Picking robot

Abstract

The present application provides a picking robot, comprising a control device, a moving device, a vision device, a picking execution device and a storage device; the storage device comprises a flow material box located below the picking execution device and a material box storage box located on one side of the picking execution device, and the material box storage box comprises an empty material box stack and a full material box stack. Through the picking robot of the present application, the full flow material box can be temporarily stored in the material box storage box, and a new flow empty material box is replaced to continue the picking operation, until all the empty material boxes in the material box storage box are replaced by full material boxes, so that the picking operation time of the picking robot can be greatly improved, manual intervention in the picking operation process can be reduced, and the picking efficiency and practicability of the picking robot can be improved.

Description

Technical Field

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

[0002] With the rapid development of new agricultural production models and automated control technologies, the yield of fruits and vegetables has increased significantly year by year. Intelligent agricultural harvesting robot technology enables autonomous harvesting operations in orchards by installing robotic arms and end-effectors.

[0003] Existing harvesting robots have a small carrying capacity and cannot collect all the fruit in the entire row during the harvesting process. The need to frequently change the collection box during the harvesting process means that harvesting robots still rely heavily on human labor, which limits the degree of automation of harvesting robots and makes it difficult to meet the requirements of high-efficiency harvesting operations. Summary of the Invention

[0004] The present invention addresses the above-mentioned technical problems by providing a harvesting robot that can continuously perform harvesting operations, store harvested fruits in various baskets, and achieve batch storage of baskets without human intervention, thereby achieving a high degree of automation and improving the overall efficiency of the harvesting robot.

[0005] According to a first aspect of the present invention, a harvesting robot is provided, which includes a control device, a moving device, a vision device, a harvesting execution device, and a storage device;

[0006] The storage device includes a flowing material frame located below the harvesting execution device and a material frame storage box located on one side of the harvesting execution device. A first lifting mechanism is provided below the flowing material frame, and the material frame storage box includes empty material frame stacking and full material frame stacking. A second lifting mechanism is provided below the empty material frame stacking, and a third lifting mechanism is provided below the full material frame stacking.

[0007] The bottom of the material frame storage box is provided with a first transmission track, and a movable pallet is provided above the first transmission track. One end of the first transmission track extends to the bottom of the flowing material frame so that the full material frame located below the picking execution device can be transported to the bottom of the full material frame stacking and the empty material frame located below the empty material frame stacking can be transported to the bottom of the picking execution device.

[0008] The top of the material frame storage box is provided with a second transmission track, and a moving clamp is provided below the second transmission track. The moving clamp picks up the material frame located on 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 the present invention, a harvesting robot as described in the first aspect is provided, the harvesting execution device of which includes a six-axis robotic arm and a harvesting execution mechanism. The harvesting execution mechanism is connected to the six-axis robotic arm via a quick-change mounting plate. The harvesting execution mechanism includes an angle-adjustable base, one side of which is connected to the quick-change mounting plate, and the other side of which is provided with a first connecting plate and a second connecting plate. The first connecting plate and the second connecting plate are connected to the other end of the angle-adjustable base, and a base is provided thereon. The base has a first slot, a second slot, and a central hole located between the first slot and the second slot. The first slot is slidably connected to a first gripper, and the second slot is slidably connected to a second gripper. The end faces of the first slider of the first gripper and the second slider of the second gripper near the central hole are both configured as rack-shaped. A reduction motor is provided between the first connecting plate and the second connecting plate. The output shaft of the reduction motor passes through the central hole and is fixedly connected to a first gear. The first gear meshes with the rack-shaped end faces of the first slider and the second slider, respectively.

[0010] This structure uses the forward and reverse rotation of the output shaft of the geared motor to drive the gears to rotate, thereby controlling the opening and closing of the first and second grippers. This improves the compactness of the entire harvesting mechanism, enabling flexible harvesting actions. It can also cut and clamp the harvested object to increase the success rate of one-time harvesting, improve the reliability of the harvesting action, and avoid damage to the harvested object, fruit trees, vines, etc.

[0011] According to a third aspect of the present invention, a harvesting robot as described in the second aspect is provided, wherein a first gripper includes a first slider, a first clamping portion and a first shearing guide, the first clamping portion having a first clamping surface with unevenness; and a second gripper includes a second slider, a second clamping portion and a second shearing blade, the second clamping portion having a second clamping surface with unevenness.

