Spherical-like fruit and vegetable packaging robot system and control method thereof

Abstract

The invention relates to the technical field of agricultural machinery, and provides a sphere-like fruit and vegetable packaging robot system and a control method thereof. The system comprises a loading unit, a feeding unit, a posture adjusting unit, a grabbing and packaging unit and a box conveying unit. According to the sphere-like fruit and vegetable packaging robot system, automatic dispersion conveying of sphere-like fruits and vegetables can be achieved, online rotation and image recognition positioning are conducted on the fruits and vegetables through the posture adjusting unit, the postures of the fruits and vegetables are unified, manual work is replaced to complete posture correction and positioning, and a stable posture basis is provided for subsequent grabbing; in addition, nearby grabbing and parallel operation can be achieved according to needs, the grabbing efficiency and the system rhythm are remarkably improved, and mechanical arm path conflict and waiting are avoided; the box conveying unit is synchronous with the grabbing action, the fruits and vegetables can be continuously received, boxing is completed, the full-automatic packaging process is achieved, the manual intervention and management difficulty is reduced, and the rapid, flexible and accurate full-automatic boxing and packaging task of the sphere-like fruits and vegetables is achieved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a spherical fruit and vegetable packaging robot system and its control method. Background Technology

[0002] Packaging is a crucial link in the post-harvest distribution of fruits and vegetables. Currently, manual packaging remains the primary method. However, this method has many drawbacks, such as low worker efficiency, high production costs, management difficulties, and insufficient production capacity during peak seasons. These issues have become pain points restricting the development of the fruit and vegetable packaging industry, urgently requiring the search for more efficient and competitive packaging solutions.

[0003] To address the various shortcomings of manual packaging, existing technologies employ serial and parallel robots for automated packaging. While these robotic systems improve efficiency to some extent, existing serial and parallel robots still struggle to handle the rapid, flexible, and precise fully automated boxing and packaging of large batches of spherical fruits and vegetables, failing to meet the growing demands of the spherical fruit and vegetable packaging industry. Summary of the Invention

[0004] This invention provides a spherical fruit and vegetable packaging robot system and its control method to solve the shortcomings of existing automated packaging robot systems that cannot perform fast, flexible, and precise fully automated boxing and packaging of batches of spherical fruits and vegetables.

[0005] This invention provides a spherical fruit and vegetable packaging robot system, comprising: a feeding unit, a feeding unit, a posture adjustment unit, a gripping and packaging unit, and a box conveying unit.

[0006] The feeding unit includes a feeding conveyor for conveying spherical fruits and vegetables; the feeding unit includes multiple feeding channels arranged along the X direction, with the inlet end of each feeding channel connected to the outlet end of the feeding unit; the posture adjustment unit includes an adjustment bracket, a first image recognition component, and multiple adjustment components. The adjustment bracket has multiple positioning slots along the X direction corresponding one-to-one with the multiple feeding channels. Each positioning slot contains an adjustment component, which drives the spherical fruits and vegetables to rotate to adjust to a set packaging posture. The first image recognition component detects the posture of the spherical fruits and vegetables located in the positioning slots. The gripping and packaging unit includes a gripping and packaging bracket, a first slide rail, a second slide rail, and multiple robotic arms for gripping spherical fruits and vegetables in the positioning slot. The first slide rail and the second slide rail are both located on the packaging bracket. The first slide rail is arranged along the X direction, and the second slide rail is arranged along the Y direction. The first slide rail is slidably located on the second slide rail along the Y direction. The multiple robotic arms are slidably located on the first slide rail along the X direction. The number of feeding channels is greater than or equal to the number of robotic arms. The box conveying unit includes a box conveying device located at the unloading end of the robotic arm for conveying empty boxes or boxes that have been filled with fruit.

[0007] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the feeding unit further includes multiple feeding and conveying devices, which are respectively arranged in the feeding channel; a first detection component for detecting spherical fruits and vegetables is provided in the positioning groove or on the outside of the positioning groove, and the first detection component is communicatively connected to the corresponding feeding and conveying device and the corresponding adjustment component.

[0008] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the robotic arm includes a first drive motor, a first motor bracket, a drive gear, a linear drive device, and a suction cup. The first drive motor is mounted on the first motor bracket, the drive gear is mounted on the output shaft of the first drive motor, the linear drive device is arranged vertically and connected to the first motor bracket, and the suction cup is mounted on the output end of the linear drive device. The first slide rail is provided with a rack along the X direction, and the drive gear meshes with the rack.

[0009] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the robotic arm further includes a second drive motor and a rotating bracket. The second drive motor is disposed on the first motor bracket, and the rotating bracket is rotatably connected to the first motor bracket. The linear drive device is disposed on the rotating bracket, and the output shaft of the second drive motor is drively connected to the rotating bracket to drive the rotating bracket to rotate relative to the first motor bracket. The gripping and packaging unit further includes a second image recognition component, which is used to detect the posture of the spherical fruits and vegetables on the suction cup.

