Picking robot

Abstract

The invention provides a picking robot. The picking robot comprises a control device, a moving device, a visual device, a picking execution device and a storage device. The storage device comprises a flowing material frame located below the picking execution device and a material frame storage box located on one side of the picking execution device, and the material frame storage box comprises an empty material frame stack and a full material frame stack. By means of the picking robot, the full flowing material frames can be temporarily stored in the material frame storage box and replaced with new flowing empty material frames to continue to execute picking operation till all the empty material frames in the material frame storage box are replaced with the full material frames, the picking operation time of the picking robot can be greatly shortened, manual intervention in the picking operation process is reduced, and the picking efficiency is improved. And the picking efficiency and practicability of the picking robot are improved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural intelligent technology equipment, and in particular to a harvesting robot. Background Art

[0002] With the rapid development of new agricultural production models and automated control technologies, the output of fruits and vegetables has increased significantly year by year. Intelligent agricultural picking robot technology can autonomously perform picking operations in orchards by installing robotic arms and terminal picking actuators.

[0003] Existing picking robots have a small load capacity and are unable to collect all the fruits during the picking process between rows. The need to frequently replace the collection frames during the picking process makes the picking robots still highly dependent on manual labor, which limits the degree of automation of the picking robots and makes it difficult to meet high-efficiency picking operations. Summary of the invention

[0004] The present invention is proposed in view of the above technical problems, and provides a picking robot that can continuously perform picking operations during the picking process, store the picked fruits in individual material frames and realize batch storage of material frames without human intervention, thereby achieving high automation of the picking robot and improving the overall efficiency of the picking robot.

[0005] According to a first aspect of an embodiment of the present invention, there is provided a picking robot, which includes a control device, a moving device, a visual device, a picking execution device and a storage device;

[0006] The storage device includes a flow material frame located below the picking execution device and a material frame storage box located on one side of the picking execution device, wherein a first lifting mechanism is provided below the flow material frame, the material frame storage box includes an empty material frame stack and a full material frame stack, a second lifting mechanism is provided below the empty material frame stack, and a third lifting mechanism is provided below the full material frame stack;

[0007] A first transfer track is provided at the bottom of the material frame storage box, a mobile pallet is provided above the first transfer track, and one end of the first transfer track extends to below the mobile material frame so as to utilize the mobile pallet to transport the full material frame below the picking execution device to below the full material frame stacking and to transport the empty material frame below the empty material frame stacking to below the picking execution device;

[0008] A second transfer track is arranged on the top of the material frame storage box, and a mobile clamp is arranged below the second transfer track. The mobile clamp clamps the material frame located at the top layer of the full material frame stack and transports it to the top layer of the empty material frame stack.

[0009] According to a second aspect of an embodiment of the present invention, there is provided a picking robot as in the first aspect, wherein a picking execution device comprises a six-axis robot arm and a picking execution mechanism, wherein the picking execution mechanism is connected to the six-axis robot arm through a quick-change mounting plate; the picking execution mechanism comprises an angle adjustment base, wherein one side of the angle adjustment base is connected to the quick-change mounting plate, and the other side of the angle adjustment base is provided with a first connecting plate and a second connecting plate, and the other end of the first connecting plate and the second connecting plate connected to the angle adjustment base is provided with a base, wherein the base has a first card slot, a second card slot and a center hole located between the first card slot and the second card slot, wherein the first card slot is slidably connected to a first clamping jaw, and the second card slot is slidably connected to a second clamping jaw, and the end surfaces of the first slider of the first clamping jaw and the second slider of the second clamping jaw close to the center hole are both configured as rack shapes; a reduction motor is provided between the first connecting plate and the second connecting plate, and the output shaft of the reduction motor passes through the center hole and is fixedly connected to a first gear, and the first gear is respectively meshed with the rack-shaped end surfaces of the first slider and the second slider.

[0010] With this structure, the gear is driven to rotate by the forward and reverse rotation of the output shaft of the reduction motor to control the opening and closing of the first clamp and the second clamp, so that the structural compactness of the entire picking actuator is improved to achieve flexible picking actions. It can also shear and clamp the picking objects to increase the one-time picking success rate, improve the reliability of the picking action, and avoid damage to the picking objects and fruit trees, vines, etc.