[0012] According to a fourth aspect of the present invention, a harvesting robot as described in the third aspect is provided, wherein a first proximity sensor is provided on the side of the base where a first slot is provided, and a first trigger is provided on the first clamping part; the base is provided on the side where a second slot is provided, and a second trigger is provided on the second clamping part.

[0013] According to a fifth aspect of the present invention, a harvesting robot as described in the fourth aspect is provided, wherein the other end of the six-axis robotic arm connected to the harvesting execution mechanism is disposed on a transverse mechanism, the transverse mechanism including a first motor, a lead screw assembly and a guide rail, and the six-axis robotic arm is connected to the sliders on the lead screw assembly and the guide rail respectively via mounting plates.

[0014] According to a sixth aspect of the present invention, a harvesting robot as described in the first aspect is provided, wherein the moving device is provided with four rollers, each roller being rotatably connected to the base plate of the moving device via a second gear, the second gear meshing with a third gear, the third gear being fixedly connected to the output shaft of a second motor; each roller is coaxially connected to the third motor.

[0015] According to a seventh aspect of the present invention, a harvesting robot as described in the first aspect is provided, wherein the material frame storage box is further provided with a material frame stopping mechanism, the material frame stopping mechanism including a fourth motor, a first baffle and a second baffle, the first baffle having a first protruding edge at the center, and the second baffle having a second protruding edge at the center.

[0016] According to an eighth aspect of the present invention, a harvesting robot as described in the first aspect is provided, the lifting mechanism of which includes a lifting platform, a base, and an electric cylinder. A first link, a second link, and a third link and a fourth link are respectively arranged in a cross configuration between the two sides of the lifting platform and the base. The two ends of the first link, the second link, the third link, and the fourth link are slidably connected to the lifting platform and the base, respectively. The electric cylinder is fixed on the base, and the end of the lead screw of the electric cylinder is fixedly connected to a crossbar between the second link and the fourth link.

[0017] According to a ninth aspect of the present invention, a harvesting robot as described in the first aspect is provided, wherein the moving gripper includes a fifth motor, a first gripper and a second gripper, the output shaft of the fifth motor is connected to a fourth gear, the fourth gear meshes with a first rack and a second rack respectively, the first rack is connected to a first slider, the first slider is connected to the first gripper, the second rack is connected to a second slider, and the second slider is connected to the second gripper.

[0018] According to a tenth aspect of the present invention, a harvesting robot as described in the first aspect is provided, the harvesting robot further comprising a control panel, a front light source and an ambient light source, the control panel comprising a touch screen display and an emergency stop button; the vision device comprising a front camera, a side camera and an end-effector camera of the harvesting actuator.

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

[0020] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be employed.

[0021] It should be understood that the embodiments of the present invention are not therefore limited. Features described and / or shown for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments. Attached Figure Description

[0022] The accompanying drawings, which form part of the specification, are provided to provide a further understanding of the invention and illustrate preferred embodiments of the invention. Together with the text description, they serve to explain the principles of the invention, wherein the same reference numerals are used to denote the same elements throughout.

[0023] In the attached diagram:

[0024] Figure 1 This 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 shell structure with some parts hidden in the middle;

[0026] Figure 3 yes Figure 1 The diagram only includes the storage device portion;

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

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

[0029] Figure 6 yes Figure 5 A close-up view of the moving fixture from below;

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

[0031] Figure 8 This is a schematic diagram of the harvesting execution mechanism of the harvesting robot of the present invention;

[0032] Figure 9 This is a partially enlarged view of the harvesting execution mechanism of the harvesting robot of the present invention;

[0033] Figure 10 This is a schematic diagram of the structure of the gripper (excluding blades) of the harvesting robot of the present invention;

[0034] Figure 11This is a schematic diagram of the internal structure of the six-axis robotic arm connecting the transverse movement mechanism of the present invention;

[0035] Figure 12 This is a partial schematic diagram of the roller connection portion of the mobile device of the present invention;

[0036] Figure 13 This is a schematic diagram of the material frame stopping mechanism of the present invention;

[0037] Figure 14 This is a partially enlarged schematic diagram of the material frame stopping mechanism of the present invention. Detailed Implementation

[0038] Referring to the accompanying drawings, the foregoing and other features of the present invention will become apparent from the following description. Specific embodiments of the invention are specifically disclosed in the description and drawings, illustrating partial implementations in which the principles of the invention can be employed. It should be understood that the invention is not limited to the described embodiments.

