounting seats are symmetrically fixed on the outer walls of both sides of the substrate. A first electric telescopic rod is fixedly connected to the inner wall of one side of the second mounting seat.

[0007] Preferably, a blanking assembly is mounted on the outer wall of the top end of the substrate. The blanking assembly includes a chassis, a third motor, a first gear, a second gear, a third connecting shaft, a first guide rod, a first spring, a first stop block, a first connecting plate, a second guide rod, a third mounting seat, a second electric telescopic rod, a slide rail, a limiting groove, a limiting block, a second spring, a second stop block, a pulley, a third stop block and a chute. The chassis is fixedly connected to the outer wall of the top end of the substrate. The third motor is fixedly connected to the inner wall of one side of the chassis. A first gear is fixedly connected to the outer wall of the output end of the third motor. A second gear is meshed and connected to the outer wall of one side of the first gear. A third connecting shaft is mounted on the inner wall of one side of the second gear and is rotatably connected to the inner wall of the bottom end of the chassis. A first guide rod is fixedly connected to the outer wall of the top end of the third connecting shaft. A first stop block is fixedly connected to the outer wall of the top end of the first guide rod. A first connecting plate is slidably connected to the outer wall of one side of the first guide rod. A first spring is fixedly connected to the outer wall of the bottom end of the first connecting plate and is sleeved on the outer wall of one side of the first guide rod. A second guide rod is fixedly connected to the outer wall of one side of the first connecting plate. Third mounting seats are symmetrically fixed on the outer wall of one side of the second guide rod. A second electric telescopic rod is fixedly connected to the inner wall of one side of the third mounting seat. A slide rail is fixedly connected to the outer wall of the output end of the second electric telescopic rod and is slidably connected to the outer wall of the second guide rod. A third stop block is fixedly connected to the outer wall of the top end of the slide rail. Pulleys are distributed and mounted on the outer wall of the top end of the slide rail.

[0008] Preferably, a limiting groove is opened on the outer wall of the top end of the slide rail. A limiting block is sleeved on the inner wall of one side of the limiting groove. A second spring is fixedly connected to the outer wall of the bottom end of the limiting block and one end of the second spring is fixedly connected to the inner wall of the bottom end of the limiting groove. A second stop block is fixedly connected to the outer wall of the top end of the limiting block.

[0009] Preferably, a chute is opened on the outer wall of one side of the chassis, and the first connecting plate is slidably connected to the inner wall of one side of the chute. A wireless charger is fixedly connected to the outer wall of one side of the chassis. A first camera is fixedly connected to the outer wall of one side of the chassis. A power supply arm is mounted on the outer wall of one side of the chassis. A controller is fixedly connected to the inner wall of one side of the chassis. A level is fixedly connected to the outer wall of the top end of the controller.

[0010] Preferably, a picking assembly is installed on an outer wall of one side of the chassis. The picking assembly includes a picking basket, a second connecting plate, a fourth motor, a fourth connecting shaft, a partition plate, a first bracket, a fifth motor, a lead screw, a slider, a first manipulator, a second camera, a second bracket, a third guide rod, a second manipulator, and a third camera. A picking basket is arranged on one side of the chassis. A second connecting plate is fixed on an outer wall of one side of the picking basket, and the second connecting plate is fixedly connected to the outer wall of one side of the chassis. A fourth motor is fixedly connected to an outer wall of one side of the picking basket. A fourth connecting shaft is fixedly connected to an outer wall of the output end of the fourth motor, and the fourth connecting shaft is rotatably connected to an inner wall of one side of the picking basket. A partition plate is installed on an outer wall of one side of the fourth connecting shaft, and the partition plate is sleeved on the inner wall of one side of the picking basket.

[0011] Preferably, a first bracket is fixedly connected to an outer wall of one side of the picking basket. A fifth motor is fixedly connected to an outer wall of one side of the first bracket. A lead screw is fixedly connected to an outer wall of the output end of the fifth motor, and the lead screw is rotatably connected to an inner wall of the first bracket. A slider is threadedly connected to an outer wall of one side of the lead screw. A first manipulator is installed on an outer wall of the top end of the slider. A second camera is arranged on one side of the first manipulator, and the second camera is fixedly connected to the outer wall of the top end of the slider. A second bracket is fixedly connected to an outer wall of one side of the picking basket. A third guide rod is fixedly connected to an outer wall of one side of the second bracket, and the slider is slidably connected to the outer wall of one side of the third guide rod. A second manipulator is installed on an outer wall of the top end of the chassis. A third camera is fixedly connected to an outer wall of one side of the second manipulator.