[0011] According to a third aspect of an embodiment of the present invention, there is provided a picking robot as in the second aspect, wherein a first clamping jaw comprises a first slider, a first clamping portion and a first shearing guide, the first clamping portion having an uneven first clamping surface; and the second clamping jaw comprises a second slider, a second clamping portion and a second shearing blade, the second clamping portion having an uneven second clamping surface.

[0012] According to a fourth aspect of an embodiment of the present invention, a picking robot as in the third aspect is provided, wherein a first proximity sensor is provided on a side of a base where a first card slot is provided, and a first trigger member is provided on the first clamping portion; a second proximity sensor is provided on a side of a base where a second card slot is provided, and a second trigger member is provided on the second clamping portion.

[0013] According to a fifth aspect of an embodiment of the present invention, there is provided a picking robot as in the fourth aspect, wherein the other end of the six-axis robotic arm connected to the picking actuator is arranged on a transverse movement mechanism, the transverse movement mechanism comprises a first motor, a screw assembly and a guide rail, and the six-axis robotic arm is respectively connected to the screw assembly and the slider on the guide rail through a mounting plate.

[0014] According to the sixth aspect of an embodiment of the present invention, there is provided a picking robot as in the first aspect, wherein a moving device is provided with four rollers, each roller is rotationally connected to the base plate of the moving device via a second gear, the second gear meshes with a third gear, and the third gear is fixedly connected to the output shaft of the second motor; each roller is coaxially connected to the third motor.

[0015] According to the seventh aspect of the embodiments of the present invention, there is provided a picking robot as in the first aspect, wherein the material frame storage box is further provided with a material frame stopping mechanism, the material frame stopping mechanism comprising a fourth motor, a first baffle and a second baffle, a first convex edge being provided in the middle of the first baffle, and a second convex edge being provided in the middle of the second baffle.

[0016] According to an eighth aspect of an embodiment of the present invention, there is provided a picking robot as in the first aspect, wherein a lifting mechanism thereof comprises a lifting platform, a base and an electric cylinder, wherein a first connecting rod, a second connecting rod and a third connecting rod and a fourth connecting rod are cross-arranged between the two sides of the lifting platform and the base, respectively, and the two ends of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are respectively slidably connected to the lifting platform and the base, the electric cylinder is fixed on the base, and the end of the screw rod of the electric cylinder is fixedly connected to the cross bar between the second connecting rod and the fourth connecting rod.

[0017] According to the ninth aspect of an embodiment of the present invention, there is provided a picking robot as in the first aspect, wherein a mobile clamp comprises a fifth motor, a first clamp and a second clamp, the output shaft of the fifth motor is connected to a fourth gear, the fourth gear is respectively meshed with a first rack and a second rack, the first rack is connected to a first slider, the first slider is connected to the first clamp, the second rack is connected to a second slider, and the second slider is connected to the second clamp.

[0018] According to the tenth aspect of an embodiment of the present invention, there is provided a picking robot as in the first aspect, which is also provided with a control panel, a front light source and an ambient light source, the control panel is provided with a touch screen display and an emergency stop button; the visual device includes a front camera, a side camera and a picking actuator end camera.

[0019] The beneficial effects of the present invention are as follows: the picking robot moves to the picking positions between rows according to the image information obtained by the visual device through the control device to perform specific picking operations, stores the picked fruits in the mobile empty material frames, and transports them to the storage device for stacking after the material frames are full. At the same time, new mobile empty material frames are replaced to continue the picking operations, thereby improving the carrying capacity of the picking robot to increase the continuous operation time, reducing the dependence on manual labor, and improving the operation efficiency and practicality of the picking robot.

[0020] With reference to the following description and the accompanying drawings, specific embodiments of the invention are disclosed in detail, indicating the manner in which the principles of the invention may be employed.

[0021] It should be understood that the embodiments of the present invention are not limited thereby. Features described and / or shown for one embodiment may be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are included to provide a further understanding of the present invention, and constitute a part of the specification, illustrate preferred embodiments of the present invention, and together with the description are used to explain the principle of the present invention, wherein the same elements are represented by the same reference numerals throughout.