[0039] This invention provides a harvesting robot. Figure 1 This is a schematic diagram of a preferred embodiment of the harvesting robot of the present invention. Figure 2 yes Figure 1 A schematic diagram of the structure with part of the shell hidden in the middle. Figure 3 yes Figure 1 The diagram only includes the storage device. As shown, the harvesting robot includes a control device 1, a moving device 2, a vision device 3, a harvesting execution device 4, and a storage device. The storage device includes a flowing material frame 01 placed below the harvesting execution device 4 and a material frame storage box 5 located on one side of the harvesting execution device 4. When the harvesting execution device 4 performs the harvesting operation, it first places the harvested fruit into the flowing material frame 01 below the harvesting execution device 4. After the flowing material frame is full, the full material frame is then sent to the material frame storage box 5 located on the side of the harvesting execution device 4 for stacking and storage. New flowing material frames are then transported from the material frame storage box 5 to the area below the harvesting execution device 4 to receive new harvested fruit. This process continues until all the material frames in the material frame storage box 5 are full of fruit. Then, the harvesting robot returns to the preset address to unload.

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

[0041] The bottom of the material frame storage box 5 is equipped with a material frame conveying mechanism. Figure 4 This is a schematic diagram of the bottom conveying mechanism of the material frame storage box of the harvesting robot of the present invention. (See attached diagram) Figure 4A movable pallet 61 is installed above the conveyor track 6 of the bottom conveyor mechanism. A motor 62 connected to a synchronous belt pulley reduction kit 63 drives the double-rail synchronous belt module of the conveyor track 6 to move back and forth. The movable pallet 61 is installed on the slider of the double-rail synchronous belt module and moves back and forth. The movable pallet 61 is used to receive and position each material frame for back-and-forth transport. One end of the conveyor track 6 extends below the flowing material frame 01 so that the movable pallet 61 can transport the full material frame located below the picking execution device 4 to the full material frame stack 52 and transport the empty material frame located below the empty material frame stack 51 to the picking execution device 4. The bottom conveyor mechanism can realize the transport of material frames at the bottom. The movable pallet 61 transports the full material frame to the bottom of the full material frame stack 52. The lifting mechanism 003 set below the full material frame stack 52 lifts and removes the material frame. Then it moves to the bottom of the empty material frame stack 51 to receive another empty material frame and moves it to the empty material frame station below the picking execution device 4.

[0042] Correspondingly, a transfer mechanism for another material frame is provided on the top of the material frame storage box 5. Figure 5 This is a schematic diagram of the top conveying mechanism of the material frame storage box of the harvesting robot of the present invention. Figure 6 yes Figure 5 A close-up, bottom-view enlarged view of the moving fixture. (See also...) Figure 5 , Figure 6 A movable clamp 71 is installed below the transmission track 7 of the top transmission mechanism. A motor 72 connected to a synchronous belt pulley reduction kit 73 drives the double-rail synchronous belt module of the transmission track 7 to reciprocate. The movable clamp 71 is mounted on a slider below the double-rail synchronous belt module. As it reciprocates, the movable clamp 71 grips the top layer of the full material frame stack 52 and transports it to the top layer of the empty material frame stack 51. The movable clamp 71 includes a DC worm gear motor 711, a gripper 712, and a gripper 713. The output shaft of the DC worm gear motor 711 is connected to a spur gear 714. The gear 714 meshes with racks 715 and 716 respectively. Rack 715 is connected to gripper 712 through a connecting plate, and rack 716 is connected to gripper 713 through a connecting plate. When the DC worm gear motor 711 drives the spur gear 714 to rotate, it drives the two racks to move, thereby clamping or opening grippers 712 and 713 to grip or place material frames.