[0010] According to the spherical fruit and vegetable packaging robot system provided by the present invention, a first positioning component is provided between the first slide rail and the second slide rail. The first positioning component includes a first photoelectric switch and a first positioning baffle. The first photoelectric switch is disposed on the first slide rail and located at a preset initial position on the second slide rail, and the first positioning baffle is disposed on the second slide rail. And / or, a second positioning component is provided between the first motor bracket and the second slide rail. The second positioning component includes a second photoelectric switch and a second positioning baffle. The second photoelectric switch is disposed on the first motor bracket and located at a preset initial position on the first motor bracket, and the second photoelectric switch is disposed on the second slide rail. And / or, a third positioning component is provided between the second motor bracket and the first motor bracket. The third positioning component includes a third photoelectric switch and a third positioning baffle. The third photoelectric switch is disposed on the first motor bracket and located at a preset initial angle on the second motor bracket, and the third positioning baffle is disposed on the second motor bracket. And / or, a distance sensor is provided inside the suction cup.

[0011] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the first image recognition component includes a plurality of image recognition devices, which are spaced apart along the X direction on the gripping packaging bracket, and the recognition end of the image recognition device is arranged facing the positioning groove.

[0012] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the box conveying unit further includes a second detection component, which is located at the unloading position of the box conveying device corresponding to the robotic arm.

[0013] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the positioning groove is provided with flexible balls along the circumferential direction.

[0014] According to the spherical fruit and vegetable packaging robot system provided by the present invention, the feeding conveying device and the feeding unit are both arranged along the Y direction, and the discharge end of the feeding unit is located inside the gripping packaging bracket; the box conveying device passes through the gripping packaging bracket along the Y direction, the feeding side of the box conveying device is located below the feeding conveying device and the feeding unit, and the feeding end of the box conveying device and the feeding end of the feeding conveying device are located on the same side.

[0015] Another aspect of the present invention provides a control method for a spherical fruit and vegetable packaging robot system, comprising the following steps.

[0016] The quantity and location information of the spherical fruits and vegetables to be grasped within the posture adjustment unit, as well as the quantity and location information of the idle robotic arms, are obtained.

[0017] Based on the fact that the number of spherical fruits and vegetables to be grasped is greater than or equal to the number of idle robotic arms, all the idle robotic arms are determined to be grasping robotic arms. Based on the position information of each grasping robotic arm and the position information of the spherical fruits and vegetables to be grasped, the movement path of each grasping robotic arm is determined.

[0018] Alternatively, based on the fact that the number of spherical fruits and vegetables to be grasped is less than the number of idle robotic arms, and the position information of the spherical fruits and vegetables to be grasped and the position information of the idle robotic arms, the grasping robotic arm and the avoidance robotic arm among the idle robotic arms are determined, and the movement paths of the grasping robotic arm and the avoidance robotic arm are determined respectively.

[0019] The spherical fruit and vegetable packaging robot system provided by this invention can automatically disperse and transport spherical fruits and vegetables through a feeding unit and a multi-channel feeding unit. It uses an attitude adjustment unit to perform online rotation and image recognition positioning of the fruits and vegetables, ensuring a uniform posture. This system can replace manual posture correction and positioning, and provides a stable posture foundation for subsequent grasping. Through the grasping and packaging unit, multiple robotic arms are positioned along the X-axis on a first slide rail, and the first slide rail is slidably positioned along the Y-axis on a second slide rail. The redundant configuration of the feeding channels, which is no less than the number of robotic arms, allows for on-demand, nearby grasping and parallel operation, significantly improving grasping efficiency and system cycle time, and avoiding robotic arm path conflicts and waiting. Synchronizing the box conveying unit with the grasping action, it can continuously receive fruits and vegetables and complete boxing, achieving a fully automated packaging process and reducing the difficulty of manual intervention and management. This enables fast, flexible, and precise fully automated boxing and packaging of spherical fruits and vegetables.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0023] Figure 2 This is a schematic diagram of the feeding unit and the posture adjustment unit in the spherical fruit and vegetable packaging robot system provided in the embodiment of the present invention.

[0024] Figure 3 This is a schematic diagram of the posture adjustment unit in the spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the adjustment component in the spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0026] Figure 5 This is one of the schematic diagrams of the grasping and packaging unit in the spherical fruit and vegetable packaging robot system provided in the embodiments of the present invention.

[0027] Figure 6 This is the second schematic diagram of the grasping and packaging unit in the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0028] Figure 7 yes Figure 6 A magnified view of part A in the diagram.

[0029] Figure 8 This is a schematic diagram of the robotic arm in the spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0030] Figure 9 yes Figure 8 A magnified view of part B in the diagram.

[0031] Figure 10 This is a schematic diagram of the installation of the distance sensor 448 inside the suction cup in the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0032] Figure 11 This is a schematic diagram of the initial state of the spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0033] Figure 12 This is a schematic diagram of the grasping state of the spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0034] Figure 13 This is a schematic diagram of the second slide rail moving along the Y direction to the packaging position in the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0035] Figure 14 This is a schematic diagram of a robotic arm driving spherical fruits and vegetables to rotate to a set angle in a spherical fruit and vegetable packaging robot system provided in an embodiment of the present invention.

[0036] Figure 15 This is a schematic diagram of the packing process of the robotic arm in the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0037] Figure 16 This is a logic block diagram of the fruit and vegetable (taking apples as an example) conveying and attitude adjustment in a spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0038] Figure 17 This is a flowchart illustrating the control method of the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention.

[0039] Figure 18 This is a logic block diagram of the robotic arm scheduling in the control method of the spherical fruit and vegetable packaging robot system provided in the embodiments of the present invention.