[0012] A picking method for a full-automatic picking robot includes Step 1, equipment initialization; Step 2, placing a container basket; Step 3, automatic picking; Step 4, transporting the container basket.

[0013] In the above Step 1, first, according to the environmental conditions of the operation site, different moving wheels are installed, the first camera, the second camera, and the third camera are checked and adjusted, and the parameters of the equipment are set.

[0014] In the above Step 2, the controller is started, the first motor is started synchronously, one container basket in the container basket group is placed, and it falls on the conveyor belt under the action of gravity. The second motor is started synchronously to convey the container basket to the receiving position on the slide rail.

[0015] In the above Step 3, the third camera captures the crop cultivation pile and transmits the signal to the controller. The controller controls the second manipulator to clamp the crop cultivation pile and move it to the picking position. The second camera captures the position of the fungal crops on the crop cultivation pile and transmits the signal to the controller. The controller controls the fifth motor to start, so that the first manipulator moves to the removal position, and the first manipulator removes the fungal crops. The fungal crops fall into the picking basket.

[0016] In the above step 4, when the mushroom crops in the picking basket reach the set capacity of the picking basket, the fourth motor is started, the partition is flipped, and the mushroom crops fall into the container basket. The third motor is started to transfer the slide rail to the unloading position, the second electric telescopic rod is started, the slide rail opens to both sides, the container basket falls to the ground, the second electric telescopic rod is reset, and the third motor is started to reset the slide rail, waiting for the next container basket to be delivered.

[0017] Preferably, in step one, the moving wheels are of track type and triangular crawler type. When using track type moving wheels, the tracks need to be laid in advance, and each moving wheel is equipped with a separate driving motor.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: compared with the existing picking robots, the present invention is designed with a feeding component, which can automatically deliver the collection frame, thereby improving the picking efficiency. The present invention is designed with a unloading component, which can safely and stably transport the filled collection frame to the ground. The picking component of the present invention is designed as a dual robotic arm with high picking efficiency. The dual camera-assisted positioning ensures the accuracy of the picking position. The present invention adopts a built-in battery and an external DC dual power supply mode to avoid the equipment from failing to work due to external power outages. The present invention is designed with anti-tilt function and obstacle avoidance function to improve the safety and stability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front view of the overall main cutaway structure of the present invention;

[0020] Figure 2 for Figure 1 A magnified view of the structure in the middle A area;

[0021] Figure 3 for Figure 1 A magnified view of the structure in the middle B area;

[0022] Figure 4 for Figure 1 A magnified view of the structure in the middle C region;

[0023] Figure 5 for Figure 1 A magnified view of the structure in the middle D region;

[0024] Figure 6 It is a schematic diagram of the overall top view structure of the present invention;

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the feeding assembly of the present invention;

[0026] Figure 8 This is a schematic diagram of the main structure of the picking basket of the present invention;

[0027] Figure 9 is a flow chart of the method of the present invention;

[0028] In the figure: 1. Substrate; 2. Feeding component; 3. Discharging component; 4. Picking component; 5. First mounting seat; 6. First connecting shaft; 7. Moving wheel; 8. Wireless charger; 9. Power supply arm; 10. Second mounting seat; 11. First electric telescopic rod; 12. Controller; 13. Level; 14. First camera; 21. Container basket group; 22. Limiting rod; 23. Support rod; 231. First motor; 232. Second connecting shaft; 233. Connecting rod; 234. Stop rod; 235. Second motor; 236. First pulley; 237. Support plate; 238. Conveyor belt; 239. Second pulley; 31. Chassis; 32. Third motor; 321. First gear; 322. Second gear; 323. Third connecting shaft; 324. First guide rod; 325. First spring; 326. First stop block; 33. First connecting plate; 331. Second guide rod; 332. Third mounting seat; 333. Second electric telescopic rod; 334. Slide rail; 3341. Limiting groove; 3342. Limiting block; 3343. Second spring; 3344. Second stop block; 335. Pulley; 336. Third stop block; 34. Chute; 41. Picking basket; 411. Second connecting plate; 412. Fourth motor; 413. Fourth connecting shaft; 414. Partition; 42. First bracket; 421. Fifth motor; 422. Lead screw; 43. Slide block; 431. First manipulator; 432. Second camera; 44. Second bracket; 441. Third guide rod; 45. Second manipulator; 46. Third camera. Detailed implementation manner