[0023] In the attached picture:

[0024] Figure 1 is a schematic diagram of a preferred embodiment of the harvesting robot of the present invention;

[0025] Figure 2 yes Figure 1 A schematic diagram of the structure in which part of the shell is hidden;

[0026] Figure 3 yes Figure 1 A schematic diagram of only the storage device portion is included;

[0027] Figure 4 It is a schematic diagram of the bottom transmission mechanism of the material frame storage box of the picking robot of the present invention;

[0028] Figure 5 It is a schematic diagram of the top transmission mechanism of the material frame storage box of the picking robot of the present invention;

[0029] Figure 6 yes Figure 5 A partial enlarged upward view of the movable fixture;

[0030] Figure 7 is a schematic diagram of the lifting mechanism of the picking robot of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the picking actuator of the picking robot of the present invention;

[0032] Fig. 9 It is a partial enlarged view of the picking actuator of the picking robot of the present invention;

[0033] Fig.10 It is a schematic diagram of the structure of the picking robot gripper (without blade) of the present invention;

[0034] Fig.11It is a schematic diagram of the internal structure of the six-axis robot arm connected to the lateral movement mechanism of the present invention;

[0035] Fig.12 It is a partial schematic diagram of the roller connection part of the mobile device of the present invention;

[0036] Fig.13 It is a structural schematic diagram of the material frame stopping mechanism of the present invention;

[0037] Fig.14 It is a partially enlarged schematic diagram of the material frame stopping mechanism of the present invention. DETAILED DESCRIPTION

[0038] With reference to the accompanying drawings, the above and other features of the present invention will become apparent through the following description. In the specification and the accompanying drawings, specific embodiments of the present invention are specifically disclosed, which show some embodiments in which the principles of the present invention can be adopted, and it should be understood that the present invention is not limited to the described embodiments.

[0039] The present invention provides a picking robot. Figure 1 is a schematic diagram of a preferred embodiment of the picking robot of the present invention, Figure 2 yes Figure 1 The schematic diagram of the structure of the shell is partially hidden. Figure 3 yes Figure 1 The schematic diagram only includes the storage device part. As shown in the figure, the picking robot includes a control device 1, a moving device 2, a visual device 3, a picking execution device 4 and a storage device; wherein the storage device includes a flow material frame 01 placed below the picking execution device 4 and a material frame storage box 5 located on one side of the picking execution device 4. When the picking execution device 4 performs the picking operation, the picked fruits are first placed in the flow material frame 01 below the picking execution device 4. After the flow material frame is full, the full material frame is then sent to the material frame storage box 5 located on one side of the picking execution device 4 for stacking and storage, and a new flow material frame is transported from the material frame storage box 5 to the bottom of the picking execution device 4 to receive the new picked fruits. And so on, until the material frames in the material frame storage box 5 are all full frames filled with fruits, and then the picking robot returns to the preset address for unloading.

[0040] See also Figure 3 A lifting mechanism 001 is arranged below the flow material frame 01, the material frame storage box 5 includes an empty material frame stacking 51 and a full material frame stacking 52, a lifting mechanism 002 is arranged below the empty material frame stacking 51, and a lifting mechanism 003 is arranged below the full material frame stacking 52.

[0041] The bottom of the material frame storage box 5 is provided with a material frame transmission mechanism. Figure 4 is a schematic diagram of the bottom transmission mechanism of the material frame storage box of the picking robot of the present invention, see Figure 4A mobile tray 61 is arranged above the transmission track 6 of the bottom transmission mechanism, and a motor 62 is connected to a synchronous belt pulley reduction kit 63 to drive the double-track synchronous belt module of the transmission track 6 to move back and forth. The mobile tray 61 is installed on the slider of the double-track synchronous belt module and moves back and forth. The mobile tray 61 is used to receive and position each material frame for back and forth transportation. One end of the transmission track 6 extends to the bottom of the flow material frame 01 so that the full material frame located below the picking execution device 4 can be transported to the bottom of the full material frame stacking 52 by the mobile tray 61, and the empty material frame located below the empty material frame stacking 51 can be transported to the bottom of the picking execution device 4. The bottom transmission mechanism can realize the transportation of the material frame at the bottom. The mobile tray 61 transports the full material frame to the bottom of the full material frame stacking 52, and the lifting mechanism 003 arranged below the full material frame stacking 52 lifts and takes away the material frame, and then moves to the bottom of the empty material frame stacking 51 to receive another empty material frame and move to the position of the empty material frame below the picking execution device 4.