[0040] Figure label: 100. Feeding unit; 110. Feeding conveyor; 200. Feeding unit; 210. Feeding channel; 220. Baffle; 230. Feeding conveyor; 300. Attitude adjustment unit; 310. Adjusting bracket; 311. Positioning groove; 312. Flexible ball bearing; 320. First image recognition component; 321. Image recognition device; 330. Adjusting component; 331. Rotating roller; 332. Belt; 340. First detection component; 400. Grasping and packaging unit; 410. Grasping and packaging bracket; 420. First slide rail; 421. Rack; 430. Second slide rail; 440. Robotic arm; 441. First drive. 442. Motor; 443. First motor bracket; 444. Drive gear; 445. Linear drive device; 446. Suction cup; 447. Second drive motor; 448. Rotating bracket; 450. Distance sensor; 451. First positioning component; 452. First photoelectric switch; 460. Second positioning component; 461. Second photoelectric switch; 462. Second positioning baffle; 470. Third positioning component; 471. Third photoelectric switch; 472. Third positioning baffle; 480. Second image recognition component; 500. Box conveying unit; 510. Box conveying device; 520. Second detection component. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0042] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0044] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0046] The following is combined Figures 1 to 18 This invention describes a spherical fruit and vegetable packaging robot system.

[0047] See Figures 1 to 10 As shown, the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention includes: a feeding unit 100, a feeding unit 200, a posture adjustment unit 300, a gripping and packaging unit 400, and a box conveying unit 500.

[0048] The feeding unit 100 includes a feeding conveyor 110 for conveying spherical fruits and vegetables; the feeding unit 200 includes multiple feeding channels 210 arranged along the X direction, with the inlet end of the feeding channel 210 connected to the outlet end of the feeding unit 100; the posture adjustment unit 300 includes an adjustment bracket 310, a first image recognition component 320, and multiple adjustment components 330. The adjustment bracket 310 is provided with multiple positioning slots 311 along the X direction, each corresponding to one of the multiple feeding channels 210. Each positioning slot 311 is provided with an adjustment component 330, which is used to drive the spherical fruits and vegetables to rotate to adjust to a set packaging posture. The first image recognition component 320 is used to detect the posture of the spherical fruits and vegetables located in the positioning slots 311. The grasping and packaging unit 400 includes a grasping and packaging support 410, a first slide rail 420, a second slide rail 430, and multiple robotic arms 440 for grasping spherical fruits and vegetables in the positioning slot 311. The first slide rail 420 and the second slide rail 430 are both located on the packaging support. The first slide rail 420 is located along the X direction, and the second slide rail 430 is located along the Y direction. The first slide rail 420 is slidably located on the second slide rail 430 along the Y direction. Multiple robotic arms 440 are slidably located on the first slide rail 420 along the X direction. The number of feeding channels 210 is greater than or equal to the number of robotic arms 440. The box conveying unit 500 includes a box conveying device 510. The box conveying device 510 is located at the unloading end of the robotic arm 440 and is used to convey empty boxes or boxes that have been filled with fruit.

[0049] The spherical fruit and vegetable packaging robot system provided by this invention can automatically disperse and transport spherical fruits and vegetables through the feeding unit 100 and the multi-channel feeding unit 200. The posture adjustment unit 300 performs online rotation and image recognition positioning of the fruits and vegetables to unify their posture, replacing manual posture correction and positioning, and providing a stable posture foundation for subsequent grasping. Through the grasping and packaging unit 400, multiple robotic arms 440 are arranged along the X-direction on the first slide rail 420, the first slide rail 420 is slidably arranged along the Y-direction on the second slide rail 430, and the redundant configuration of the feeding channels 210 is no less than the number of robotic arms 440. This allows for on-demand, nearby grasping and parallel operation, significantly improving grasping efficiency and system cycle time, and avoiding path conflicts and waiting for the robotic arms 440. The box conveying unit 500, synchronized with the grasping action, can continuously receive fruits and vegetables and complete boxing, realizing a fully automated packaging process and reducing the difficulty of manual intervention and management. This enables fast, flexible, and precise fully automated boxing and packaging of spherical fruits and vegetables.

[0050] Specifically, see Figure 1 As shown, the feeding unit 100 is used to continuously transport dispersed, spherical fruits and vegetables to subsequent processes. Its outlet is connected to the inlet of each feeding channel 210 of the feeding unit 200, allowing the fruits and vegetables to naturally disperse into the corresponding feeding channels 210 under the action of conveying inertia, completing the initial separation of individual fruits and ensuring uniform feeding in each channel, thereby eliminating the need for manual sorting and placement and reducing the risk of empty or piled-up materials in the channels. The feeding unit 100 includes a feeding conveyor device 110, which can be a conveyor belt or conveyor rollers, etc., and the specific selection can be made according to the type of spherical fruits and vegetables, without any special limitation.

[0051] See Figure 2 As shown, the feeding unit 200 receives materials from the loading unit 100. Through multiple feeding channels 210 arranged side-by-side along the X-direction and capable of independent start / stop, it separates scattered spherical fruits and vegetables one by one and transports them orderly to the corresponding positioning slots 311 of the attitude adjustment unit 300. This achieves parallel feeding through multiple channels and ensures independent processing of individual fruits during the subsequent attitude adjustment stage. The multiple feeding channels 210 can be formed by multiple baffles 220 spaced apart along the X-direction. Adjacent baffles 220 can limit and guide the spherical fruits and vegetables, preventing them from rolling or colliding during transport and ensuring they smoothly enter the corresponding positioning slots 311. The width of the feeding channel 210 can be set according to the maximum equatorial diameter of the spherical fruits and vegetables, maintaining a slight gap between the baffles 220 on both sides of the channel and the fruits and vegetables. This prevents the fruits and vegetables from rolling laterally and avoids jamming. Furthermore, the spacing of the baffles 220 can be quickly changed or adjusted to adapt to the packaging needs of different varieties and specifications of fruits and vegetables.