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0030] Please refer to Figure 1-8, an embodiment provided by the present invention: a fully automatic picking robot, including a base plate 1, a feeding assembly 2, a blanking assembly 3, a picking assembly 4, a first mounting seat 5, a first connecting shaft 6, moving wheels 7, a wireless charger 8, a power supply arm 9, a second mounting seat 10, a first electric telescopic rod 11, a controller 12, a level 13 and a first camera 14. A feeding assembly 2 is installed on the top outer wall of the base plate 1. The feeding assembly 2 includes a container basket group 21, limiting rods 22, support rods 23, a first motor 231, a second connecting shaft 232, a connecting rod 233, a blocking rod 234, a second motor 235, a first pulley 236, a support plate 237, a conveyor belt 238 and a second pulley 239. A container basket group 21 is arranged on the top of the base plate 1. Limiting rods 22 are symmetrically arranged on the outer walls on both sides of the container basket group 21, and the limiting rods 22 are fixedly connected to the top outer wall of the base plate 1. Support rods 23 are distributed on both sides of the container basket group 21, and the support rods 23 are fixedly connected to the top outer wall of the base plate 1. A first motor 231 is arranged on one side of the container basket group 21, and the first motor 231 is fixedly connected to the outer wall on one side of the support rod 23. A second connecting shaft 232 is fixedly connected to the outer wall on one side of the output end of the first motor 231, and the second connecting shaft 232 is rotatably connected to the inner wall of the support rod 23. Blocking rods 234 are distributed on the outer side of the second connecting shaft 232. A connecting rod 233 is fixed on the outer wall on one side of the blocking rod 234, and one end of the connecting rod 233 is fixedly connected to the outer wall of the second connecting shaft 232; A second motor 235 is arranged on one side of the container basket group 21, and the second motor 235 is fixedly connected to the outer wall on one side of the support rod 23. A first pulley 236 is fixedly connected to the outer wall on one side of the output end of the second motor 235. A conveyor belt 238 is sleeved on the outer wall of the first pulley 236. A second pulley 239 is sleeved on the inner wall on one side of the conveyor belt 238, and the second pulley 239 is rotatably connected to the outer wall on one side of the support rod 23. A support plate 237 is arranged on the inner wall on one side of the conveyor belt 238, and the support plate 237 is fixedly connected to the outer wall on one side of the limiting rod 22. The second motor 235 provides power for the conveyor belt 238 through the first pulley 236. The support plate 237 is used to support the container basket, and the second pulley 239 is used to assist the conveyor belt 238 in transmission; First mounting seats 5 are fixedly distributed on the bottom outer wall of the base plate 1. A first connecting shaft 6 is rotatably connected to the inner wall on one side of the first mounting seat 5. Moving wheels 7 are installed on the outer wall on one side of the first connecting shaft 6. Second mounting seats 10 are symmetrically fixed on the outer walls on both sides of the base plate 1. A first electric telescopic rod 11 is fixedly connected to the inner wall on one side of the second mounting seat 10. The first connecting shaft 6 on the first mounting seat 5 is used to install moving wheels 7 of different styles, and the first electric telescopic rod 11 on the second mounting seat 10 is used for equipment tilt correction;The blanking component 3 is installed on the top outer wall of the substrate 1. The blanking component 3 includes a chassis 31, a third motor 32, a first gear 321, a second gear 322, a third connecting shaft 323, a first guide rod 324, a first spring 325, a first stop block 326, a first connecting plate 33, a second guide rod 331, a third mounting seat 332, a second electric telescopic rod 333, a slide rail 334, a limiting groove 3341, a limiting block 3342, a second spring 3343, a second stop block 3344, a pulley 335, a third stop block 336 and a chute 34. The chassis 31 is fixedly connected to the top outer wall of the substrate 1. A third motor 32 is fixedly connected to one inner wall of the chassis 31. A first gear 321 is fixedly connected to the outer wall of one side of the output end of the third motor 32. A second gear 322 is meshed and connected to the outer wall of one side of the first gear 321. A third connecting shaft 323 is installed on the inner wall of one side of the second gear 322, and the third connecting shaft 323 is rotatably connected to the bottom inner wall of the chassis 31. A first guide rod 324 is fixedly connected to the outer wall of the top of the third connecting shaft 323. A first stop block 326 is fixedly connected to the outer wall of the top of the first guide rod 324. A first connecting plate 33 is slidably connected to the outer wall of one side of the first guide rod 324. A first spring 325 is fixedly connected to the outer wall of the bottom of the first connecting plate 33, and the