Rail-mounted intelligent picking system

Abstract

The present invention relates to the field of crop picking technology, and specifically to a rail-mounted intelligent picking system, comprising a picking terminal, a picking robotic arm, a main control screen, a vehicle body, an obstacle avoidance module, a double-track track and a fixed platform. The picking terminal is fixedly connected to the picking robotic arm, the picking robotic arm is fixed to the fixed platform by screws, the fixed platform is fixed to the top surface of the vehicle body by screws, the main control screen is fixed to the side of the vehicle body, the obstacle avoidance module is opened on both sides of the vehicle body, and the double-track track is fixed to the ground. The present invention can improve the picking efficiency of high-value economic crops (such as high-value economic crops, blueberries, mushrooms, etc.), save manpower and realize picking in hilly and low-lying planting environments.

Description

Technical Field

[0001] The present invention relates to the technical field of crop picking, and in particular to a rail-mounted intelligent picking system. Background Art

[0002] With the continuous development of the economy, people's demand for high-value cash crops (such as tea, blueberries, mushrooms, etc.) is increasing. In large-scale agricultural production, the picking and harvesting of high-value cash crops is a huge workload, and in order to ensure the quality of the products, they must be picked at the right time, which is the hardest work in the entire operation. In addition, the quality of picking high-value economic crops will directly affect the subsequent processing of high-value economic crops, and will ultimately have a serious impact on economic benefits. Due to the terrain and geological conditions, high-value economic crop picking equipment mainly includes single-person backpack type and double-person lift type, but it is only suitable for tea gardens with smaller scale and flatter ground. The single-person backpack type is to carry the power on the body, and the power is transmitted by the drive shaft. However, due to factors such as the small machine, small operating width, large vibration, and high labor intensity, the amount of high-value economic crops picked is far less than the demand for high-value economic crops. The double-person lift high-value economic crop picking equipment is relatively complex, consisting of five parts: gasoline engine, air duct, reduction mechanism, and cutter frame. Although the cutting width can meet the operational requirements, in actual operation, two people are required to lift the high-value economic crop picker on each side, and someone is required to hang a leaf collection bag behind the high-value economic crop picker to facilitate the collection of the picked high-value economic crops. The labor cost is too high, so it is not suitable for modern high-value economic crop picking. Summary of the Invention

[0003] The purpose of the present invention is to overcome the defects of the existing technology and propose a rail-type intelligent picking system that can improve the picking efficiency of high-value economic crops, save manpower, and realize the picking of hilly and low-lying tea gardens.

[0004] To achieve the above objectives, the present invention adopts the following specific technical solutions:

[0005] The present invention provides a rail-mounted intelligent picking system, which includes a picking terminal, a picking robotic arm, a main control screen, a vehicle body, an obstacle avoidance module, a double-track track and a fixed platform. The picking terminal is fixedly connected to the picking robotic arm, the picking robotic arm is fixed to the fixed platform by screws, the fixed platform is fixed to the top surface of the vehicle body by screws, the main control screen is fixed to the side of the vehicle body, the obstacle avoidance module is arranged on two sides of the vehicle body, the double-track track is fixed to the ground, and the vehicle body moves along the laying direction of the double-track track.

[0006] Preferably, the driving part of the vehicle body includes a rotating shaft, a driving wheel, a fastening wheel connector, a fastening wheel, a driving motor, a reducer, a transmission shaft and a fixed frame. The driving motor and the reducer are fixed on the fixed frame. The fixed frame is rotatably connected to the bottom of the vehicle body through the rotating shaft. The output shaft of the driving motor is connected to the input end of the reducer. The output end of the reducer is connected to the transmission shaft. The driving wheel is mounted on the transmission shaft. The driving wheel runs on the double-track track. The fastening wheel is fixedly connected to the fixed frame through the fastening wheel connector. The fastening wheel is driven by the fastening wheel connector to contact the bottom of the double-track track.

[0007] Preferably, the outer side of the vehicle body also includes a first heat dissipation vent, a main control screen installation area and an obstacle avoidance module installation area. The main control screen is embedded in the main control screen installation area. The number of obstacle avoidance module installation areas is , which are respectively arranged on the front and rear sides of the vehicle body's movement direction.