[0043] According to a preferred embodiment of the present invention, the lifting mechanisms 001, 002, and 003 have the same structure. Figure 7This 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 cylinder 103. The lifting platform 101 and the base 102 have intersecting connecting rods 104 and 105, and intersecting connecting rods 106 and 107, respectively. Preferably, a crossbar 108 is provided between connecting rods 105 and 107 on the side near the lifting platform 101. Both sides of the lifting platform 101 and the base 102 are provided with sliding grooves. The two ends of connecting rods 104 and 105 are slidably connected to the lifting platform 101 and the base 102 respectively via bearings. The two ends of connecting rods 106 and 107 are also slidably connected to the lifting platform 101 and the base 102 respectively via bearings. The DC servo cylinder 103 is fixed to one side of the base 102, and the end of the lead screw of the DC servo cylinder 103 is fixedly connected to the crossbar 108 between connecting rods 105 and 107. Therefore, when the lead screw of the DC servo 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 robotic arm 41 and a picking execution mechanism 42, wherein the picking execution mechanism 42 is connected to the six-axis robotic arm 41 via a quick-change mounting plate. Figure 8 This is a schematic diagram of the harvesting execution mechanism of the harvesting robot of the present invention. Figure 9 This is a partially enlarged view of the harvesting mechanism of the harvesting robot of the present invention. Figure 10 This is a schematic diagram of the gripper (excluding blades) of the harvesting robot of the present invention. See also... Figure 8-10The harvesting actuator 42 includes an angle adjustment base 420. One side of the angle adjustment base 420 is connected to the quick-change mounting plate. The connection surfaces of the angle adjustment base 420 and the quick-change mounting plate are provided with positioning features. When the end harvesting actuator is replaced, there is no need to reposition it. The end harvesting actuator can be quickly replaced by matching the corresponding positioning features. On the other side of the angle adjustment base 420, there are connecting plates 421 and 422. The connecting plates 421 and 422 are connected to the other end of the angle adjustment base 420, and a base 423 is provided. The base 423 has a slot 4231, a slot 4232, and a central hole 4233 located between the slots 4231 and 4232. The slot 4231 is slidably connected to the gripper 424, and the slot 4232 is slidably connected to the gripper 425. The end faces of the slider 4241 of the gripper 424 and the slider 4251 of the gripper 425 near the central hole 4233 are both set as rack-shaped. A reduction motor 426 is provided between the connecting plates 421 and 422. The output shaft of the reduction motor 426 passes through the central hole 4233 and is fixedly connected to a gear 427. The gear 427 meshes with the rack-shaped end faces of the sliders 4241 and 4251 respectively. When the output shaft of the geared motor 426 rotates, the gear 427 fixedly connected to the output shaft rotates, and the gripper 424 meshing with the gear 427 moves along the slot 4231. At the same time, the gripper 425 meshing with the gear 427 moves along the slot 4232 away from the gripper 424. Similarly, when the output shaft of the geared motor 426 rotates in the opposite direction, the grippers 424 and 425 move towards each other simultaneously. Thus, the opening and closing actions of the grippers 424 and 425 are controlled by the forward and reverse rotation of the geared motor 426 to perform actions such as harvesting, cutting, clamping, and placing.

[0045] Furthermore, the grippers 424 and 425 have similar structures and are symmetrically slidably connected within the slots 4231 and 4232 of the base 423. See also... Figure 8 , 10 The gripper 424 includes a slider 4241, a gripping part 4242, and a shearing guide 4243. The gripping part 4242 has an uneven gripping surface 42421. Similarly, the gripper 425 includes a slider, a gripping part, and a shearing blade 4251, with its gripping part also having an uneven gripping surface. Therefore, when the grippers 424 and 425 move towards each other and close, the cooperation of the shearing blades 4243 and 4251 effectively cuts off the stem of the fruit being picked, preventing damage to the fruit, tree, or vines caused by the pulling action during picking. Simultaneously, the uneven gripping surfaces of the two grippers work together to firmly hold the fruit, allowing for the next delivery action and preventing the fruit from falling. Figure 8 As shown, the harvested fruit, after its stem is cut off, is held firmly in place, awaiting placement in the designated location.

[0046] Preferably, a proximity sensor 428 is provided on one side of the slot 4231 of the base 423, and a trigger 429 is provided on the gripper 424 accordingly; similarly, a proximity sensor is provided on the side of the base 423 where the slot 4232 is located, and a trigger 429 is provided on the gripper 425 accordingly. Each proximity sensor is triggered by the trigger 429 provided on the gripper 424 and gripper 425 respectively. When the proximity sensor is triggered, the control device 1 receives a positioning signal to control the movement of each gripper. Furthermore, baffles are provided at both ends of the slots 4231 and 4232 of the base 423. By setting the baffles at both ends, the movement of the gripper 424 and gripper 425 in each slot is limited to the extreme positions, preventing them from slipping out of the slot and falling.