first spring 325 is sleeved on the outer wall of one side of the first guide rod 324. A second guide rod 331 is fixedly connected to the outer wall of one side of the first connecting plate 33. Third mounting seats 332 are symmetrically fixed on the outer wall of one side of the second guide rod 331. A second electric telescopic rod 333 is fixedly connected to the outer wall of one side of the third mounting seat 332. A slide rail 334 is fixedly connected to the outer wall of the output end of the second electric telescopic rod 333, and the slide rail 334 is slidably connected to the outer wall of the second guide rod 331. A third stop block 336 is fixedly connected to the outer wall of the top of the slide rail 334. Pulleys 335 are distributed and installed on the outer wall of the top of the slide rail 334. The blanking component 3 is used to move the full collection frame out of the device; A limiting groove 3341 is opened on the outer wall of the top of the slide rail 334. A limiting block 3342 is sleeved on the inner wall of one side of the limiting groove 3341. A second spring 3343 is fixedly connected to the outer wall of the bottom of the limiting block 3342, and one end of the second spring 3343 is fixedly connected to the bottom inner wall of the limiting groove 3341. A second stop block 3344 is fixedly connected to the outer wall of the top of the limiting block 3342. The limiting groove 3341, the limiting block 3342, the second spring 3343 and the second stop block 3344 form an elastic stop block structure, which can be used to limit the collection frame and prevent the collection frame from sliding out of the slide rail 334 during the blanking process;A chute 34 is provided on one outer wall of the chassis 31, and the first connecting plate 33 is slidably connected to one inner wall of the chute 34. A wireless charger 8 is fixedly connected to one outer wall of the chassis 31, a first camera 14 is fixedly connected to one outer wall of the chassis 31, a power supply arm 9 is installed on one outer wall of the chassis 31, a controller 12 is fixedly connected to one inner wall of the chassis 31, a level 13 is fixedly connected to the top outer wall of the controller 12. The chute 34 is used to accommodate the first connecting plate 33, the wireless charger 8 is used for wireless charging, the first camera 14 is used for path recognition, the power supply arm 9 is used to connect the wire cable for external power supply, the controller 12 is used for the automatic control of the device, and the level 13 is used to detect the horizontal state of the device; A picking assembly 4 is installed on one outer wall of the chassis 31. The picking assembly 4 includes a picking basket 41, a second connecting plate 411, a fourth motor 412, a fourth connecting shaft 413, a partition 414, a first bracket 42, a fifth motor 421, a lead screw 422, a slider 43, a first manipulator 431, a second camera 432, a second bracket 44, a third guide rod 441, a second manipulator 45 and a third camera 46. A picking basket 41 is provided on one side of the chassis 31. A second connecting plate 411 is fixed to one outer wall of the picking basket 41, and the second connecting plate 411 is fixedly connected to one outer wall of the chassis 31. A fourth motor 412 is fixedly connected to one outer wall of the picking basket 41. A fourth connecting shaft 413 is fixedly connected to one outer wall of the output end of the fourth motor 412, and the fourth connecting shaft 413 is rotatably connected to one inner wall of the picking basket 41. A partition 414 is installed on one outer wall of the fourth connecting shaft 413, and the partition 414 is sleeved on one inner wall of the picking basket 41. The picking assembly 4 is used for picking fungal crops; A first bracket 42 is fixedly connected to one outer wall of the picking basket 41. A fifth motor 421 is fixedly connected to one outer wall of the first bracket 42. A lead screw 422 is fixedly connected to one outer wall of the output end of the fifth motor 421, and the lead screw 422 is rotatably connected to the inner wall of the first bracket 42. A slider 43 is threadedly connected to one outer wall of the lead screw 422. A first manipulator 431 is installed on the top outer wall of the slider 43. A second camera 432 is provided on one side of the first manipulator 431, and the second camera 432 is fixedly connected to the top outer wall of the slider 43. A second bracket 44 is fixedly connected to one outer wall of the picking basket 41. A third guide rod 441 is fixedly connected to one outer wall of the second bracket 44, and the slider 43 is slidably connected to one outer wall of the third guide rod 441. A second manipulator 45 is installed on the top outer wall of the chassis 31. A third camera 46 is fixedly connected to one outer wall of the second manipulator 45. The fifth motor 421 adjusts the position of the slider 43 through the lead screw 422, thereby adjusting the position of the first manipulator 431, and performs precise picking through the second camera 432. The first bracket 42 is used to install the fifth motor 421 and the lead screw 422, and the second bracket 44 is used to install the third guide rod 441.;