[0008] Preferably, the outside of the vehicle body also includes a main power switch, a device charging connector, a power display screen, and an equipment emergency stop button;

[0009] The main power switch is used to control the start or stop of the rail-mounted intelligent picking system;

[0010] The equipment charging connector is used for external charging of the rail-mounted intelligent picking system;

[0011] The power display screen is used to check the remaining power of the rail-mounted intelligent picking system in real time;

[0012] The equipment emergency stop button is used to stop the rail-type intelligent picking system instantly.

[0013] Preferably, the inner side of the vehicle body includes a lithium battery power supply module, a main control computing module, a picking execution terminal module and a motor driver;

[0014] The lithium battery power supply module is used to power the device when no external power source is connected;

[0015] The main control computing module is used to issue commands to control the picking terminal, vehicle body and obstacle avoidance module;

[0016] The picking execution terminal module is used to execute the instructions issued by the main control computing module and control the picking terminal, vehicle body and obstacle avoidance module;

[0017] The motor driver is used to control the drive motor.

[0018] Preferably, the picking execution terminal module includes a left picking execution terminal controller and a right picking execution terminal controller;

[0019] The left-side picking execution terminal controller is used to control the picking terminal and picking robotic arm on the left side of the driving direction;

[0020] The right-side picking execution terminal controller is used to control the picking terminal and picking robotic arm on the right side of the driving direction.

[0021] Preferably, the double-track track consists of a semicircular track, a linear track and a track support frame. The linear tracks and the linear track and the semicircular track are connected by connectors. The track support frame supports the semicircular track and the linear track on the ground.

[0022] Preferably, the picking terminal includes an electric-controlled gripper assembly for picking, an active rod, a driven rod, a loading bowl, a first synchronous belt gear, a second synchronous belt gear, a synchronous belt, a fixing frame mounted on the electric-controlled gripper assembly, a motor mounted on the fixing frame, a camera, and a micro-servo;

[0023] One end of the active rod is fixedly mounted on the output shaft of the motor, and the other end is hinged to the loading bowl. The active rod is used to drive the loading bowl to rotate around the output shaft of the motor.

[0024] The loading bowl is fixedly connected to the second synchronous belt gear near the driven rod end, and is used to receive items picked by the electric-controlled gripper assembly; the initial movement position of the loading bowl is located below the electric-controlled gripper assembly;

[0025] The first synchronous belt gear and the second synchronous belt gear are connected by a synchronous belt;

[0026] The first synchronous belt gear is fixedly installed on the output shaft of the micro servo, and drives the loading bowl to flip through the synchronous belt and the second synchronous belt gear;

[0027] One end of the driven rod is hinged to the end face of the first synchronous belt gear, and the other end is hinged to the end face of the second synchronous belt gear. The driven rod is used to carry the loading bowl without interfering with the flipping of the loading bowl.

[0028] The optical axis of the camera is parallel to the central axis of the electric-controlled gripper assembly; the central axis of the motor's output shaft, the central axis of the first synchronous belt gear, and the central axis of the micro-servo coincide; the force arm when the active rod rotates and the force arm when the driven rod rotates are parallel and perpendicular to the central axis of the motor's output shaft, and the motor is a planetary reduction motor.

[0029] Preferably, a flange for fixedly connecting to an external component is installed on the electric-controlled clamping jaw assembly, and a plastic gasket for flexible picking is provided at the picking end.

[0030] Preferably, the connecting section between the loading bowl and the active rod is a straight rod structure, and the connecting section between the loading bowl and the second synchronous belt gear is also a straight rod structure, and the central axes of the two coincide; the middle section of the loading bowl is a bowl-shaped structure.

[0031] Preferably, the picking terminal includes flexible gripper fingers, a gripper air pipe interface and a connecting frame. The flexible gripper fingers are fixed on the connecting frame and arranged relatively to each other. A gripper air pipe interface is provided at the end of the flexible gripper fingers. The gripper air pipe interface is connected to the air source through an air pipe. The flexible gripper fingers are inflated through the air source to make the flexible gripper fingers bulge and perform the gripping action.

[0032] The present invention can achieve the following technical effects:

[0033] 1. By laying double-track tracks, we can overcome the problem of picking high-value economic crops under complex road conditions.