[0052] See Figure 2 and Figure 3As shown, the posture adjustment unit 300 is used to apply a rotational action to the single fruit from the feeding channel 210 in the positioning groove 311. At the same time, the first image recognition component 320 captures and judges the current posture of the fruit and vegetables in real time until the fruit and vegetables are adjusted to the preset packaging posture and then stop rotating. This provides the robotic arm 440 with fruit and vegetables with uniform posture and definite direction for subsequent grasping, and eliminates the need for manual orientation and placement.

[0053] The attitude adjustment unit 300 includes an adjustment bracket 310, a first image recognition component 320, and multiple adjustment components 330. The adjustment bracket 310 is used to integrally support multiple positioning slots 311 corresponding one-to-one with the feeding channel 210 along the X-direction, and provides a rigid mounting reference for the adjustment components 330 and the first image recognition component 320 within each positioning slot 311. This allows multiple groups of fruits and vegetables to complete attitude adjustments in parallel without interfering with each other, and ensures stable image recognition field of view and consistent grasping coordinates of the robotic arm 440. The positioning slots 311 are used to receive single fruits output from the corresponding feeding channel 210. Their cavity contours match (or are appropriately larger than) the outer diameter of spherical fruits and vegetables and can accommodate the adjustment components 330, thus confining the fruits and vegetables within a fixed space during rotation to complete attitude adjustments and preventing them from slipping out or being damaged by impact. The adjustment component 330 directly drives the spherical fruits and vegetables to rotate around their own center within the positioning slot 311. Simultaneously, it works in real-time with the first image recognition component 320 to continuously monitor the rotation of the fruits and vegetables and stop them immediately when they reach the preset packaging posture. This achieves online closed-loop adjustment of the fruit and vegetable posture and ensures that subsequent grasping actions have a unified directional reference. The first image recognition component 320 acquires the posture information of the spherical fruits and vegetables within the positioning slot 311 in real time, identifies the current orientation of the fruits and vegetables (such as the position of the stem or calyx) through image processing algorithms, and feeds the posture data back to the control system. The adjustment component 330 then adjusts the posture of the fruits and vegetables based on the feedback until the preset packaging posture is reached, thus providing accurate visual guidance for the precise grasping of the robotic arm 440. The image recognition device 321 can be a high-resolution industrial camera or other equipment with image acquisition and recognition capabilities. It can also be equipped with a light source suitable for the color and background of fruits and vegetables. It can capture multi-angle images of fruits and vegetables in the positioning slot 311 in real time and accurately identify the posture characteristics of fruits and vegetables through the built-in image processing algorithm, such as the position and orientation of the stems and calyxes, to provide real-time feedback to the adjustment component 330, ensuring that the fruits and vegetables are quickly and accurately adjusted to the preset packaging posture during the rotation process.

[0054] See Figure 4As shown, as an example, the adjustment component 330 includes two rotating rollers 331 spaced apart. The two rotating rollers 331 are driven by a motor and transmitted through a belt 332. When the rotating rollers 331 rotate, the friction of the belt 332 can cause the spherical fruits and vegetables to rotate irregularly, thereby changing their posture. By controlling the speed of the motor output shaft, the speed of posture change of the spherical fruits and vegetables can be adjusted, so that the first image recognition component 320 can accurately identify that it has reached the set posture (for example, when the spherical fruit and vegetable is an apple, the set posture can be that the equatorial side of the apple is facing upwards and the fruit stem and calyx area are facing to both sides).

[0055] See Figures 5 to 10 As shown, the gripping and packaging unit 400 is used to precisely grip the fruits and vegetables with the adjusted posture after the posture adjustment unit 300 completes the posture adjustment of the fruits and vegetables, according to the instructions of the collaborative control system, and transfer them to the empty box on the box conveying unit 500 to complete the boxing action. It can realize multi-arm parallel gripping and precise placement, significantly improve packaging efficiency and ensure the consistency of packaging quality.

[0056] The gripping and packaging unit 400 includes a gripping and packaging bracket 410, a first slide rail 420, a second slide rail 430, and multiple robotic arms 440. The gripping and packaging bracket 410 serves to support the first slide rail 420 and the second slide rail 430 as a whole, and provides a stable mounting base and motion support frame for the robotic arms 440, ensuring that the robotic arms 440 maintain high precision and high rigidity during movement along the X and Y directions, thereby achieving fast and smooth gripping and packing actions. The first slide rail 420 is set along the X direction to provide a horizontal linear motion path for the multiple robotic arms 440, enabling the robotic arms 440 to move quickly and accurately along the X direction to above the corresponding positioning slot 311. The second slide rail 430 is set along the Y-direction to provide moving support for the first slide rail 420, enabling the entire gripping and packaging unit 400 to move as a whole in the Y-direction, thereby adjusting the position of the robotic arm 440 in the vertical direction. To ensure the stability of the first slide rail 420's movement along the Y-direction, two second slide rails 430 are provided, located on both sides of the gripping and packaging bracket 410 along the X-direction. The robotic arm 440, under the coordinated action of the first slide rail 420 and the second slide rail 430, quickly moves above the positioning slot 311, accurately grips the spherical fruits and vegetables with adjusted posture, and transfers them to the empty box on the box conveying unit 500, completing the boxing action. The robotic arm 440 can use fast-response drive components such as telescopic cylinders or telescopic hydraulic cylinders to achieve rapid gripping and precise placement, improving packaging efficiency.