[0031] Please refer to Figure 9 , an embodiment provided by the present invention: a picking method for a full-automatic picking robot, including Step 1, equipment initialization; Step 2, placing the collection basket; Step 3, automatic picking; Step 4, transporting the collection basket;

[0032] Among them, in the above Step 1, first, according to the environmental conditions of the operation site, different moving wheels 7 are installed. The moving wheels 7 include track type and triangular crawler type. When using the track type moving wheels 7, tracks need to be laid in advance. Each moving wheel 7 is equipped with a separate driving motor. Check and adjust the first camera 14, the second camera 432, and the third camera 46, and set the parameters of the equipment;

[0033] Among them, in the above Step 2, start the controller 12, and the first motor 231 starts synchronously. Place one collection basket in the collection basket group 21, and it falls on the conveyor belt 238 under the action of gravity. The second motor 235 starts synchronously, and transports the collection basket to the receiving position on the slide rail 334;

[0034] Among them, in the above Step 3, the third camera 46 captures the crop cultivation pile, and transmits the signal to the controller 12. The controller 12 controls the second manipulator 45 to clamp the crop cultivation pile and move it to the picking position. The second camera 432 captures the position of the fungal crops on the crop cultivation pile, and transmits the signal to the controller 12. The controller 12 controls the fifth motor 421 to start, so that the first manipulator 431 moves to the removal position, and the first manipulator 431 removes the fungal crops, and the fungal crops fall into the picking basket 41;

[0035] Among them, in the above Step 4, when the fungal crops in the picking basket 41 reach the set capacity of the picking basket 41, the fourth motor 412 starts, the partition 414 flips, so that the fungal crops fall into the collection basket. The third motor 32 starts, so that the slide rail 334 is transferred to the blanking position. The second electric telescopic rod 333 starts, and the slide rail 334 opens to both sides, and the collection basket lands. The second electric telescopic rod 333 resets. The third motor 32 starts, so that the slide rail 334 resets, and waits for the placement of the next collection basket.