[0047] According to a preferred embodiment of the present invention, the other end of the six-axis robotic arm 41 connected to the picking execution mechanism 42 is disposed on the traverse mechanism. Figure 11 This is a schematic diagram of the internal structure of the six-axis robotic arm's lateral movement mechanism. As shown in the figure, the lateral movement mechanism includes a servo motor 81, a lead screw assembly 82, and a guide rail 83. The six-axis robotic arm 41 is connected to the sliders on the lead screw assembly 82 and the guide rail 83 via mounting plates. The servo motor 81 and the lead screw are connected by a coupling 84 for transmission. The movement of the servo motor 81 drives the six-axis robotic arm 41, connected to the lead screw assembly 82, to slide back and forth on the guide rail 83. This movement of the six-axis robotic arm 41 provides sufficient space for movement during harvesting to avoid collisions or entanglement with tomato vines. Simultaneously, the six-axis robotic arm 41 can move over a large range, ensuring continuous harvesting of tomatoes over a large area even when the mobile device is stationary, thus improving harvesting efficiency.

[0048] According to a preferred embodiment of the present invention, the moving device 2 is provided with four rollers. Figure 12 This is a partial schematic diagram of the roller connection portion of the moving device of the present invention, see below. Figure 12 Each roller is equipped with two drive servo motors and an encoder. Roller 21 is rotatably connected to the base plate of the moving device 2 via a large gear 22, which meshes with a small gear 23. The small gear 23 is fixedly connected to the output shaft of motor 24. Additionally, motor 25 is coaxially connected to one side of roller 2, and an encoder 26 is coaxially mounted on the other side. The movement of motor 24 drives roller 21 to change direction, adjusting the picking robot's movement. The movement of motor 25 drives roller 21 to rotate, enabling the picking robot to move. Encoder 26 provides real-time feedback on the current position. Therefore, during the picking process, when the picking robot needs to move to the next row after completing a row of picking in the orchard, the coordinated movement of motors 24 and 25 allows the picking robot to autonomously change direction and move to the next row to continue picking.

[0049] According to a preferred embodiment of the present invention, both the empty material frame stacking 51 and the full material frame stacking 52 of the material frame storage box 5 are provided with a material frame stopping mechanism 9. Figure 13 This is a schematic diagram of the material frame stopping mechanism of the present invention. Figure 14 This is a partially enlarged schematic diagram of the material frame stopping mechanism of the present invention, see below. Figure 13-14 The material frame stopping mechanism 9 includes a DC worm gear reducer motor 91, a baffle 92, and a baffle 93. A raised edge is provided in the middle of baffle 92, and another raised edge is provided in the middle of baffle 93. The two ends of baffle 92 and baffle 93 are slidably connected to guide rails 94 and 95 respectively via sliders. The DC worm gear reducer motor 91 is mounted on one of the guide rails. The output shaft of the DC worm gear reducer motor 91 is connected to a gear 96, which meshes with two racks. One rack 97 is connected to one end of baffle 92 via a connecting plate, and the other rack is connected to one end of baffle 93 via a connecting plate. Thus, by rotating the DC worm gear reducer motor 91 in both directions, baffles 92 and 93 will move towards each other or relative to each other on the double guide rails. By controlling the distance between the two baffles, the material frames on each stack can be stopped.

[0050] According to a preferred embodiment of the present invention, see Figure 1 , 2 The harvesting robot is equipped with a control panel 10, a front light source 11, and an ambient light source 12. The control panel 10 includes a touchscreen display 13, an emergency stop button 14, and other control buttons. The vision device 3 includes a front camera, side cameras, and an end-effector camera 31, with the side cameras including a left-side camera and a right-side camera. The ambient light source 12 is always on, keeping the harvesting area bright. When the harvesting robot is working at night, the front light source 11 is turned on for supplemental lighting. The side cameras are used to identify harvestable tomatoes, and the front camera can detect the fullness of the material in the flow basket below the actuator 4. The harvesting robot can be turned on or off via the device control buttons on the control panel 10. The touchscreen display 13 allows switching between manual and automatic operation modes, storing and backing up photos, and viewing daily internal logs. The emergency stop button 14 can stop the harvesting robot in case of abnormalities or special circumstances.

[0051] When the harvesting robot of the present invention performs harvesting operations, for example, when specifically harvesting tomatoes, the harvesting robot is started, the harvesting task is selected on the screen of the control panel 10, and the harvesting area is specified. The harvesting robot automatically travels to the corresponding track of the harvesting area. Tomato fruits that need to be harvested are distributed on both sides of the track. The harvesting robot harvests the tomato fruits on one side in the direction of travel.