[0057] See Figure 1As shown, as an example, the feeding unit 200 includes eight feeding channels 210, the adjusting bracket 310 is provided with eight positioning slots 311 along the X direction, and the gripping and packaging unit 400 includes four robotic arms 440. With a 2:1 configuration of positioning slots 311 and robotic arms 440, it can simultaneously maintain four parallel gripping cycles and eight-channel feeding redundancy, so that the robotic arms 440 always have alternative targets to grip, thereby reducing waiting time, fully releasing the efficiency of multi-arm parallelism, and reducing cycle loss caused by empty channels or positioning failures, thus achieving a balance between high capacity and flexible redundancy.

[0058] See Figure 1 As shown, the box conveying unit 500 is used to transport empty boxes to the packing position as needed during the gripping and packing operations of the robotic arm 440, and to transport full boxes to the subsequent processes after packing is completed. Its conveying speed is synchronized with the cycle time of the gripping and packaging unit 400 to ensure a continuous and efficient packaging process, while avoiding the accumulation of empty boxes or the overflow of full boxes, thus maintaining the stable operation of the packaging line. The box conveying unit 500 includes a box conveying device 510, which can be a conveyor roller or a conveyor belt, etc., without special limitations.

[0059] Understandably, the layout of the feeding unit 100, feeding unit 200, posture adjustment unit 300, gripping and packaging unit 400, and box conveying unit 500 can be flexibly configured according to the process requirements of spherical fruits and vegetables to adapt to different production sites and packaging process requirements, ensuring that the entire packaging system achieves optimal space utilization and operational efficiency.

[0060] See Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, the feeding unit 200 further includes a plurality of feeding conveying devices 230, which are respectively arranged in the feeding channel 210; a first detection component 340 for detecting spherical fruits and vegetables is provided in or outside the positioning groove 311, and the first detection component 340 is communicatively connected to the corresponding feeding conveying device 230 and the corresponding adjustment component 330.

[0061] By installing a corresponding feeding conveyor device 230 in each feeding channel 210, spherical fruits and vegetables can be independently conveyed in each feeding channel 210, achieving precise on-demand feeding. Furthermore, a first detection component 340 for detecting spherical fruits and vegetables is provided inside or outside the positioning slot 311. This component can detect the presence or absence of spherical fruits and vegetables in the positioning slot 311 in real time and feed this information back to the corresponding feeding conveyor device 230, thereby achieving intelligent material conveying control. Simultaneously, the automatic fruit and vegetable control adjustment component 330 can be opened or closed depending on whether there is one in the positioning slot 311.

[0062] For example, when fruits and vegetables are detected in the current positioning slot 311, the corresponding feeding and conveying device 230 can automatically stop to wait for the fruits and vegetables in the current positioning slot 311 to be grabbed before conveying the next fruits and vegetables. The adjusting component 330 in the positioning slot 311 can be opened to adjust the posture of the fruits and vegetables. When no fruits and vegetables are detected in the current positioning slot 311, the corresponding feeding and conveying device 230 can automatically run to convey the fruits and vegetables to the empty positioning slot 311.

[0063] It should be noted that the first detection component 340 can be installed either inside or outside the positioning groove 311, depending on its type. For example, when the first detection component 340 is a photoelectric sensor, it can be installed outside the positioning groove 311 to detect whether fruits and vegetables have entered the positioning groove 311 using the principle of beam blocking; if it is a vision sensor, it can be installed inside the positioning groove 311 to directly photograph fruits and vegetables and provide real-time feedback, so that the adjustment component 330 can accurately identify whether fruits and vegetables are present in the positioning groove 311 based on the image information.

[0064] As an example, in this embodiment, the first detection component 340 is a through-beam photoelectric switch. Two opposing through-beam photoelectric switches are provided on the outer side of each positioning slot 311. When fruits and vegetables fall into the positioning slot 311, they block the through-beam light beam, triggering the through-beam photoelectric switch to output a signal. Based on this, the system determines that the slot has fruit and immediately shuts down the corresponding feeding conveyor 230, achieving closed-loop control where the system stops when a single fruit is in place. Simultaneously, a start command can be sent to the attitude adjustment unit 300 to ensure that subsequent rotation adjustment actions are carried out promptly.

[0065] See Figures 5 to 10 As shown, according to some embodiments of the present invention, the robotic arm 440 includes a first drive motor 441, a first motor bracket 442, a drive gear 443, a linear drive device 444, and a suction cup 445. The first drive motor 441 is mounted on the first motor bracket 442, the drive gear 443 is mounted on the output shaft of the first drive motor 441, the linear drive device 444 is arranged vertically and connected to the first motor bracket 442, and the suction cup 445 is mounted on the output end of the linear drive device 444. The first slide rail 420 is provided with a rack 421 along the X direction, and the drive gear 443 meshes with the rack 421.