[0036] Based on the above, the advantages of the present invention are as follows. When using the present invention for automatic picking of fungal crops, first, according to the environmental conditions of the operation site, different moving wheels 7 are installed, the first camera 14, the second camera 432, and the third camera 46 are inspected and adjusted, and the parameters of the device are set. Then, the feeding component 2 is used to put the collection basket. The controller 12 is started, and the first motor 231 is started synchronously, driving the second connecting shaft 232 to rotate 45° on the support rod 23. Through the connecting rod 233, the blocking rod 234 is driven to rotate 45°. The lowermost collection basket in the container basket group 21 is put down. The collection basket falls on the conveyor belt 238 along the limiting rod 22, and the support plate 237 supports it. The second motor 235 is started synchronously, driving the first pulley 236, and through the conveyor belt 238, the second pulley 239 is driven to convey the collection basket to the receiving position on the slide rail 334. During this process, the collection basket pushes the second stopper 3344, compresses the second spring 3343 through the limiting block 3342, and the collection basket slides along the pulley 335. After contacting the third stopper 336, the collection basket disengages from the second stopper 3344. Under the reset action of the second spring 3343, the second stopper 3344 pops out along the limiting groove 3341 to clamp the collection basket. The picking component 4 is started for picking. The third camera 46 captures the crop cultivation pile and transmits the signal to the controller 12. The controller 12 controls the second manipulator 45 to clamp the crop cultivation pile and move it to the picking position. The second camera 432 captures the position of the fungal crops on the crop cultivation pile and transmits the signal to the controller 12. The controller 12 controls the fifth motor 421 to start, driving the lead screw 422 to rotate on the first bracket 42. The lead screw 422 drives the slider 43 to slide along the third guide rod 441 on the second bracket 44, and the first manipulator 431 moves to the removal position. The first manipulator 431 removes the fungal crops, and the fungal crops fall into the picking basket 41. When the fungal crops in the picking basket 41 reach the set capacity, the fourth motor 412 is started, driving the fourth connecting shaft 413 to rotate 180°, causing the partition plate 414 to flip, and the fungal crops fall into the collection basket;Start the blanking component 3 to unload the collection box. The third motor 32 starts, driving the first gear 321 to rotate. The first gear 321 drives the second gear 322 on the third connecting shaft 323 to rotate 90°. The second gear 322 drives the first guide rod 324 to rotate. The cuboid first guide rod 324 can drive the first connecting plate 33 to rotate, causing it to slide along the chute 34. The second guide rod 331 on the first connecting plate 33 rotates accordingly, and the collection box detaches from the substrate 1. Under the weight of the collection box, the first connecting plate 33 slides down along the first guide rod 324, compressing the first spring 325. When the slide rail 334 moves to the blanking position, the second electric telescopic rod 333 on the third mounting seat 332 starts, driving the slide rail 334 to open to both sides, and the container basket lands. Under the reset action of the first spring 325, the first connecting plate 33 returns to the initial height, driving the slide rail 334 back to the initial height. The second electric telescopic rod 333 resets, and the third motor 32 starts to reset the slide rail 334, waiting for the next container basket to be placed. When the level 13 detects that the equipment is tilted, the first electric telescopic rod 11 on the tilted side starts for tilt correction. Among them, the first connecting shaft 6 on the first mounting seat 5 is used to install different styles of moving wheels 7, the second mounting seat 10 is used to install the first electric telescopic rod 11, the wireless charger 8 is used for wireless charging, the first camera 14 on the chassis 31 is used for path recognition, the power supply arm 9 is used to connect the wire cable for external power supply, the controller 12 is used for the automatic control of the equipment, the second connecting plate 411 is used to install the picking basket 41, and the first stop block 326 is used to limit the first connecting plate 33.;

[0037] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights involved.

Claims

1. A fully automatic picking robot, comprising a substrate (1), a feeding component (2), a blanking component (3), a picking component (4), a first mounting seat (5), a first connecting shaft (6), moving wheels (7), a wireless charger (8), a power supply arm (9), a second mounting seat (10), a first electric telescopic rod (11), a controller (12), a level (13) and a first camera (14), characterized in that: A feeding component (2) is installed on the top outer wall of the substrate (1). The feeding component (2) includes a container basket group (21), a limiting rod (22), a support rod (23), a first motor (231), a second connecting shaft (232), a connecting rod (233), a blocking rod (234), a second motor (235), a first pulley (236), a support plate (237), a conveyor belt (238) and a second pulley (239). A container basket group (21) is arranged on the top of the substrate (1). Limiting rods (22) are symmetrically arranged on the outer walls on both sides of the container basket group (21), and the limiting rods (22) are fixedly connected to the top outer wall of the substrate (1). Support rods (23) are arranged on both sides of the container basket group (21), and the support rods (23) are fixedly connected to the top outer wall of the substrate (1). A first motor (231) is arranged on one side of the container basket group (21), and the first motor (231) is fixedly connected to the outer wall on one side of the support rod (23). A second connecting shaft (232) is fixedly connected to the outer wall on one side of the output end of the first motor (231), and the second connecting shaft (232) is rotatably connected to the inner wall of the support rod (23). Blocking rods (234) are arranged on the outer side of the second connecting shaft (232). A connecting rod (233) is fixed to the outer wall on one side of the blocking rod (234), and one end of the connecting rod (233) is fixedly connected to the outer wall of the second connecting shaft (232); A second motor (235) is arranged on one side of the container basket group (21), and the second motor (235) is fixedly connected to the outer wall on one side of the support rod (23). A first pulley (236) is fixedly connected to the outer wall on one side of the output end of the second motor (235). A conveyor belt (238) is sleeved on the outer wall of the first pulley (236). A second pulley (239) is sleeved on the inner wall on one side of the conveyor belt (238), and the second pulley (239) is rotatably connected to the outer wall on one side of the support rod (23). A support plate (237) is arranged on the inner wall on one side of the conveyor belt (238), and the support plate (237) is fixedly connected to the outer wall on one side of the limiting rod (22); First mounting seats (5) are fixedly distributed on the bottom outer wall of the substrate (1). A first connecting shaft (6) is rotatably connected to the inner wall on one side of the first mounting seat (5). A moving wheel (7) is installed on the outer wall on one side of the first connecting shaft (6). Second mounting seats (10) are symmetrically fixed on the outer walls on both sides of the substrate (1). A first electric telescopic rod (11) is fixedly connected to the inner wall on one side of the second mounting seat (10).

