Picking robot

Abstract

The embodiment of the present application provides a picking robot, which comprises a self-moving chassis, a picking module for picking fruits and vegetables, a stacking module for storing a plurality of crates in a vertical direction, and a board fork module for feeding or discharging the crates into or out of the stacking module; wherein the self-moving chassis has opposite first and second ends; the picking module is arranged above the first end of the self-moving chassis; and the picking module is arranged above the second end of the self-moving chassis. In the embodiment of the present application, the picking robot device can replace the front-line labor force, solve the problem that the labor force in the front line of farming cannot meet the demand of large-scale agricultural production, and improve the agricultural production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a picking robot. BACKGROUND

[0002] At the same time when the number of farmers is rapidly decreasing, the average age of farmers is also constantly increasing. According to the observation of more than 20,000 households by the Ministry of Agriculture and Rural Affairs, the average age of labor force in the front line of farming in China is about 53 years old, and the labor force over 60 years old accounts for 1 / 4. It is estimated that in 5-10 years, this batch of farmers will start to withdraw from the labor market, while the younger generation is almost no one to supply, which makes the labor force in the front line of farming cannot meet the demand of large-scale agricultural production, so some intelligent agricultural equipment that can replace the front-line labor force, such as intelligent picking robot equipment for picking fruits and vegetables, is urgently needed. SUMMARY

[0003] In view of the above problems, the present application is proposed to provide a picking robot which solves the above problems or at least partially solves the above problems.

[0004] The present application provides a picking robot, which comprises:

[0005] A self-moving chassis having opposite first and second ends;

[0006] A picking module for picking fruits and vegetables, which is arranged above the first end of the self-moving chassis;

[0007] A stacking module for storing a plurality of crates in a vertical direction, which is arranged above the second end of the self-moving chassis;

[0008] A board fork module for feeding or discharging the crates into or out of the stacking module.

[0009] Further, the stacking module comprises a plurality of object carriers for placing the crates and two side walls arranged opposite to each other above the self-moving chassis, and the plurality of object carriers are arranged between the two side walls in a height direction of the side walls.

[0010] Further, the board fork module is connected to one side of the side wall facing the first end.

[0011] The stacking module further comprises a board fork up-down motor, which can drive the board fork module to reciprocate in the height direction of the side wall through a transmission mechanism.

[0012] Further, the board fork module comprises a bottom plate, a board fork front-rear motor and a carrier plate.

[0013] One end of the bottom plate is connected to the side wall, and the other end extends to the first end.

[0014] The plate fork front and rear motors are arranged above the base plate, the carrier plate is arranged above the plate fork front and rear motors, and the plate fork front and rear motors can drive the carrier plate to reciprocate along the direction of the line connecting the first end and the second end through a transmission mechanism.

[0015] Further, a conveying module for conveying the picked fruits and vegetables picked by the picking module into the crate is further included.

[0016] Further, the self-moving chassis has a material receiving position between the first end and the second end, the material receiving position is used to accommodate the plate fork module and the crate thereon, and the conveying module extends between the picking module and the material receiving position.

[0017] Further, the conveying module comprises:

[0018] a frame;

[0019] a driving roller and a driven roller arranged at opposite ends of the frame, respectively;

[0020] a belt sleeved around the periphery of the rollers at the ends of the frame;

[0021] a driving motor arranged in the frame close to the driving roller, used to drive the driving roller to rotate and in turn drive the belt to rotate.

[0022] Further, the picking module comprises:

[0023] an arm column, one end of the arm column being mounted to the self-moving chassis;

[0024] a picking host arranged on the arm column, capable of reciprocating along the height direction of the arm column and rotating around the arm column;

[0025] a multi-joint picking arm arranged on the picking host;

[0026] a scissor hand arranged at the end of the multi-joint picking arm away from the picking host, used to cut off fruits and vegetables.

[0027] Further, a detection sensor is arranged on the picking host, and / or a detection sensor is arranged at the end of the multi-joint picking arm away from the picking host.

[0028] Further, one multi-joint picking arm is arranged on each side of the picking host, one end of one multi-joint picking arm away from the picking host is connected with the scissor hand, and one end of the other multi-joint picking arm away from the picking host is connected with a transfer crate.