[0052] Cameras on both sides of the front of the harvesting robot scan and capture images of the foreground in real time. The control device 1 determines the harvestable target location and controls the six-axis robotic arm 41 of the harvesting execution device 4 to drive the harvesting execution mechanism 42 to perform the harvesting operation. The end-effector camera 31 on the harvesting execution mechanism 42 is responsible for acquiring the posture of each individual tomato. The control device 1 calculates and determines the tomato's posture and stem position. Based on the determination data returned by the control device, the six-axis robotic arm 41 adjusts the harvesting position and posture as needed. The harvesting execution mechanism 42 completes the cutting and clamping action, and the six-axis robotic arm 41 drives the harvesting execution mechanism 42 to clamp the harvested tomato and place it into the flowing material frame 01 below the harvesting execution device 4. This cycle continues until the flowing material frame 01 is full of tomatoes. A loading status determination camera is set at the rear of the six-axis robotic arm 41. After each tomato is grabbed and placed into the material frame, the camera takes a picture of the material frame to determine whether the tomato has been successfully grabbed and placed in place. After the camera detects that the flow frame is full, the control device 1 begins to control the transfer and storage of the first full frame.

[0053] The lifting mechanism 001 below the flow material frame 01 begins to descend. At this time, the moving pallet 61 above the first transmission 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 moving pallet 61. The lifting mechanism 001 continues to descend to the lowest position. At this time, the lifting platform of the lifting mechanism 001 is separated from the bottom surface of the first full material frame.

[0054] The mobile pallet 61, carrying the first full frame, moves on the transfer track 6 to below the full frame stack 52 of the frame storage box 5. The lifting mechanism 003 performs a lifting action, lifting the first full frame of the mobile pallet 61 to contact another frame at the bottom of the frame row of the full frame stack 52. The bottom and top of the two frames can cooperate to lock each other. At this time, the lifting mechanism 003 continues to lift one position until the handles on both sides of the bottom frame of the frame row disengage from the baffles on both sides of the stopping mechanism 9 of the full frame stack 52. Then the baffles 92 and 93 open to both sides. At this time, the lifting mechanism 003 continues to lift one height, so that the top frame of the frame row enters the gripping height of the mobile clamp 71 of the top transfer mechanism. The gripper of the mobile clamp 71 grips the top frame of the full frame stack 52. Subsequently, the lifting mechanism 003 descends to the position where the baffle of the stopping mechanism 9 clamps and stops the bottom material frame handle in the material frame row. The lifting mechanism 003 continues to descend to the lowest position, thus completing the storage of the first full material frame into the material frame row of the full material frame stacking 52.

[0055] Subsequently, the top moving clamp 71, carrying the gripped frame, moves to above the frame column of another empty frame stack 51, while the bottom moving tray 61 moves to below the frame column of the empty frame stack 51. The lifting mechanism 002 lifts the frame by a height, causing the bottom frame of the empty frame stack 51 to disengage from the baffle of the stopping mechanism of the empty frame stack 51. Then, the baffles on both sides of the stopping mechanism of the empty frame stack 51 open, and the lifting mechanism 002 continues to rise until the top frame of the empty frame stack 51 contacts the frame gripped by the moving clamp 71. After contact, it continues to lift the frame by a height, causing the frame gripped by the moving clamp 71 to disengage from its gripper surface. Subsequently, the grippers of the moving clamp 71 open, and the lifting mechanism 002 begins to descend. When it descends to the second-to-last empty frame at the bottom of the empty frame stack 51, which is exactly at the stopping height of the baffle of its frame stopping mechanism, the baffle of the stopping mechanism clamps to stop the empty frame at that position. Then, the lifting mechanism 002 continues to descend, and the bottom empty frame follows the lifting mechanism 002 to the bottom. At this time, another empty frame falls onto the moving pallet 61 and is locked in place. Finally, the moving pallet 61 carries the second empty frame to the mobile frame station below the picking execution device 4, becoming the mobile frame 02 so that the picking robot can continue to perform the picking operation. This process continues until both columns of empty frame stacks 51 and full frame stacks 52 in the frame storage box 5 are stored in a full frame state. Then, the picking robot returns to the unloading area, opens the side doors, and the forklift directly forks out the entire stack of frames and inserts empty frames. 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 each configured with 10 material frames, for a total of 20 material frames. Therefore, the harvesting robot can greatly expand its carrying capacity, avoid the problem of frequent unloading during the harvesting process, reduce manual intervention in the harvesting process, and improve harvesting efficiency and practicality.