2. The full-automatic picking robot according to claim 1, characterized in that: A blanking component (3) is installed on the top outer wall of the substrate (1). The blanking component (3) includes a chassis (31), a third motor (32), a first gear (321), a second gear (322), a third connecting shaft (323), a first guide rod (324), a first spring (325), a first stop block (326), a first connecting plate (33), a second guide rod (331), a third mounting seat (332), a second electric telescopic rod (333), a slide rail (334), a limiting groove (3341), a limiting block (3342), a second spring (3343), a second stop block (3344), a pulley (335), a third stop block (336) and a chute (34). The chassis (31) is fixedly connected to the top outer wall of the substrate (1). A third motor (32) is fixedly connected to one inner wall of the chassis (31). A first gear (321) is fixedly connected to the outer wall of one side of the output end of the third motor (32). A second gear (322) is meshed and connected to the outer wall of one side of the first gear (321). A third connecting shaft (323) is installed on the inner wall of one side of the second gear (322), and the third connecting shaft (323) is rotatably connected to the bottom inner wall of the chassis (31). A first guide rod (324) is fixedly connected to the outer wall of the top of the third connecting shaft (323). A first stop block (326) is fixedly connected to the outer wall of the top of the first guide rod (324). A first connecting plate (33) is slidably connected to the outer wall of one side of the first guide rod (324). A first spring (325) is fixedly connected to the outer wall of the bottom of the first connecting plate (33), and the first spring (325) is sleeved on the outer wall of one side of the first guide rod (324). A second guide rod (331) is fixedly connected to the outer wall of one side of the first connecting plate (33). Third mounting seats (332) are symmetrically fixed to the outer wall of one side of the second guide rod (331). A second electric telescopic rod (333) is fixedly connected to the outer wall of one side of the third mounting seat (332). A slide rail (334) is fixedly connected to the outer wall of one side of the output end of the second electric telescopic rod (333), and the slide rail (334) is slidably connected to the outer wall of the second guide rod (331). A third stop block (336) is fixedly connected to the outer wall of the top of the slide rail (334). Pulleys (335) are distributed and installed on the outer wall of the top of the slide rail (334).

3. The full-automatic picking robot according to claim 2, characterized in that: A limiting groove (3341) is opened on the outer wall of the top of the slide rail (334). A limiting block (3342) is sleeved on the inner wall of one side of the limiting groove (3341). A second spring (3343) is fixedly connected to the outer wall of the bottom of the limiting block (3342), and one end of the second spring (3343) is fixedly connected to the bottom inner wall of the limiting groove (3341). A second stop block (3344) is fixedly connected to the outer wall of the top of the limiting block (3342).

4. The full-automatic picking robot according to claim 2, wherein: A chute (34) is provided on one outer wall of the chassis (31), and the first connecting plate (33) is slidably connected to one inner wall of the chute (34). A wireless charger (8) is fixedly connected to one outer wall of the chassis (31), a first camera (14) is fixedly connected to one outer wall of the chassis (31), a power supply arm (9) is installed on one outer wall of the chassis (31), a controller (12) is fixedly connected to one inner wall of the chassis (31), and a level (13) is fixedly connected to the top outer wall of the controller (12).