[0034] 2. The loading bowl added at the picking terminal can store the picked items conveniently and quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of a rail-mounted intelligent picking system provided according to an embodiment of the present invention.

[0036] Figure 2 It is a schematic diagram of the overall structure of the bottom of the vehicle body provided according to an embodiment of the present invention.

[0037] Figure 3 It is a schematic diagram of the local structure of the bottom of the vehicle body provided according to an embodiment of the present invention.

[0038] Figure 4 It is a schematic structural diagram of the interior of a vehicle body provided according to an embodiment of the present invention.

[0039] Figure 5 Schematic diagram of the structure of a double-track track provided according to an embodiment of the present invention.

[0040] Figure 6 It is a structural diagram of a picking terminal provided according to an embodiment of the present invention.

[0041] Figure 7 2 is another structural diagram of a picking terminal provided according to an embodiment of the present invention.

[0042] The accompanying drawings include: picking terminal 1, flange 1-1, electric-controlled gripper assembly 1-2, active rod 1-3, loading bowl 1-4, micro-servo 1-5, first synchronous belt gear 1-6, second fixed frame 1-7, synchronous belt 1-8, second synchronous belt gear 1-9, motor 1-10, driven rod 1-11, depth camera 1-12, flexible gripper finger 1-13, gripper air pipe interface 1-14, connecting frame 1-15, connecting flange 1-16, picking robot arm 2, main control screen 3, vehicle body 4, obstacle avoidance module 5, double-track track 6, semicircular track 6-1, linear track 6-2 , connector 6-3, track support frame 6-4, fixed platform 7, main control screen installation area 8, obstacle avoidance module installation area 9, main power switch 10, equipment charging connector 11, power display screen 12, equipment emergency stop button 13, first heat dissipation outlet 14, rotating shaft 15, driving wheel 16, fastening wheel connector 17, fastening wheel 18, drive motor 19, reducer 20, lithium battery power supply module 21, main control calculation module 22, right picking execution terminal controller 23, motor driver 24, left picking execution terminal controller 25, transmission shaft 26, second heat dissipation outlet 27, first fixed frame 28. DETAILED DESCRIPTION

[0043] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, identical modules are denoted by identical reference numerals. In the case of identical reference numerals, their names and functions are also identical. Therefore, their detailed description will not be repeated.

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0045] Figure 1 The structure of the rail-mounted intelligent picking system provided by an embodiment of the present invention is shown.

[0046] like Figure 1As shown, an embodiment of the present invention provides a rail-type intelligent picking system, including a picking terminal 1, a picking robot arm 2, a main control screen 3, a vehicle body 4, an obstacle avoidance module 5, a double-track track 6 and a fixed platform 7. The picking terminal 1 is fixedly connected to the picking robot arm 2, the picking robot arm 2 is fixed to the fixed platform 7 by screws, and the fixed platform 7 is fixed to the top surface of the vehicle body 4 by screws. The main control screen 3 is fixed to the side of the vehicle body 4, the purpose is to interact between the main control computing module 22 and the user, and the interface also mainly includes "start robot", "stop robot", "start work", "end work" buttons and "robot component status display window", "information display", the main operations and status information of the user and the intelligent high-value economic crop picking equipment are carried out on this screen; the obstacle avoidance module 5 is opened on both sides of the vehicle body 4, and the double-track track 6 is fixed on the ground.

[0047] Figure 2 and Figure 3 The overall structure and local structure of the vehicle body bottom provided by an embodiment of the present invention are shown.

[0048] like Figure 2 and Figure 3 As shown, the bottom of the vehicle body 4 constitutes a driving part, including a rotating shaft 15, a driving wheel 16, a fastening wheel connector 17, a fastening wheel 18, a driving motor 19, a reducer 20, a transmission shaft 26 and a first fixed frame 28. The rotating shaft 15 is connected to the bottom of the vehicle body 4. During the turning process, the rotating shaft 15 rotates, and the upper vehicle body 4 does not need to rotate significantly, thereby reducing the turning radius of the entire vehicle when turning and ensuring the stability of the vehicle body during movement; the first fixed frame 28 is connected to the rotating shaft 15, and the driving motor 19 and the reducer 20 are fixed on the first fixed frame 28. The output of the driving motor 19 The output shaft is connected to the input end of the reducer 20, the output end of the reducer 20 is connected to the transmission shaft 26, the driving wheel 16 is sleeved on the transmission shaft 26, and the driving wheel 16 is driven by the driving motor 19 to move on the double-track track 6; the fastening wheel connector 17 is fixedly connected to the first fixed frame 28, the fastening wheel connector 17 has a linear module, the fastening wheel 18 is connected to the linear module, and is located below the double-track track 6. When the vehicle body 4 needs to brake, the driving motor 19 is controlled to stop working, and at the same time, the linear module is controlled to drive the fastening wheel 18 to move up and contact the bottom of the double-track track 6, eventually stopping the vehicle body 4.