[0066] By configuring the robotic arm 440 with the above structure, the first drive motor 441 can mesh with the drive gear 443 and rack 421 to achieve rapid and high-precision linear movement of the robotic arm 440 in the X direction. At the same time, the vertical linear drive device 444 drives the suction cup 445 to complete rapid lifting and lowering, realizing rapid grasping and placement actions. The structure is compact and the response is fast, effectively improving the packaging cycle time and positioning accuracy.

[0067] The linear drive device 444 can be a hydraulic telescopic cylinder or a telescopic air cylinder, which are relatively fast drive devices. As an example, the linear drive device 444 in this embodiment is a telescopic air cylinder. The cylinder body of the telescopic air cylinder is connected to the first motor bracket 442, and the suction cup 445 is located at the output end of the telescopic air cylinder.

[0068] See Figures 5 to 10 As shown, according to some embodiments of the present invention, the robotic arm 440 further includes a second drive motor 446 and a rotating bracket 447. The second drive motor 446 is disposed on the first motor bracket 442, and the rotating bracket 447 is rotatably connected to the first motor bracket 442. A linear drive device 444 is disposed on the rotating bracket 447. The output shaft of the second drive motor 446 is drively connected to the rotating bracket 447 to drive the rotating bracket 447 to rotate relative to the first motor bracket 442. The gripping and packaging unit 400 further includes a second image recognition component 480, which is used to detect the posture of spherical fruits and vegetables on the suction cup 445.

[0069] By setting up a second drive motor 446 and a rotating bracket 447, the second drive motor 446 can drive the rotating bracket 447 to rotate relative to the first motor bracket 442, which can drive the linear drive device 444 and the suction cup 445 to rotate synchronously, further adjusting the posture of spherical fruits and vegetables (such as realizing secondary online correction of the orientation of the stem and calyx after grasping), so that it meets the packaging requirements. The packaging consistency requirements can be met without additional workstations. Moreover, the rotation and lifting actions are integrated into the same robotic arm 440, which has a compact structure and short cycle time, significantly improving the system flexibility and space utilization. When the rotating bracket 447 drives the fruits and vegetables to rotate, the second image recognition component 480 can identify whether the fruits and vegetables have reached the posture required for packaging. When the current fruits and vegetables are detected to be in the specified packaging posture, the rotating bracket 447 stops rotating.

[0070] Meanwhile, within the positioning groove 311, since there are no requirements regarding the orientation of the stems and calyxes of spherical fruits and vegetables, the adjustment component 330 can be used to help them reach the set posture more quickly, avoiding excessively long posture adjustment time within the positioning groove 311, which would lead to a decrease in production cycle time. Specifically, the adjustment component 330 within the positioning groove 311 can adjust the fruits and vegetables to the first preset posture. At this point, only the posture of certain specific parts of the fruits and vegetables needs to be considered (e.g., the equatorial side of an apple facing upwards, and the stem and calyx areas facing to the sides). When the fruits and vegetables are gripped by the suction cup 445, the second preset posture of the fruits and vegetables is further adjusted through the action of the second drive motor 446 and the rotating bracket 447 (regarding the specific orientation of the stem and calyx; in this embodiment, the guide packaging preset posture is that the calyx faces 45 degrees to the left). This avoids a decrease in production cycle time due to complex posture adjustments, while ensuring the consistency and aesthetics of the packaging, significantly improving the overall efficiency and flexibility of the fruit and vegetable packaging system.

[0071] See Figure 7As shown, according to some embodiments of the present invention, a first positioning component 450 is provided between the first slide rail 420 and the second slide rail 430. The first positioning component 450 includes a first photoelectric switch 451 and a first positioning baffle 452. The first photoelectric switch 451 is disposed on the first slide rail 420 and located at a preset initial position on the second slide rail 430. The first positioning baffle 452 is disposed on the second slide rail 430.

[0072] By setting a first positioning component 450 between the first slide rail 420 and the second slide rail 430, the first photoelectric switch 451 and the first positioning baffle 452 can be used to trigger a signal instantaneously when the first slide rail 420 returns to the preset initial position of the second slide rail 430. Based on this, the system determines that the motion platform of the second slide rail 430 has completed the return to zero, eliminates the accumulated positioning error, ensures that the coordinate reference of multiple robotic arms 440 is consistent before each grasp, and avoids the need for manual calibration after power-on or abnormality, thereby improving the efficiency of automatic line changing and the accuracy of repeated positioning.

[0073] See Figure 7 As shown, according to some embodiments of the present invention, a second positioning component 460 is provided between the first motor bracket 442 and the second slide rail 430. The second positioning component 460 includes a second photoelectric switch 461 and a second positioning baffle 462. The second photoelectric switch 461 is disposed on the first motor bracket 442 and located at a preset initial position of the first motor bracket 442. The second photoelectric switch 461 is disposed on the second slide rail 430.

[0074] By setting a second positioning component 460 between the first motor bracket 442 and the second slide rail 430, the cooperation of the second photoelectric switch 461 and the second positioning baffle 462 can be used to detect in real time whether the first motor bracket 442 has reached the preset initial position relative to the second slide rail 430. This ensures that the robotic arm 440 can accurately return to zero after completing the grasping task in the X direction, eliminates accumulated positioning errors, and avoids the need for manual calibration after power-on or abnormal restart, thereby improving the system's repeatability and reliability of automatic operation.

[0075] See Figure 9 As shown, according to some embodiments of the present invention, a third positioning component 470 is provided between the second motor bracket and the first motor bracket 442. The third positioning component 470 includes a third photoelectric switch 471 and a third positioning baffle 472. The third photoelectric switch 471 is disposed on the first motor bracket 442 and located at a preset initial angle on the second motor bracket. The third positioning baffle 472 is disposed on the second motor bracket.