[0029] Further, the stacking shell is provided with a handle for manually pushing and pulling the machine on one side away from the first end.

[0030] Further, the self-moving chassis comprises a chassis body and a plurality of steering wheel groups.

[0031] The plurality of steering wheel groups are respectively arranged below the chassis body, each of the steering wheel groups comprises a first wheel body and a second wheel body connected with each other and coaxially rotating, the outer diameter of the first wheel body is larger than that of the second wheel body, the first wheel body is used for driving on the road surface, and the second wheel body is used for driving on the track.

[0032] The technical scheme provided by the embodiment of the present application is used for arranging the picking module for picking fruits and vegetables on the first end above the self-moving chassis, arranging the stacking module for storing a plurality of crates in the vertical direction on the second end above the self-moving chassis, and arranging the board fork module for feeding the crates into or out of the stacking module, and the board fork module is used for containing the picked fruits and vegetables of the picking module, thereby completing the picking and boxing of the fruits and vegetables in the farm, i.e., replacing the front-line labor force with the machine device, solving the problem that the front-line labor force cannot meet the large-scale agricultural production demand, and improving the agricultural production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0034] Figure 1 It is a three-dimensional structure explosion schematic diagram of a picking robot in the embodiment of the present application;

[0035] Figure 2 It is a three-dimensional connection structure schematic diagram of a stacking module and a board fork module of a picking robot in the embodiment of the present application;

[0036] Figure 3 It is another three-dimensional structure explosion schematic diagram of a picking robot in the embodiment of the present application;

[0037] Figure 4 It is a three-dimensional structure schematic diagram of a picking module of a picking robot in the embodiment of the present application;

[0038] Figure 5 It is a three-dimensional structure schematic diagram of a transmission module of a picking robot in the embodiment of the present application;

[0039] Figure 6It is a three-dimensional structure explosion schematic diagram of a self-moving chassis of a picking robot in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the embodiments of the present application.

[0041] It should be noted that, in the description of the present application, if the terms "first", "second" and the like appear, "first", "second" are only used for convenient description of different components or names, and cannot be understood as indicating or implying the order relationship, relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can be explicitly or implicitly included at least one feature. In addition, if "and / or" appears throughout the text, it means that it includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments of the present application, and are not intended to limit the present application.

[0043] Reference should be made to Figure 1 A three-dimensional structure explosion schematic diagram of a picking robot provided in an embodiment of the present application, the picking robot is used to replace manual picking of fruits and vegetables in a farm, which specifically comprises a self-moving chassis 10, a picking module 20 for picking fruits and vegetables, a stacking module 40 for storing a plurality of fruit boxes 30 in the vertical direction, and a board fork module 50 for sending the fruit boxes 30 into or out of the stacking module 40.

[0044] Specifically, the shape of the self-moving chassis 10 includes but is not limited to a quadrilateral such as a rectangle, a square, etc., or other polygonal structures, or a circle, an ellipse, or similar shapes, and the manufacturing materials include but are not limited to plastic, or metal materials, etc. Here, the self-moving chassis 10 is taken as an example to be described, which has opposite first end 110 and second end 120, which can be understood as the front end and the rear end of the self-moving chassis 10 in the direction of travel. The picking module 20 is installed above the self-moving chassis 10, specifically near the first end 110, i.e. the front end of the self-moving chassis 10 in the direction of travel, and is used for picking fruits and vegetables in the farm. The stacking module 40 is also installed above the self-moving chassis 10, specifically near the second end 120, i.e. the rear end of the self-moving chassis 10 in the direction of travel, and is used for storing multiple material boxes 30 in the vertical direction, including but not limited to a storage rack, and multiple material boxes 30 are placed in multiple storage units of the storage rack. The material box 30 includes but is not limited to a plastic transfer box, which is used to contain the picked fruits and vegetables by the picking module 20. The board fork module 50 is connected to the stacking module 40, which is used to send out the material box 30 without fruits on the stacking module 40, so that the picking module 20 can put the picked fruits into the material box 30, and at the same time, the material box 30 full of fruits is sent into the stacking module 40 for storage, thereby completing the picking and containing of fruits and vegetables in the farm. The line labor can be replaced by the picking robot to solve the problem that the line labor cannot meet the demand of large-scale agricultural production. Since the machine can work for a long time, the picking work can be carried out continuously, and therefore the agricultural production efficiency can be improved.