[0049] The outside of the vehicle body 4 includes a first heat dissipation vent 14, a main control screen installation area 8 and an obstacle avoidance module installation area 9. The main control screen 3 is embedded in the main control screen installation area 8. There are two obstacle avoidance module installation areas 9, which are respectively opened on the front and rear sides of the movement direction of the vehicle body 4. The obstacle avoidance module 5 is a depth camera based on the structured light principle, and can also be optionally equipped with a 16-line laser radar; a second heat dissipation vent 27 for dissipating heat inside the vehicle body 4 is opened at the bottom of the vehicle body 4.

[0050] The outside of the vehicle body 4 also includes a main power switch 10 for starting / stopping, a device charging connector 11, a power display screen 12, and a device emergency stop button 13.

[0051] Figure 3 The figure shows the internal structure of the vehicle body provided by the embodiment of the present invention.

[0052] like Figure 3 As shown, the inner side of the vehicle body 4 includes a lithium battery power supply module 21, a main control computing module 22, a picking execution terminal module and a motor driver 24; the lithium battery power supply module 21 is used to supply power when the external power supply is not connected; the main control computing module 22 is used to issue instructions to control the action of the picking terminal 1, the start and stop of the vehicle body 4 and the obstacle recognition of the obstacle avoidance module 5; the picking execution terminal module is used to execute the instructions issued by the main control computing module 22; the picking execution terminal module includes a left picking execution terminal controller 25 and a right picking execution terminal controller 23, and the left picking execution terminal controller 25 is used to control the picking terminal 1 and the picking robot arm 2 on the left side of the driving direction;

[0053] The right-side picking execution terminal controller 23 controls the picking terminal 1 and picking robot 2 on the right side of the vehicle. The main control computing module 22 includes a single-chip microcomputer (MCU) and a navigation unit. The MCU analyzes the trajectory data of the vehicle 4, while the navigation unit tracks the real-time position of the vehicle 4 and transmits it to the MCU. The MCU is preferably an STM32 MCU, and the navigation unit is preferably an RTK570 navigation module.

[0054] The main control calculation module 22 controls the braking of the vehicle body 4, including the following steps:

[0055] Step S1: By analyzing the driving trajectory of the vehicle body 4, the motion trajectory of the vehicle body 4 is added to the STM32 microcontroller by programming using software to achieve braking of the vehicle body 4;

[0056] Step S2: the motor driving device 24 controls the driving motor 19;

[0057] Step S3: The RTK570 navigation module continuously feeds back the real-time position of the vehicle 4 to the STM32 microcontroller;

[0058] In step S4 , the STM32 single chip microcomputer controls the rotation speed of the driving motor 19 and controls whether the fastening wheel 18 contacts the bottom of the double-track track 6 by comparing the distance between the current position and the target position.

[0059] Figure 5 The structure of a double-track track provided by an embodiment of the present invention is shown.

[0060] like Figure 5 As shown, the double-track track 6 consists of a semicircular track 6-1, a linear track 6-2 and a track support frame 6-4. The semicircular track 6-1 is mainly used for ridge-to-ridge replacement by intelligent picking equipment. The linear track 6-2 can be divided into different length specifications according to the real-time terrain. The semicircular track 6-1 and the linear track 6-2, and the linear track 6-2 and the linear track 6-2 are connected by connectors 6-3, which can be freely combined to ensure the coupling between the track and the crops to be harvested. One end of the track support frame 6-4 is fixed to the ground with a long fixing nail, and the other end is fixedly connected to the bottom of the double-track track 6, thereby supporting the double-track track 6 on the ground.