[0042] Correspondingly, another material frame transmission mechanism is provided on the top of the material frame storage box 5. Figure 5 Schematic diagram of the top transmission mechanism of the material frame storage box of the picking robot of the present invention. Figure 6 yes Figure 5 A partial enlarged view of the movable fixture from above. Figure 5 , Figure 6 A mobile fixture 71 is provided below the transmission track 7 of the top transmission mechanism. A motor 72 is connected to a synchronous belt pulley reduction kit 73 to drive the double-track synchronous belt module of the transmission track 7 to reciprocate. The mobile fixture 71 is installed on a slider below the double-track synchronous belt module. As the mobile fixture 71 reciprocates, the mobile fixture 71 clamps the material frame at the top layer of the full material frame stacking 52 and moves it to the top layer of the empty material frame stacking 51. The mobile fixture 71 includes a DC worm motor 711, a clamping jaw 712 and a clamping jaw 713. The output shaft of the DC worm motor 711 is connected to a spur gear 714. The gear 714 is respectively meshed with a rack 715 and a rack 716. The rack 715 is connected to the clamping jaw 712 through a connecting plate, and the rack 716 is connected to the clamping jaw 713 through a connecting plate. When the DC worm motor 711 drives the spur gear 714 to rotate, the two racks are driven to move, thereby realizing the clamping or opening of the clamping jaw 712 and the clamping jaw 713 to clamp or place the material frame.

[0043] According to a preferred embodiment of the present invention, the structures of lifting mechanism 001, lifting mechanism 002 and lifting mechanism 003 are the same. Figure 7It is a schematic diagram of the lifting mechanism of the harvesting robot of the present invention. As shown in the figure, each lifting mechanism includes a lifting platform 101, a base 102 and a DC servo electric cylinder 103. There are cross-arranged connecting rods 104, 105 and cross-arranged connecting rods 106 and 107 between the two sides of the lifting platform 101 and the base 102; preferably, a cross bar 108 is arranged between the connecting rods 105 and 107 on the side close to the lifting platform 101. Among them, both sides of the lifting platform 101 and the base 102 are provided with sliding grooves, and the two ends of the connecting rods 104 and 105 are respectively slidably connected to the lifting platform 101 and the base 102 through bearings, and the two ends of the connecting rods 106 and 107 are respectively slidably connected to the lifting platform 101 and the base 102 through bearings; the DC servo electric cylinder 103 is fixed on a frame of the base 102, and the end of the screw rod of the DC servo electric cylinder 103 is fixedly connected to the cross bar 108 between the connecting rods 105 and 107. Therefore, when the lead screw of the DC servo electric cylinder 103 extends or retracts, the lifting platform 101 rises or falls accordingly.

[0044] According to a preferred embodiment of the present invention, the picking execution device 4 includes a six-axis robot arm 41 and a picking execution mechanism 42, and the picking execution mechanism 42 is connected to the six-axis robot arm 41 through a quick-change mounting plate. Figure 8 is a structural schematic diagram of the picking actuator of the picking robot of the present invention, Fig. 9 This is a partial enlarged view of the picking actuator of the picking robot of the present invention. Fig.10 This is a schematic diagram of the structure of the picking robot gripper (without blades) of the present invention. Figure 8-10The picking actuator 42 includes an angle adjustment base 420, one side of the angle adjustment base 420 is connected to the quick-change mounting plate, and the connecting surfaces of the angle adjustment base 420 and the quick-change mounting plate are both provided with positioning features. When the terminal picking actuator is replaced, there is no need to reposition it, and the terminal picking actuator can be quickly replaced by matching the corresponding positioning features. A connecting plate 421 and a connecting plate 422 are provided on the other side of the angle adjustment base 420. The connecting plate 421 and the connecting plate 422 are connected to the other end of the angle adjustment base 420. A base 423 is provided. The base 423 has a slot 4231, a slot 4232 and a center hole 4233 located between the slot 4231 and the slot 4232. The slot 4231 is slidably connected to the clamping jaw 424, and the slot 4232 is slidably connected to the clamping jaw 425. The end surfaces of the slider 4241 of the clamping jaw 424 and the slider 4251 of the clamping jaw 425 close to the center hole 4233 are both configured as rack shapes; a reduction motor 426 is provided between the connecting plate 421 and the connecting plate 422, and the output shaft of the reduction motor 426 passes through the center hole 4233 and is fixedly connected to a gear 427, and the gear 427 is respectively meshed with the rack-shaped end surfaces of the slider 4241 and the slider 4251. When the output shaft of the reduction motor 426 rotates, the gear 427 fixedly connected to the output shaft rotates, and the clamping jaw 424 meshing with the gear 427 moves along the slot 4231, and at the same time, the clamping jaw 425 meshing with the gear 427 moves along the slot 4232 away from the clamping jaw 424; similarly, when the output shaft of the reduction motor 426 rotates in the opposite direction, the clamping jaw 424 and the clamping jaw 425 move toward each other at the same time. Thus, the opening and closing actions of the clamping jaw 424 and the clamping jaw 425 are controlled by the forward and reverse actions of the reduction motor 426 to perform the actions of shearing and clamping and placing.