[0045] Further, please refer to Figures 2-6 The stacking module 40 includes multiple object carriers 410 for placing the material box 30 and two side walls 420 arranged opposite to each other above the self-moving chassis 10, and the multiple object carriers 410 are arranged in the height direction of the side wall 420 between the two side walls 420.

[0046] Specifically, the bottoms of the two opposite side walls 420 are arranged above the self-moving chassis 10, and the object carriers 410 are arranged between the two side walls 420. The interval between the two adjacent object carriers 410 is greater than the depth of the material box 30, and the multiple object carriers 410 are arranged in the height direction of the side wall 420. Here, the side wall 420 and the object carrier 410 are made of metal materials, which have high strength and can place the material box 30 without fruits and the material box 30 full of fruits.

[0047] Further, the plate fork module 50 is connected to one side of the side wall 420 towards the first end 110;

[0048] The stacking module 40 further comprises a plate fork up-down motor 430, which can drive the plate fork module 50 to reciprocate along the height direction of the side wall 420 through a transmission mechanism.

[0049] Specifically, the plate fork module 50 and the object table 410 are located on two sides of the side wall 420, wherein the object table 410 is located above the second end 120, and one end of the plate fork module 50 is connected to the side wall 420 away from the object table 410, and the other end extends towards the first end 110;

[0050] The plate fork up-down motor 530 is arranged on the top of the side wall 420, and a transmission mechanism is arranged on the side wall 420, the plate fork module 50 is connected to the transmission mechanism, and the plate fork module 50 is driven to reciprocate along the height direction of the side wall 420 through the plate fork up-down motor 530 driving the transmission mechanism, thereby completing the transportation of the material frame 30 in the vertical direction.

[0051] The material frame 30 on the plate fork module 50 can be manually sent into or out of the object table 410, or the material frame 30 can be sent into or out of the object table 410 through a horizontal transmission mechanism.

[0052] Here, the transmission mechanism includes but is not limited to a chain transmission structure arranged on the side wall 420, or a belt transmission mechanism.

[0053] Further, the plate fork module 50 comprises a bottom plate 510, a plate fork front-rear motor 520, and a load plate 530;

[0054] 5The bottom plate 510 is connected to one side of the side wall 420, and the other end extends towards the first end 110;

[0055] The plate fork front-rear motor 520 is arranged above the bottom plate 510, and the load plate 530 is arranged above the plate fork front-rear motor 520, and the plate fork front-rear motor 520 can drive the load plate 530 to reciprocate along the direction connecting the first end 110 and the second end 120 through a transmission mechanism.

[0056] Specifically, the plate fork front-rear motor 520 is arranged between the bottom plate 510 and the load plate 530, and the transmission mechanism connected to the plate fork front-rear motor 520 is driven to reciprocate along the direction connecting the first end 110 and the second end 120 through the rotation of the plate fork front-rear motor 520.

[0057] The carrier plate 530 reciprocates in horizontal direction relative to the base plate 510, since one end of the base plate 510 is connected to the side wall 420 and the other end extends to the first end 110, so that the carrier plate 530 can reciprocate relative to the base plate 510 along the direction of the line connecting the first end 110 and the second end 120, that is, in and out of the loading platform 410, that is, to transport the full fruit and vegetable 5 containing the frame 30 on the carrier plate 530 to the loading platform 410, or to extend the carrier plate 530 into the frame 30 below the loading platform 410 and transport it below the transmission module 60.

[0058] The above, in the embodiment of the present application, the empty / full frame is transported in horizontal direction by the plate fork module 50, and the empty / full frame is transported in vertical direction by the stacking module 40, the whole process does not need manual intervention, improves the agricultural production efficiency; at the same time, the picking robot can pick multiple frames of fruits and vegetables at one time, avoids frequent to and fro between the farm and the warehouse, further improves the fruit and vegetable picking efficiency.