[0061] Figure 6 A structure of a picking terminal provided by an embodiment of the present invention is shown.

[0062] like Figure 6 As shown, the picking terminal 1 provided by the embodiment of the present invention includes: an electric-controlled clamping claw assembly 1-2, an active rod 1-3, a loading bowl 1-4, a micro servo 1-5, a first synchronous belt gear 1-6, a second fixed frame 1-7, a synchronous belt 1-8, a second synchronous belt gear 1-9, a motor 1-10, a driven rod 1-11, and a depth camera 1-12.

[0063] The electric gripper assembly 1-2 is used to pick items. It is made of a flexible material. A flange 1-1 is mounted on the electric gripper assembly 1-2 for secure connection to external components. A plastic gasket is installed at the picking end of the electric gripper assembly 1-2 to facilitate flexible picking. The electric gripper assembly 1-2 can be connected to an external intelligent control component to work together to complete the picking operation.

[0064] The active rod 1-3 is used to drive the loading bowl 1-4 to rotate around the output shaft of the motor 1-10. One end of the active rod 1-3 is fixedly mounted on the output shaft of the motor 1-10, and the other end is hinged to the loading bowl 1-4.

[0065] The loading bowl 1-4 is used to receive items picked by the electric-controlled gripper assembly 1-2. The loading bowl 1-4 is fixedly connected to the second synchronous belt gear 1-9 near the end of the driven rod 1-11. The initial movement position of the loading bowl 1-4 is located below the electric-controlled gripper assembly 1-2, so that the items picked by the electric-controlled gripper assembly 1-2 can be received in time. The middle section of the loading bowl 1-4 is a bowl-shaped structure, which is convenient for storage. The connecting section between the loading bowl 1-4 and the active rod 1-3 is a straight rod structure, and the connecting section between the loading bowl 1-4 and the second synchronous belt gear 1-9 is also a straight rod structure. The central axis of the two coincides, ensuring that the loading bowl 1-4 does not flip over during rotation.

[0066] Micro-servo 1-5 is used to control the tilting of loading bowl 1-4 around the central axis of the linear structure on loading bowl 1-4. Micro-servo 1-5 is mounted on second fixing bracket 1-7. Micro-servo 1-5 can be connected to an external intelligent control component to coordinate with the tilting and dumping of loading bowl 1-4.

[0067] The first synchronous belt gear 1-6 drives the loading bowl 1-4 to turn over through the synchronous belt 1-8 and the second synchronous belt gear 1-9. The first synchronous belt gear 1-6 is fixedly installed on the output shaft of the micro-servo 1-5.

[0068] The second fixing frame 1-7 is used to carry and fix the motor 1-10, the camera 1-12 and the micro-servo 1-5. The second fixing frame 1-7 is installed on the electric-controlled clamping claw assembly 1-2.

[0069] The synchronous belt 1-8 is used to transmit the rotational torque of the first synchronous belt gear 1-6; the synchronous belt 1-8 is installed between the first synchronous belt gear 1-6 and the second synchronous belt gear 1-9.

[0070] The second synchronous belt gear 1-9 is used to drive the loading bowl 1-4 to perform a flipping action. The second synchronous belt gear 1-9 is connected to the first synchronous belt gear 1-6 through the synchronous belt 1-8. The end surface of the second synchronous belt gear 1-9 away from the driven rod 1-11 is fixedly connected to one end of the loading bowl 1-4.

[0071] Motor 1-10 controls the rotation of the loading bowl 1-4 about the central axis of the output shaft of motor 1-10. Motor 1-10 is mounted on the second fixed frame 1-7. Motor 1-10 is a planetary reduction motor. The central axis of the output shaft of motor 1-10 coincides with the central axis of the first synchronous belt gear 1-6 and the central axis of the micro-servo 1-5. Motor 1-10 can be connected to an external intelligent control component and work together with the external intelligent control component, the micro-servo 1-5, and the electronically controlled gripper assembly 1-2 to perform tasks such as picking, storing, and dumping.