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

[0057] Preferred embodiments of the invention have been described above with reference to the accompanying drawings, and many features and advantages of these embodiments become apparent from this detailed description. Furthermore, since many modifications and alterations will readily occur to those skilled in the art, the embodiments of the invention are not intended to be limited to the precise structures and operations illustrated and described.

Claims

1. A harvesting robot, characterized in that, The harvesting robot includes a control device, a mobility device, a vision device, a harvesting execution device, and a storage device; The storage device includes a flowing material frame located below the harvesting execution device and a material frame storage box located on one side of the harvesting execution device. A first lifting mechanism is provided below the flowing material frame, and the material frame storage box includes empty material frame stacking and full material frame stacking. A second lifting mechanism is provided below the empty material frame stacking, and a third lifting mechanism is provided below the full material frame stacking. The bottom of the material frame storage box is provided with a first transmission track, and a movable pallet is provided above the first transmission track. One end of the first transmission track extends to the bottom of the flowing material frame so that the full material frame located below the picking execution device can be transported to the bottom of the full material frame stacking and the empty material frame located below the empty material frame stacking can be transported to the bottom of the picking execution device. The top of the material frame storage box is provided with a second transmission track, and a moving clamp is provided below the second transmission track. The moving clamp picks up the material frame located on the top layer of the full material frame stack and transports it to the top layer of the empty material frame stack. The first motor is connected to the synchronous belt pulley reduction kit to drive the double-rail synchronous belt module of the first transmission track to reciprocate. The moving pallet is installed on the slider of the double-rail synchronous belt module and moves back and forth. The moving pallet is used to receive and position each material frame for back-and-forth transport. The first lifting mechanism, the second lifting mechanism, and the third lifting mechanism are respectively located between the two rails of the dual-rail synchronous belt module of the first transmission track.

2. The harvesting robot according to claim 1, characterized in that, The harvesting execution device includes a six-axis robotic arm and a harvesting execution mechanism. The harvesting execution mechanism is connected to the six-axis robotic arm via a quick-change mounting plate. The harvesting execution mechanism includes an angle-adjustable base. One side of the angle-adjustable base is connected to the quick-change mounting plate, and the other side of the angle-adjustable base is provided with a first connecting plate and a second connecting plate. The first connecting plate and the second connecting plate are connected to the other end of the angle-adjustable base, and a base is provided. The base has a first slot, a second slot, and a central hole located between the first slot and the second slot. The first slot is slidably connected to a first gripper, and the second slot is slidably connected to a second gripper. The end faces of the first slider of the first gripper and the second slider of the second gripper near the central hole are both set as rack-shaped. A reduction motor is provided between the first connecting plate and the second connecting plate. The output shaft of the reduction motor passes through the central hole and is fixedly connected to a first gear. The first gear meshes with the rack-shaped end faces of the first slider and the second slider, respectively.

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

4. The harvesting robot according to claim 3, characterized in that, The base has a first proximity sensor on the side with the first slot and a first trigger on the first clamping part; the base has a second proximity sensor on the side with the second slot and a second trigger on the second clamping part.

5. The harvesting robot according to claim 4, characterized in that, The other end of the six-axis robotic arm connected to the picking execution mechanism is set on the transverse mechanism. The transverse mechanism includes a first motor, a lead screw assembly, and a guide rail. The six-axis robotic arm is connected to the sliders on the lead screw assembly and the guide rail respectively through a mounting plate.

6. The harvesting robot according to claim 1, characterized in that, The mobile device is equipped with four rollers, each roller being rotatably connected to the base plate of the mobile device via a second gear, the second gear meshing with a third gear, the third gear being fixedly connected to the output shaft of a third motor; each roller is coaxially connected to a fourth motor.

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

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

9. The harvesting robot according to claim 1, characterized in that, The moving clamp includes a sixth motor, a first gripper, and a second gripper. The output shaft of the sixth motor is connected to a fourth gear. The fourth gear meshes with a first rack and a second rack. The first rack is connected to the first gripper via a connecting plate, and the second rack is connected to the second gripper via the connecting plate.

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

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