[0059] The above, in the embodiment of the present application, the empty / full frame is transported in horizontal direction by the plate fork module 50, and the empty / full frame is transported in vertical direction by the stacking module 40, the whole process does not need manual intervention, improves the agricultural production efficiency; at the same time, the picking robot can pick multiple frames of fruits and vegetables at one time, avoids frequent to and fro between the farm and the warehouse, further improves the fruit and vegetable picking efficiency.

[0060] In addition, the picking robot also includes a transmission module 60 for transmitting the fruits and vegetables picked by the picking module 20 into the frame 30.

[0061] Specifically, the transmission module 60 is arranged above the self-moving chassis 10, including but not limited to a conveyor belt, one end of which receives the fruits and vegetables picked by the picking module 20, and the other end is arranged on the frame 30, for transmitting the fruits and vegetables picked by the picking module 20 into the frame 30.

[0062] Further, the self-moving chassis 10 has a receiving position 130 between the first end 110 and the second end 120, the receiving position 130 is used to accommodate the plate fork module 50 and the frame 30 thereon, and the transmission module 60 extends between the picking module 20 and the receiving position 130.

[0063] Further, the self-moving chassis 10 has a receiving position 130 between the first end 110 and the second end 120, the receiving position 130 is used to accommodate the plate fork module 50 and the frame 30 thereon, and the transmission module 60 extends between the picking module 20 and the receiving position 130.

[0064] Specifically, the receiving position 130 is arranged above the self-moving chassis 10 and between the picking module 20 and the stacking module 40, i.e. between the first end 110 and the second end 120. The receiving position 130 can be a groove on the top of the self-moving chassis 10 for accommodating the board fork module 50 and the material frame 30 above the board fork module 50; or a chassis housing is arranged around the self-moving chassis 10, the picking module 20 and the stacking module 40 are arranged at both ends of the chassis housing, and the receiving position 130 is an accommodating groove between the picking module 20 and the stacking module 40 in the chassis housing for accommodating the board fork module 50 and the material frame 30 above the board fork module 50.

[0065] Further, the conveying module 60 comprises:

[0066] a frame 610;

[0067] a driving roller 620 and a driven roller 630 arranged at opposite ends of the frame 610, respectively;

[0068] a belt 640 sleeved around the frame 610 and the rollers at the ends of the frame 610;

[0069] a driving motor 650 arranged in the frame 610 close to the driving roller 620 for driving the driving roller 620 to rotate and in turn driving the belt 640 to rotate.

[0070] Specifically, the frame 610 is a plate frame structure, two ends of the frame 610 are respectively provided with the driving roller 620 and the driven roller 630, the belt 640 is sleeved around the frame 610, the driving roller 620 and the driven roller 630, the driving motor 650 is arranged in the frame 610 and is in transmission connection with the driving roller 620, the driving roller 620 rotates following the driving motor 650, and in turn drives the driven roller 630 to rotate through the belt 640, and the fruits and vegetables picked by the picking module 20 fall onto the belt 640 and are conveyed into the material frame 30 through the rotation of the belt 640.

[0071] Further, the conveying module 60 further comprises a belt anti-loose mechanism 660 arranged on the side of the frame 610 close to the driven roller 630.

[0072] Specifically, the belt slack prevention mechanism 660 is arranged on the side of the frame 610 close to the driven roller 630, and can act on the driven roller 630 to adjust the distance between the driven roller 630 and the driving roller 620, so as to avoid the loosening of the belt 640 after a long time of work, and thus the slipping between the belt 640 and the rollers, and further affect the transmission efficiency and quality of the fruits and vegetables.

[0073] In addition, the picking robot further comprises a shell 70, wherein the shell 70 comprises:

[0074] a bottom shell 710 arranged on the outer periphery of the self-moving chassis 10 and fixedly connected to the side wall of the self-moving chassis 10;

[0075] a stacking shell 720 arranged outside the stacking module 40 and connected above the bottom shell 710 at the position of the second end 120;

[0076] a support 730 arranged on the transmission module 60 and connected above the bottom shell 710 at the position of the first end 110;

[0077] a top plate 740 arranged above the stacking shell 720, one end of which is connected to the top of the stacking shell 720, and the other end of which extends to a position above the first end 110.