[0072] The driven rod 1-11 is used to support the loading bowl 1-4 without interfering with its rotation. One end of the driven rod 1-11 is hinged to the end face of the first synchronous belt gear 1-6, facing away from the micro-servo 1-5. The other end is hinged to the end face of the second synchronous belt gear 1-9, facing away from the loading bowl 1-4. The moment arm of the driven rod 1-11 during rotation is parallel to the moment arm of the active rod 1-3 during rotation, and is perpendicular to the central axis of the output shaft of the motor 1-10.

[0073] The depth camera 1-12 is used to capture images and identify the picked objects in real time. The depth camera 1-12 is mounted on the second fixing frame 1-7. The optical axis of the depth camera 1-12 is parallel to the central axis of the electric-controlled gripper assembly 1-2.

[0074] Figure 7 Another structure of a picking terminal provided by an embodiment of the present invention is shown.

[0075] like Figure 7 As shown, the picking terminal 1 includes a flexible gripper finger 1-13, a gripper air pipe interface 1-14 and a connecting frame 1-15. The flexible gripper finger 1-13 is fixed on the connecting frame 1-15 and arranged relatively. A gripper air pipe interface 1-14 is provided at the end of the flexible gripper finger 1-13. The gripper air pipe interface 1-14 is connected to the air source through an air pipe. The flexible gripper finger 1-13 is inflated through the air source, so that the flexible gripper finger 1-13 is inflated to perform a gripping action.

[0076] The connecting frame 1 - 15 is fixedly connected to the picking mechanical arm 2 through the connecting flange 1 - 16 , thereby achieving a fixed connection between the picking terminal 1 and the picking mechanical arm 2 .

[0077] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0078] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0079] The above specific embodiments of the present invention do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A rail-mounted intelligent picking system, characterized in that: The invention comprises a picking terminal (1), a picking mechanical arm (2), a main control screen (3), a vehicle body (4), an obstacle avoidance module (5), a double-track track (6) and a fixed platform (7), wherein the picking terminal (1) is fixedly connected to the picking mechanical arm (2), the picking mechanical arm (2) is fixed to the fixed platform (7) by screws, the fixed platform (7) is fixed to the top surface of the vehicle body (4) by screws, the main control screen (3) is fixed to the side of the vehicle body (4), the obstacle avoidance module (5) is arranged on two side surfaces of the vehicle body (4), the double-track track (6) is fixed on the ground, and the vehicle body (4) moves along the laying direction of the double-track track (6); the driving part of the vehicle body (4) comprises a rotating shaft (15), a driving wheel (16), a fastening wheel connector (17), a fastening wheel (18), a driving motor (19), a reducer (20), a transmission shaft (26) and a first fixed frame (28), wherein the driving motor (19) and the reducer are connected. (20) is fixed on the first fixed frame (28), the first fixed frame (28) is rotatably connected to the bottom of the vehicle body (4) through the rotating shaft (15), the output shaft of the driving motor (19) is connected to the input end of the reducer (20), the output end of the reducer (20) is connected to the transmission shaft (26), the driving wheel (16) is sleeved on the transmission shaft (26), the driving wheel (16) walks on the double-track track (6), the fastening wheel (18) is fixedly connected to the first fixed frame (28) through the fastening wheel connector (17), the fastening wheel (18) is driven to contact the bottom of the double-track track (6) through the fastening wheel connector (17), the fastening wheel connector (17) has a linear module, the fastening wheel (18) is connected to the linear module, and is located below the double-track track (6); the outer side of the vehicle body (4) includes an equipment emergency stop button (13) for instantaneously stopping the rail-type intelligent picking system; The picking terminal (1) comprises an electric-controlled gripper assembly (1-2) for picking, an active rod (1-3), a driven rod (1-11), a loading bowl (1-4), a first synchronous belt gear (1-6), a second synchronous belt gear (1-9), a synchronous belt (1-8), a second fixing frame (1-7) mounted on the electric-controlled gripper assembly (1-2), a motor (1-10) mounted on the second fixing frame (1-7), a camera, and a micro-servo (1-5); One end of the active rod (1-3) is fixedly mounted on the output shaft of the motor (1-10), and the other end is hingedly connected to the loading bowl (1-4). The active rod (1-3) is used to drive the loading bowl (1-4) to rotate around the output shaft of the motor (1-10); The loading bowl (1-4) is fixedly connected to the second synchronous belt gear (1-9) at an end close to the driven rod (1-11), and the loading bowl (1-4) is used to receive items picked by the electric-controlled clamping claw assembly (1-2); the initial movement position of the loading bowl (1-4) is located below the electric-controlled clamping claw assembly (1-2); The first synchronous belt gear (1-6) and the second synchronous belt gear (1-9) are connected via the synchronous belt (1-8); The first synchronous belt gear (1-6) is fixedly mounted on the output shaft of the micro-servo (1-5), and drives the loading bowl (1-4) to flip via the synchronous belt (1-8) and the second synchronous belt gear (1-9); One end of the driven rod (1-11) is hinged to the end face of the first synchronous belt gear (1-6), and the other end is hinged to the end face of the second synchronous belt gear (1-9). The driven rod (1-11) is used to carry the loading bowl (1-4) without interfering with the flipping of the loading bowl (1-4). The optical axis of the camera is parallel to the central axis of the electric-controlled gripper assembly (1-2); the central axis of the output shaft of the motor (1-10), the central axis of the first synchronous belt gear (1-6) and the central axis of the micro-servo (1-5) coincide with each other; the force arm when the active rod (1-3) rotates and the force arm when the driven rod (1-11) rotates are parallel and perpendicular to the central axis of the output shaft of the motor (1-10), and the motor (1-10) is a planetary reduction motor.