[0045] Furthermore, the structures of the clamping jaws 424 and 425 are similar, and they are symmetrically slidably connected in the clamping slots 4231 and 4232 of the base 423. Figure 8 , 10 The clamping jaw 424 includes a slider 4241, a clamping portion 4242 and a shearing guide 4243, and the clamping portion 4242 has an uneven clamping surface 42421; similarly, the clamping jaw 425 includes a slider, a clamping portion and a shearing blade 4251, and its clamping portion has an uneven clamping surface. Therefore, when the clamping jaw 424 and the clamping jaw 425 move toward each other and close, the cooperation of the shearing blade 4243 and the shearing blade 4251 can effectively cut off the fruit stem of the picking object, avoiding the pulling-type picking action from causing damage to the picking object or fruit trees, vines, etc.; while cutting off the fruit stem, the uneven clamping surfaces of the clamping portions of the two clamping jaws cooperate with each other to firmly clamp the picking object, so as to perform the next step of releasing the object and avoid the picking object from falling. Figure 8 As shown, the harvested object after the fruit stem is cut off is firmly clamped so as to wait for being placed in a designated position.

[0046] Preferably, the base 423 is provided with a proximity sensor 428 on one side of the card slot 4231, and correspondingly, the clamping jaw 424 is provided with a trigger 429; similarly, the base 423 is provided with a proximity sensor on the side where the card slot 4232 is provided, and correspondingly, the clamping jaw 425 is provided with a trigger. Each proximity sensor is triggered by a trigger member correspondingly provided on the clamping jaw 424 and the clamping jaw 425, respectively. When the proximity sensor is triggered, the control device 1 receives a signal in place to control the action of each clamping jaw. Furthermore, the base 423 is provided with baffles at both ends of the card slot 4231 and the card slot 4232, respectively. By providing the baffles at both ends, the clamping jaw 424 and the clamping jaw 425 are limited to the extreme position of movement in each card slot to prevent them from slipping out of the card slot and falling.

[0047] According to a preferred embodiment of the present invention, the other end of the six-axis robot arm 41 connected to the picking actuator 42 is arranged on the transverse movement mechanism. Fig.11 It is a schematic diagram of the internal structure of the six-axis robot arm connected to the transverse movement mechanism of the present invention. As shown in the figure, the transverse movement mechanism includes a servo motor 81, a screw assembly 82 and a guide rail 83. The six-axis robot arm 41 is connected to the slider on the screw assembly 82 and the guide rail 83 through a mounting plate. The servo motor 81 and the screw are connected through a coupling 84 to achieve transmission. The servo motor 81 drives the six-axis robot arm 41 connected to the screw assembly 82 to slide back and forth on the guide rail 83. Through the position movement of the six-axis robot arm 41, the six-axis robot arm 41 has enough moving space during the picking operation to avoid collision or entanglement with the tomato vine; at the same time, the six-axis robot arm 41 can move in a large range, ensuring that the picking robot can continuously pick tomatoes in a large range when the mobile device is stationary, thereby improving the picking efficiency.

[0048] According to a preferred embodiment of the present invention, the mobile device 2 is provided with four rollers. Fig.12 is a partial schematic diagram of the roller connection portion of the mobile device of the present invention, see Fig.12 , each roller is equipped with two driving servo motors and an encoder, wherein the roller 21 is rotationally connected to the bottom plate of the mobile device 2 through a large gear 22, the large gear 22 meshes with a small gear 23, and the small gear 23 is fixedly connected to the output shaft of the motor 24; in addition, one side of the roller 2 is coaxially connected to the motor 25, and an encoder 26 is coaxially installed on the other side of the roller 2. The action of the motor 24 drives the roller 21 to change direction in order to adjust the moving direction of the picking robot, and the action of the motor 25 drives the roller 21 to rotate in order to realize the movement of the picking robot, and the encoder 26 can feedback the current moving position in real time. Therefore, during the picking operation of the picking robot, when a row of picking operations in the orchard needs to be changed, the picking robot can realize autonomous reversal and move to the next row to continue the picking operation through the coordinated cooperation of the motor 24 and the motor 25.