5. The full-automatic picking robot according to claim 2, characterized in that: A picking assembly (4) is installed on one outer wall of the chassis (31). The picking assembly (4) includes a picking basket (41), a second connecting plate (411), a fourth motor (412), a fourth connecting shaft (413), a partition (414), a first bracket (42), a fifth motor (421), a lead screw (422), a slider (43), a first manipulator (431), a second camera (432), a second bracket (44), a third guide rod (441), a second manipulator (45), and a third camera (46). A picking basket (41) is provided on one side of the chassis (31). A second connecting plate (411) is fixed to one outer wall of the picking basket (41), and the second connecting plate (411) is fixedly connected to one outer wall of the chassis (31). A fourth motor (412) is fixedly connected to one outer wall of the picking basket (41). A fourth connecting shaft (413) is fixedly connected to one outer wall of the output end of the fourth motor (412), and the fourth connecting shaft (413) is rotatably connected to one inner wall of the picking basket (41). A partition (414) is installed on one outer wall of the fourth connecting shaft (413), and the partition (414) is sleeved on one inner wall of the picking basket (41).

6. The full-automatic picking robot according to claim 5, wherein: A first bracket (42) is fixedly connected to one outer wall of the picking basket (41). A fifth motor (421) is fixedly connected to one outer wall of the first bracket (42). A lead screw (422) is fixedly connected to one outer wall of the output end of the fifth motor (421), and the lead screw (422) is rotatably connected to the inner wall of the first bracket (42). A slider (43) is threadedly connected to one outer wall of the lead screw (422). A first manipulator (431) is installed on the top outer wall of the slider (43). A second camera (432) is provided on one side of the first manipulator (431), and the second camera (432) is fixedly connected to the top outer wall of the slider (43). A second bracket (44) is fixedly connected to one outer wall of the picking basket (41). A third guide rod (441) is fixedly connected to one outer wall of the second bracket (44), and the slider (43) is slidably connected to one outer wall of the third guide rod (441). A second manipulator (45) is installed on the top outer wall of the chassis (31). A third camera (46) is fixedly connected to one outer wall of the second manipulator (45).

7. A picking method for the full-automatic picking robot according to claim 6, the method comprising Step 1, equipment initialization; Step 2, placing the container basket; Step 3, automatic picking; Step 4, transporting the container basket; characterized in that: In the above Step 1, first, according to the environmental conditions of the operation site, different moving wheels (7) are installed, the first camera (14), the second camera (432) and the third camera (46) are checked and adjusted, and the parameters of the equipment are set; In the above Step 2, the controller (12) is started, the first motor (231) is started synchronously, one container basket in the container basket group (21) is placed and falls on the conveyor belt (238) under the action of gravity, and the second motor (235) is started synchronously to convey the container basket to the receiving position on the slide rail (334); In the above Step 3, the third camera (46) captures the crop cultivation pile and transmits the signal to the controller (12). The controller (12) controls the second manipulator (45) to clamp the crop cultivation pile and move it to the picking position. The second camera (432) captures the position of the fungal crops on the crop cultivation pile and transmits the signal to the controller (12). The controller (12) controls the fifth motor (421) to start, so that the first manipulator (431) moves to the removal position, and the first manipulator (431) removes the fungal crops, and the fungal crops fall into the picking basket (41); In the above Step 4, when the fungal crops in the picking basket (41) reach the set capacity of the picking basket (41), the fourth motor (412) is started, the partition plate (414) is turned over, so that the fungal crops fall into the container basket, the third motor (32) is started, so that the slide rail (334) is transferred to the discharging position, the second electric telescopic rod (333) is started, the slide rail (334) opens to both sides, the container basket lands, the second electric telescopic rod (333) resets, the third motor (32) is started, so that the slide rail (334) resets, and waits for the placement of the next container basket.

8. The picking method of a full-automatic picking robot according to claim 7, characterized in that: In the above Step 1, the moving wheels (7) are of the track type and the triangular crawler type. When using the track type moving wheels (7), tracks need to be laid in advance, and each moving wheel (7) is equipped with a separate drive motor.

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