[0078] Specifically, the bottom shell 710 is a frame structure arranged around the outer periphery of the self-moving chassis 10, and the frame structure is fixedly connected to the side wall of the self-moving chassis 10 and located above the self-moving chassis 10; the stacking shell 720 surrounds the outer periphery of the stacking module 40, and the bottom of the stacking shell 720 is connected to the bottom shell 710 at the position of the second end 120; here, the bottom shell 710 and the stacking shell 720 can be an integrated structure, so as to improve the overall strength of the shell; the support 730 has an inverted U-shaped structure, and the two open ends of the support 730 are connected to the bottom shell 710 at the position of the first end 110; here, the support 730 can not only strengthen the strength of the bottom shell 710, but also provide a mounting fulcrum for the picking module 20; the top plate 740 is arranged above the stacking shell 720, one end of the top plate 740 is connected to the top of the stacking shell 720, and the other end of the top plate 740 is suspended above the first end 110, thereby providing another fulcrum for the picking module 20.

[0079] In the embodiment of the present application, the shell 70 can not only integrate multiple components together and protect the components, but also have a certain decorative effect.

[0080] The shell 70 does not cover the rear end of the stacking module 40, so that the rear end is open, facilitating the taking out of full boxes or the putting in of empty boxes from the stacking module 40 from the rear. Of course, a door can be added to the rear end of the shell to protect the fruits and vegetables stored therein.

[0081] Further, in order to avoid the fruits and vegetables picked by the picking module 20 from falling outside the conveying module 40 when falling, causing picking failure, a skirt 750 for guiding the fruits and vegetables to enter the conveying module is arranged on the bottom shell 710 below the support 730. Specifically, the skirt 750 is inclined and expands outward, and the top opening has an area larger than the receiving area of the conveying module 60 at the bottom, so that the fruits and vegetables can slide down the inclined surface of the skirt 750 to the conveying module 60 below.

[0082] Further, the picking module 20 comprises:

[0083] An arm column 210 is mounted at one end of the self-moving chassis 10.

[0084] A picking host 220 is arranged on the arm column 220 and can reciprocate along the height direction of the arm column 220 and rotate around the arm column 220.

[0085] A multi-joint picking arm 230 is arranged on the picking host 220.

[0086] A scissor hand 240 is arranged at the end of the multi-joint picking arm 230 away from the picking host 220, for cutting off the fruits and vegetables.

[0087] Specifically, the bottom of the arm column 210 is connected to the self-moving chassis 10. In other preferred embodiments of the present application, in order to improve the stability of the arm column 210, the two ends of the arm column 210 are connected to the support 730 and the top plate 740, respectively. In a feasible implementation, threads are arranged on the arm column 210, and the picking host 220 is sleeved on the arm column 220 and can reciprocate along the height direction of the arm column 220 and rotate around the arm column 220 under the drive of a motor. The multi-joint picking arm 230 is connected to the picking host 220 and can simulate the bending and stretching of human arms, so that the end thereof reaches the position of the fruits and vegetables. The scissor hand 240 is arranged at the end of the multi-joint picking arm 230 and is used to cut off the fruits and vegetables when reaching the position thereof.

[0088] In addition, a detection sensor 250 is arranged on the picking host 220, and / or a detection sensor 250 is arranged at the end of the multi-joint picking arm 230 away from the picking host 220.

[0089] Specifically, the detection sensor 250 can be arranged on the picking host 220, or arranged on the end of the multi-joint picking arm 230 away from the picking host 220, or arranged on both the picking host 220 and the multi-joint picking arm 230. The detection sensor 250 is used to scan and detect the maturity of fruits and vegetables in the farm, determine the number and position of fruits and vegetables that need to be cut, and ensure the quality of picking. The detection sensor 250 includes but is not limited to a multi-view camera.

[0090] Further, the picking host 220 is provided with one multi-joint picking arm 230 on each side, one of which is connected with the scissors hand 240 at the end away from the picking host 220, and the other is connected with the transfer frame 260 at the end away from the picking host 220.