[0049] According to a preferred embodiment of the present invention, a material frame stopping mechanism 9 is provided on both the empty material frame stack 51 and the full material frame stack 52 of the material frame storage box 5 . Fig.13 It is a structural schematic diagram of the material frame stopping mechanism of the present invention. Fig.14 This is a partial enlarged schematic diagram of the material frame stop mechanism of the present invention, see Figure 13-14 The material frame stopping mechanism 9 includes a DC worm gear reduction motor 91, a baffle 92 and a baffle 93. A convex edge is provided in the middle of the baffle 92, and another convex edge is provided in the middle of the baffle 93. The two ends of the baffle 92 and the baffle 93 are respectively connected to the guide rails 94 and 95 through sliders. The DC worm gear reduction motor 91 is provided on one of the guide rails. The output shaft of the DC worm gear reduction motor 91 is connected to the gear 96. The gear 96 is respectively engaged with two racks, one of which is connected to one end of the baffle 92 through a connecting plate, and the other is connected to one end of the baffle 93 through a connecting plate. Therefore, through the forward and reverse rotation of the DC worm gear reduction motor 91, the baffle 92 and the baffle 93 will move toward or relative to each other on the double guide rails, and the spacing between the two baffles is controlled to block the material frames on each stack.

[0050] According to a preferred embodiment of the present invention, see Figure 1 , 2 The picking robot is also provided with a control panel 10, a front light source 11 and an ambient light source 12. The control panel 10 is provided with a touch screen display 13, an emergency stop button 14 and other control buttons; the visual device 3 includes a front camera, a side camera and a camera 31 at the end of the picking actuator, wherein the side camera includes a left side camera and a right side camera. The ambient light source 12 is in a constant on state, so that the picking area is in a bright state. When the picking robot works at night, the front light source 11 is turned on for fill light; the side camera is used to identify tomatoes that can be picked, and the front camera can identify the full material situation of the flow material frame under the actuator 4. The picking robot is turned on or off by the device control button on the control panel 10. The manual and automatic operation modes of the picking robot can be switched on the touch screen display 13, and photos can be taken for backup and storage, as well as the daily internal log can be checked. The emergency stop button 14 can stop the operation of the picking robot in time in the event of abnormal special circumstances.

[0051] When the picking robot of the present invention performs a picking operation, for example, when performing a tomato picking operation, the picking robot is started, a picking task is selected on the screen of the control panel 10, and a picking area is designated. The picking robot automatically drives to a corresponding track in the picking area, and tomato fruits to be picked are distributed on both sides of the track. The picking robot picks the tomato fruits on one side in the forward direction.

[0052] The cameras configured on both sides of the front end of the picking robot respectively take real-time photos and scan the front view, the control device 1 determines the target position that can be picked, and controls the six-axis mechanical arm 41 of the picking execution device 4 to drive the picking execution mechanism 42 to perform the picking operation. The terminal camera 31 on the picking execution mechanism 42 is responsible for obtaining the posture of a single picking object tomato, and the control device 1 calculates and determines the posture and root position of the tomato. The six-axis mechanical arm 41 adjusts the picking position and posture as needed according to the judgment data returned by the control device. The picking execution mechanism 42 completes the shearing and clamping action, and the six-axis mechanical arm 41 drives the picking execution mechanism 42 to clamp the picked tomatoes and place them in the flow material frame 01 below the picking execution device 4; this cycle continues until the flow material frame 01 is full of tomatoes. A loading status determination camera is set on the rear side of the six-axis mechanical arm 41. After each tomato is grabbed to the material frame, the camera will take a photo of the material frame to determine whether the tomato grabbed this time is successfully grabbed and placed in place. After the control device 1 recognizes that the flow material frame is full according to the camera, it starts to control the transfer and storage of the first full material frame.

[0053] The lifting mechanism 001 below the flowing material frame 01 begins to descend. At this time, the mobile tray 61 above the first transfer track 6 is located on both sides of the first full material frame on the lifting mechanism 001. As the lifting mechanism 001 descends, the first full material frame will first contact and fall into the mobile tray 61. The lifting mechanism 001 continues to descend to the lowest position. At this time, the lifting platform of the lifting mechanism 001 is detached from the bottom surface of the first full material frame.