2. The rail-mounted intelligent picking system according to claim 1, characterized in that: The outer side of the vehicle body (4) further includes a first heat dissipation vent (14), a main control screen installation area (8), and an obstacle avoidance module installation area (9). The main control screen (3) is embedded in the main control screen installation area (8). The obstacle avoidance module installation areas (9) are two in number and are respectively arranged on the front and rear sides of the vehicle body (4) in the direction of movement.

3. The rail-mounted intelligent picking system according to claim 1, characterized in that: The outer side of the vehicle body (4) further includes a main power switch (10), a device charging connector (11), and a power display screen (12); The main power switch (10) is used to control the start or stop of the rail-mounted intelligent picking system; The device charging connector (11) is used for external charging of the rail-mounted intelligent picking system; The power display screen (12) is used to view the remaining power of the rail-mounted intelligent picking system in real time.

4. The rail-mounted intelligent picking system according to claim 1, characterized in that: The inner side of the vehicle body (4) includes a lithium battery power supply module (21), a main control calculation module (22), a picking execution terminal module and a motor driver (24); The lithium battery power supply module (21) is used to power the rail-mounted intelligent picking system when no external power source is connected; The main control computing module (22) is used to issue instructions; The picking execution terminal module is used to execute the instructions issued by the main control calculation module (22), and control the action of the picking terminal (1), the movement of the vehicle body (4), and the obstacle recognition of the obstacle avoidance module (5); The motor driver (24) is used to control the drive motor (19).

5. The rail-mounted intelligent picking system according to claim 4, characterized in that: The picking execution terminal module includes a left picking execution terminal controller (25) and a right picking execution terminal controller (23); The left-side picking execution terminal controller (25) is used to control the picking terminal (1) and the picking mechanical arm (2) on the left side of the driving direction; The right-side picking execution terminal controller (23) is used to control the picking terminal (1) and the picking mechanical arm (2) on the right side of the driving direction.

6. The rail-mounted intelligent picking system according to claim 1, characterized in that: The double-track track (6) consists of a semicircular track (6-1), a linear track (6-2) and a track support frame (6-4); the linear tracks (6-2) and the linear track (6-2) and the semicircular track (6-1) are connected via connectors (6-3); the track support frame (6-4) supports the semicircular track (6-1) and the linear track (6-2) on the ground.

7. The rail-mounted intelligent picking system according to claim 1, characterized in that: The electrically controlled clamping claw assembly (1-2) is provided with a flange (1-1) for fixed connection to an external assembly, and a plastic gasket for flexible picking is provided at the picking end.

8. The rail-mounted intelligent picking system according to claim 1, characterized in that: The connecting section between the loading bowl (1-4) and the active rod (1-3) is a straight rod structure, and the connecting section between the loading bowl (1-4) and the second synchronous belt gear (1-9) is also a straight rod structure, and the central axes of the two coincide; the middle section of the loading bowl (1-4) is a bowl-shaped structure.

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