[0091] Specifically, one picking host 220 is equipped with two multi-joint picking arms 230, which are arranged on the two sides of the picking host 220 respectively, simulating the operation of a worker's two hands. One of the multi-joint picking arms 230 is connected with the scissors hand 240 for cutting off fruits and vegetables, and the other is connected with the transfer frame 260 for receiving the cut fruits and vegetables and pouring them onto the transmission module 20, so as to improve the picking efficiency and avoid dropping fruits during picking.

[0092] Further, the stacking shell 720 is provided with a handle 7201 for manually pushing and pulling the machine away from the first end 110.

[0093] Specifically, the handle 7201 is arranged on the rear shell of the picking robot, specifically on the rear of the stacking shell 720, for manual assistance in pushing and pulling the picking robot when it is out of power or in complex road conditions.

[0094] In addition, the self-moving chassis 10 includes a chassis body 1011 and a plurality of rudder wheel groups 102.

[0095] The plurality of rudder wheel groups 102 are arranged below the chassis body 1011 respectively, each of the rudder wheel groups 102 includes a first wheel body 1021 and a second wheel body 1022 connected with each other and rotating coaxially, the outer diameter of the first wheel body 1021 is larger than that of the second wheel body 1022, the first wheel body 1021 is used for driving on the road surface, and the second wheel body 1022 is used for driving on the track.

[0096] Specifically, the plurality of rudder wheel groups 102 are arranged below the chassis body 1011, and are evenly arranged below the chassis body 1011 in general, so as to ensure that the robot body is balanced when installed above the chassis body 1011, and to ensure the balance of the robot when moving. The first wheel body 1021 and the second wheel body 1022 are connected to each other and coaxial, and can rotate coaxially. The plurality of rudder wheel groups 102 can rotate under the drive of different motors, so as to drive the chassis body 101 to move. The plurality of rudder wheel groups 102 can rotate at different speeds and in different directions, so that the plurality of rudder wheel groups 102 can differentially steer, and in turn drive the chassis body 101 to move in a steering manner. The outer diameters of the first wheel body 1021 and the second wheel body 1022 are not the same, but the outer diameter of the first wheel body 1021 is greater than that of the second wheel body 1022. In this way, when the self-moving chassis 10 runs on the road surface, the first wheel body 1021 with a larger size is in contact with the road surface, and the second wheel body 1022 is in a suspended state and does not affect the running of the self-moving chassis 10. When the self-moving chassis 10 needs to run on the track of the farm, it is not necessary to make any operation on the rudder wheel group 102, but only needs to be placed on the track. At this time, the second wheel body 1022 is in contact with the top surface of the track, and the first wheel body 1021 is in a suspended state due to the certain height of the track, and also does not affect the running of the self-moving chassis 10.

[0097] Further, each rudder wheel group 102 further comprises a wheel bracket 1023, one end of the wheel bracket 1023 being connected below the chassis body 10, and the other end of the wheel bracket 1023 being connected to the first wheel body 1021 away from the second wheel body 1022.

[0098] Specifically, the top end of the wheel bracket 1023 is fixedly connected below the chassis body 10, and the bottom of the wheel bracket 1023 is connected to the first wheel body 1021 away from the second wheel body 1022. The first wheel body 1021 is located between the second wheel body 1022 and the wheel bracket 1023, and the first wheel body 1021 can rotate relative to the bottom of the wheel bracket 1023.

[0099] In addition, the first wheel body 1021 is a solid rubber tire, which has the advantages of wear resistance, long service life and good elasticity, so that the movement chassis runs more smoothly on ordinary roads. The second wheel body 1022 is a metal wheel. Since the farm track is generally a metal track, the use of the second wheel body 1022 with a metal wheel can effectively reduce the friction between the two, so that the movement chassis runs more smoothly on the farm track.