[0054] The mobile pallet 61 carries the first full material frame and moves on the transmission track 6 to the bottom of the full material frame stack 52 of the material frame storage box 5, and the lifting mechanism 003 performs a lifting action to lift the first full material frame of the mobile pallet 61 to contact with another material frame at the bottom of the material frame column of the full material frame stack 52, and the bottom of the material frame and the upper part of the material frame between the two material frames can cooperate and clamp each other. At this time, the lifting mechanism 003 continues to lift one position until the two side handle parts of the material frame at the bottom of the material frame column are separated from the two side baffles of the stopping mechanism 9 of the full material frame stack 52, and then the baffles 92 and 93 open to both sides. At this time, the lifting mechanism 003 continues to lift a height so that the material frame at the top of the material frame column enters the grabbing height of the mobile clamp 71 of the top transmission mechanism, and the clamping claws of the mobile clamp 71 act to grab the material frame at the top of the full material frame stack 52. Subsequently, the lifting mechanism 003 descends to the position where the baffle of the stopping mechanism 9 can stop the bottom material frame handle in the material frame column, and the lifting mechanism 003 continues to descend to the lowest position, thus completing the storage of the first full material frame and entering the material frame column of the full material frame stacking 52.

[0055] Subsequently, the top moving fixture 71 carries the grabbed material frame and moves to the top of the material frame column of another column of empty material frame stacking 51, and at the same time, the bottom moving tray 61 moves to the bottom of the material frame column of the empty material frame stacking 51. The lifting mechanism 002 lifts to a certain height, so that the bottom material frame of the material frame column of the empty material frame stacking 51 is separated from the baffle of the stop mechanism of the empty material frame stacking 51, and then the baffles on both sides of the stop mechanism of the empty material frame stacking 51 are opened, and the lifting mechanism 002 continues to rise until the top material frame of the material frame column of the empty material frame stacking 51 contacts the material frame gripped by the moving fixture 71, and then continues to lift to a certain height after contact so that the material frame gripped by the moving fixture 71 is separated from the surface of its clamping claws. Then the clamping claw of the mobile clamp 71 opens, and the lifting mechanism 002 begins to descend. When it descends to the second-to-last material frame at the bottom of the empty material frame stacking 51, it is just at the stop height of the baffle of its material frame stop mechanism, and the baffle of the stop mechanism clamps to stop the empty material frame at this position. Then, the lifting mechanism 002 continues to descend, and the bottom empty material frame follows the lifting mechanism 002 and continues to descend to the bottom. At this time, another empty material frame falls on the mobile pallet 61 and is locked and positioned. Finally, the mobile pallet 61 carries the second empty material frame to the mobile material frame station below the picking execution device 4 to become the mobile material frame 02 so that the picking robot can continue to perform the picking operation. And so on, until the two columns of the empty material frame stacking 51 and the full material frame stacking 52 of the material frame storage box 5 are stored as full material frame states, and then the picking robot returns to the unloading area, opens the doors on both sides, and the forklift directly forks out the whole stack of material frames and forks in the empty material frame. According to a preferred embodiment of the present invention, the empty material frame stacking 51 and the full material frame stacking 52 of the material frame storage box 5 are respectively configured with 10 material frames, totaling 20 material frames. As a result, the picking robot can greatly expand its carrying capacity, avoid the problem of frequent unloading during the picking operation, reduce manual intervention in the picking operation, and improve picking efficiency and practicality.

[0056] According to a preferred embodiment of the present invention, when the picking robot moves to the end of the track, according to the needs of the picking environment, the six-axis robotic arm 41 moves a certain distance through the lateral movement mechanism, so that the six-axis robotic arm 41 can pick tomatoes on the other side in a more comfortable posture.

[0057] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments are clear from this detailed description. In addition, since those skilled in the art will readily appreciate many modifications and changes, it is not intended that the embodiments of the present invention be limited to the precise structures and operations illustrated and described.