[0076] By setting a third positioning component 470 between the second motor bracket and the first motor bracket 442, the rotation bracket 447 can determine whether it has returned to the preset initial angle by using the instantaneous trigger signals of the third photoelectric switch 471 and the third positioning baffle 472 after completing the attitude correction. This achieves automatic zero-position calibration of rotation, eliminates cumulative angle error, ensures consistent rotation reference when grabbing the next fruit and vegetable, and avoids manual reset after system restart or abnormality, significantly improving rotation repeatability accuracy and reliability of continuous operation.

[0077] Therefore, the spherical fruit and vegetable packaging robot system provided by the present invention, through the coordinated action of the first positioning component 450, the second positioning component 460 and the third positioning component 470, can automatically complete the zero-position calibration of the X, Y and rotation axes before each round of grasping, eliminate motion accumulation error, ensure that the coordinates of multiple robotic arms 440 are consistent with the angle reference, and achieve high-precision repeatable positioning.

[0078] See Figure 10 As shown, according to some embodiments of the present invention, a distance sensor 448 is provided inside the suction cup 445.

[0079] By setting a distance sensor 448 inside the suction cup 445, the distance between the suction cup 445 and the fruits and vegetables can be measured in real time, thereby ensuring that the suction cup 445 will not damage the fruits and vegetables when it quickly grabs them.

[0080] See Figure 6 As shown, according to some embodiments of the present invention, the first image recognition component 320 includes a plurality of image recognition devices 321, which are spaced apart along the X direction on the gripping packaging bracket 410, and the recognition end of the image recognition device 321 is disposed toward the positioning groove 311.

[0081] By setting the first image recognition component 320 as a plurality of image recognition devices 321 arranged at intervals along the X direction, with each recognition end facing the corresponding positioning slot 311, and each image recognition device 321 performing posture recognition on fruits and vegetables in the plurality of positioning slots 311, the recognition accuracy can be improved, and the problems of insufficient pixel resolution and severe edge distortion caused by the large field of view of a single camera can be avoided. At the same time, the false detection or missed detection caused by the mutual occlusion of fruits and vegetables can be reduced, ensuring the accuracy and stability of posture feedback.

[0082] As an example, in this embodiment, the first image recognition component 320 includes two image recognition devices 321 (taking an industrial camera as an example). One industrial camera, located on the side, is used to identify and detect spherical fruits and vegetables in the four positioning slots 311 on the left side (as shown in the diagram), and the other industrial camera, located on the side, is used to identify and detect spherical fruits and vegetables in the four positioning slots 311 on the right side (as shown in the diagram). The second image recognition component 480 includes an industrial camera located in the center, used to align with the background plate on the grasping packaging bracket 410 (the background plate color can be matte black, which is easier to achieve apple image detection), and can be used to perform posture detection when the angle of the fruits and vegetables grasped by the robotic arm 440 is adjusted.

[0083] See Figure 1 As shown, according to some embodiments of the present invention, the box conveying unit 500 further includes a second detection component 520, which is disposed at the unloading position of the box conveying device 510 corresponding to the robotic arm 440.

[0084] By setting a second detection component 520 at the unloading position of the robotic arm 440 corresponding to the box conveying device 510, the box conveying device 510 can be automatically controlled to stop running and maintain positioning when the empty box arrives at the unloading position of the robotic arm 440 corresponding to the box conveying device 510. This ensures that the placement action of the robotic arm 440 is completed in a stationary and accurately aligned box, avoiding deviation in the landing point or damage to fruits and vegetables due to the continued movement of the box, and improving the packing accuracy and consistency of the operating rhythm.

[0085] The second detection component 520 preferably uses a reflective photoelectric sensor. When the box conveying device 510 corresponds to the unloading position of the robotic arm 440, the emitted beam of the reflective photoelectric sensor is blocked by the box and reflected back to the receiving end, instantly outputting a positioning signal. The control system can immediately stop the box conveying device 510 and further control the robotic arm 440 to perform placement, realizing contactless and fast-response positioning detection, ensuring that the boxing action is completed in a stationary and accurately positioned box, avoiding drop point deviation or damage to fruits and vegetables, and improving system cycle time and reliability.

[0086] See Figure 3 As shown, according to some embodiments of the present invention, the positioning groove 311 is provided with flexible balls 312 along the circumferential direction.

[0087] By setting flexible balls 312 along the circumferential direction in the positioning groove 311, spherical fruits and vegetables can be buffered and supported, avoiding direct collision or compression between the fruits and vegetables and the rigid groove wall during rotation and adjustment, reducing the risk of skin damage. Furthermore, the rolling characteristics of the balls reduce the frictional resistance between the fruits and vegetables and the groove wall, making the rotation of the fruits and vegetables more stable and smooth, and improving the accuracy and efficiency of posture adjustment.

[0088] Flexible ball bearings 312 can be made of food-grade flexible materials such as rubber. They have good cushioning and shock absorption effects, long service life, and will not cause pollution or chemical residues to fruits and vegetables, thus meeting the safety and hygiene requirements of food packaging.