[0100] The working process of the picking robot is as follows:

[0101] The farm worker places the empty material frame 30 on the loading table 410 of the stacking module 40, then pushes it onto the track of the farm through the handle 7201, drives it to travel on the track through the movement chassis 10, and stops at the picking point to pick the fruits and vegetables near the picking point through the picking module 20, that is, fixed-point picking, or walking and picking, which can be double-arm fruit cutting, and the cut fruits and vegetables fall on the conveying module 60 and are then transported into the material frame 30 of the receiving position 130, or single-arm fruit cutting, another mechanical arm holds a small material frame to pick fruits, and then the fruits and vegetables in the small material frame are poured into the material frame 30 of the receiving position 130, or poured on the conveying module 60 and then transported into the material frame 30 of the receiving position 130. When the material frame 30 of the receiving position 130 is full, the board fork module 50 lifts it and sends it to the empty loading table 410 of the stacking module 40 for storage, and then the board fork module 50 continues to take the empty material frame 30 from the loading table 410 of the stacking module 40 and sends it to the receiving position 130. The picking module 20 continues to repeat the above picking operation until the material frame 30 is full and the operation is repeated. When all the material frames 30 on the stacking module 40 are full, the picking is stopped, and the self-moving chassis 10 is driven to return to the head and leave the track with the help of the farm worker and replace the material frame.

[0102] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the above embodiments of the present application have been described in detail, those skilled in the art should understand that they can modify the technical solutions recorded in the above embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A picking robot, characterized in that The self-moving chassis has opposite first and second ends. The picking module is arranged above the first end of the self-moving chassis and is used for picking fruits and vegetables. The stacking module is arranged above the second end of the self-moving chassis and is used for storing a plurality of crates in a vertical direction. The board fork module is connected to one side of the side wall facing the first end. The stacking module further comprises a board fork up-down motor, which can drive the board fork module to reciprocate along the height direction of the side wall through a transmission mechanism. The board fork module comprises a bottom plate, a board fork front-rear motor and a load plate. The bottom plate is connected to the side wall at one end and extends to the first end at the other end. The board fork front-rear motor is arranged above the bottom plate, and the load plate is arranged above the board fork front-rear motor. The board fork front-rear motor can drive the load plate to reciprocate along the direction connecting the first end and the second end through a transmission mechanism. The self-moving chassis has a receiving position between the first end and the second end, which is used for accommodating the board fork module and the crate thereon. The transmission module comprises:

2. The picking robot according to claim 1, characterized in that, A frame; 3. The picking robot according to claim 2, characterized in that, A driving roller and a driven roller are arranged at opposite ends of the frame, respectively; 4. The picking robot according to claim 3, characterized in that, A belt is sleeved around the periphery of the rollers at the ends of the frame; A driving motor is arranged in the frame close to the driving roller and is used to drive the driving roller to rotate and in turn drive the belt to rotate. The picking module comprises: An arm column, one end of which is mounted on the self-moving chassis; A picking host arranged on the arm column and capable of reciprocating along the height direction of the arm column and rotating around the arm column; 5. The picking robot according to any of claims 1-4, characterized in that, A multi-joint picking arm arranged on the picking host; A scissors hand arranged at the end of the multi-joint picking arm away from the picking host and used for cutting off fruits and vegetables. The picking host is provided with a detection sensor; and / or, the multi-joint picking arm away from the picking host is provided with a detection sensor. Both sides of the picking host are provided with one multi-joint picking arm, one end of one multi-joint picking arm away from the picking host is connected with the scissors hand, and one end of the other multi-joint picking arm away from the picking host is connected with a transfer crate. The stacking module shell is provided with a handle for manually pushing and pulling the machine on the side away from the first end.

6. The picking robot according to claim 5, characterized in that, The self-moving chassis comprises a chassis body and a plurality of rudder wheels.

7. The picking robot according to claim 5, characterized in that, ​ 8. The picking robot according to claim 1, characterized in that, ​ 9. The picking robot according to any of claims 1-4, characterized in that, ​ The plurality of steering wheel groups are arranged below the chassis body, each of the steering wheel groups comprises a first wheel body and a second wheel body connected with each other and coaxially rotating, the outer diameter of the first wheel body is larger than that of the second wheel body, the first wheel body is used for driving on the road surface, and the second wheel body is used for driving on the track.

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