Claims

1. A picking robot, characterized in that: The picking robot includes a control device, a moving device, a visual device, a picking execution device and a storage device; The storage device includes a flow material frame located below the picking execution device and a material frame storage box located on one side of the picking execution device, wherein a first lifting mechanism is provided below the flow material frame, the material frame storage box includes an empty material frame stack and a full material frame stack, a second lifting mechanism is provided below the empty material frame stack, and a third lifting mechanism is provided below the full material frame stack; A first transfer track is provided at the bottom of the material frame storage box, a mobile pallet is provided above the first transfer track, and one end of the first transfer track extends to below the mobile material frame so as to utilize the mobile pallet to transport the full material frame below the picking execution device to below the full material frame stacking and to transport the empty material frame below the empty material frame stacking to below the picking execution device; A second transfer track is arranged on the top of the material frame storage box, and a mobile clamp is arranged below the second transfer track. The mobile clamp clamps the material frame located at the top layer of the full material frame stack and transports it to the top layer of the empty material frame stack.

2. The harvesting robot according to claim 1, characterized in that: The picking execution device includes a six-axis mechanical arm and a picking execution mechanism, and the picking execution mechanism is connected to the six-axis mechanical arm through a quick-change mounting plate; the picking execution mechanism includes an angle adjustment base, one side of the angle adjustment base is connected to the quick-change mounting plate, and the other side of the angle adjustment base is provided with a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are connected to the other end of the angle adjustment base. The base has a first card slot, a second card slot and a center hole located between the first card slot and the second card slot, the first card slot is slidably connected to the first clamping jaw, the second card slot is slidably connected to the second clamping jaw, and the end surfaces of the first slider of the first clamping jaw and the second slider of the second clamping jaw close to the center hole are both set to rack shape; a reduction motor is arranged between the first connecting plate and the second connecting plate, the output shaft of the reduction motor passes through the center hole and is fixedly connected to the first gear, and the first gear is respectively meshed with the rack-shaped end surfaces of the first slider and the second slider.

3. The harvesting robot according to claim 2, characterized in that: The first clamping jaw includes a first slider, a first clamping portion and a first shearing guide, wherein the first clamping portion has an uneven first clamping surface; the second clamping jaw includes a second slider, a second clamping portion and a second shearing blade, wherein the second clamping portion has an uneven second clamping surface.

4. The harvesting robot according to claim 3, characterized in that: The base is provided with a first proximity sensor on one side where the first slot is provided, and a first trigger is provided on the first clamping portion; the base is provided with a second proximity sensor on one side where the second slot is provided, and a second trigger is provided on the second clamping portion.

5. The harvesting robot according to claim 4, characterized in that: The other end of the six-axis robot arm connected to the picking actuator is arranged on the transverse movement mechanism, and the transverse movement mechanism includes a first motor, a screw rod assembly and a guide rail. The six-axis robot arm is respectively connected to the screw rod assembly and the slider on the guide rail through a mounting plate.

6. The harvesting robot according to claim 1, characterized in that: The mobile device is provided with four rollers, each of which is rotationally connected to the bottom plate of the mobile device via a second gear, the second gear meshes with a third gear, and the third gear is fixedly connected to the output shaft of the second motor; each roller is coaxially connected to the third motor.

7. The harvesting robot according to claim 1, characterized in that: The material frame storage box is also provided with a material frame stopping mechanism, which includes a fourth motor, a first baffle and a second baffle. The fourth motor drives the first baffle and the second baffle to move toward or relative to each other.

8. The harvesting robot according to claim 1, characterized in that: The jacking mechanism includes a jacking platform, a base and an electric cylinder. A first connecting rod, a second connecting rod and a third connecting rod and a fourth connecting rod are cross-arranged between the two sides of the jacking platform and the base, respectively. The two ends of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are respectively slidably connected to the jacking platform and the base. The electric cylinder is fixed on the base, and the end of the screw rod of the electric cylinder is fixedly connected to the cross bar between the second connecting rod and the fourth connecting rod.

9. The harvesting robot according to claim 1, characterized in that: The mobile clamp includes a fifth motor, a first clamp and a second clamp, the output shaft of the fifth motor is connected to a fourth gear, the fourth gear is respectively meshed with a first rack and a second rack, the first rack is connected to the first clamp through a connecting plate, and the second rack is connected to the second clamp through a connecting plate.

10. The harvesting robot according to claim 1, characterized in that: The picking robot is also provided with a control panel, a front light source and an ambient light source; the control panel is provided with a touch screen display and an emergency stop button; the visual device includes a front camera, a side camera and a terminal camera of the picking actuator.

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