[0089] See Figure 1 As shown, according to some embodiments of the present invention, the feeding conveyor 110 and the feeding unit 200 are both arranged along the Y direction, and the discharge end of the feeding unit 200 is located inside the gripping packaging bracket 410; the box conveyor 510 is inserted through the gripping packaging bracket 410 along the Y direction, the feeding side of the box conveyor 510 is located below the feeding conveyor 110 and the feeding unit 200, and the feeding end of the box conveyor 510 and the feeding end of the feeding conveyor 110 are located on the same side.

[0090] By arranging the key components of the spherical fruit and vegetable packaging robot system in the above manner, a three-dimensional reflux layout with upper-layer feeding and lower-layer box output can be formed, which greatly shortens the material idle travel and line footprint, allowing operators to complete fruit and vegetable feeding and empty box feeding operations on the same side, reducing labor intensity and improving the overall packaging cycle time and layout compactness.

[0091] The working principle of the spherical fruit and vegetable packaging robot system provided by this invention will be illustrated with specific examples below. (See also...) Figures 11 to 15 As shown. In this example, spherical fruits and vegetables, such as apples, are used as an example. The feeding unit 200 includes eight feeding channels 210 arranged adjacent to each other along the X direction, the first image recognition component 320 includes three image recognition devices 321, and the gripping and packaging unit 400 includes four robotic arms 440.

[0092] See Figure 11 The diagram shows the initial state of the first slide rail 420, the robotic arms 440 on the first slide rail 420, and the cylinders on each robotic arm 440 in a spherical fruit and vegetable packaging robot system. At this state, the first positioning baffle 452 is located in the first photoelectric switch 451, the second positioning baffle 462 is located in the second photoelectric switch 461, and the third positioning baffle 472 is located in the third photoelectric switch 471. The preset initial position of the first slide rail 420 is set to the end of the second slide rail 430 near the feeding unit 200. The preset initial position of each robotic arm 440 is set to the left side as shown in the diagram (arranged sequentially). The preset initial angle of the cylinders on the robotic arms 440 is the initial angle of the third positioning baffle 472 located in the third photoelectric switch 471. Simultaneously, the empty boxes on the box conveying device 510 have reached the unloading position of the robotic arms 440, taking an empty box with three rows and four columns of fruit slots as an example.

[0093] See Figure 12As shown, when the first image recognition component 320 detects that the apple's posture adjustment in the corresponding positioning slot 311 of the posture adjustment unit 300 has been initially completed, the robotic arm 440 moves above the corresponding positioning slot 311 according to a preset program and grasps the apple in the positioning slot 311 using the suction cup 445. At this time, the positions of the apple's stem and calyx have not yet been adjusted. See the control logic block diagram of the posture adjustment unit 300 for details. Figure 16 As shown.

[0094] See Figure 13 As shown, the second drive motor 446 drives the rotating bracket 447 to rotate the apple on the cylinder and suction cup 445. Simultaneously, the second image recognition component 480 continues to identify whether the apple's angle has reached the preset packaging posture (the calyx facing 45 degrees to the left). If the preset posture is reached, the second drive motor 446 stops. After the angles of all apples on the robotic arms 440 have been adjusted, the first slide rail 420 moves along the Y direction on the second slide rail 430 to above the empty box. Then, the cylinder places the apple on the suction cup 445 into the empty box, retracts it, and returns it to its initial state. See [link to documentation]. Figure 14 and Figure 15 As shown.

[0095] When the empty box is filled with fruit, the box conveyor 510 can transport the entire box of apples to the unloading end for further processing.

[0096] See Figure 17 As shown in the figure, the control method of the spherical fruit and vegetable packaging robot system provided in this embodiment of the invention includes the following steps.

[0097] S110: Obtain the quantity and location information of the spherical fruits and vegetables to be grasped within the posture adjustment unit 300, as well as the quantity and location information of the idle robotic arm 440.

[0098] S120. Based on the fact that the number of spherical fruits and vegetables to be grasped is greater than or equal to the number of idle robotic arms 440, determine that all idle robotic arms 440 are grasping robotic arms 440. Based on the position information of each grasping robotic arm 440 and the position information of the spherical fruits and vegetables to be grasped, determine the movement path of each grasping robotic arm 440. Alternatively, based on the fact that the number of spherical fruits and vegetables to be grasped is less than the number of idle robotic arms 440, and the position information of the spherical fruits and vegetables to be grasped and the position information of the idle robotic arms 440, determine the grasping robotic arms 440 and the avoidance robotic arms 440 among the idle robotic arms 440, and determine the movement paths of the grasping robotic arms 440 and the avoidance robotic arms 440 respectively.

[0099] The control method of the spherical fruit and vegetable packaging robot system provided by the present invention compares the quantity and position information of the fruit and vegetables to be grasped and the idle robotic arms 440 in real time. When there are enough fruits and vegetables, all robotic arms 440 can be mobilized to grasp in parallel and plan the shortest path. When there are not enough fruits and vegetables, grasping and avoidance roles are automatically assigned and corresponding paths are calculated simultaneously. This eliminates path conflicts and waiting time of robotic arms 440, and ensures that the grasping task is completed with the minimum stroke in each round of scheduling, which significantly improves the packaging cycle and equipment utilization.

[0100] Specifically, in step S110, the quantity and position information of the spherical fruits and vegetables to be grasped within the attitude adjustment unit 300, as well as the quantity and position information of the idle robotic arms 440, are obtained. The positioning slot 311 can be photographed in real time by the image recognition device 321, and the fruit and vegetable attitude marking results can be output. Simultaneously, the real-time coordinates fed back by the encoders of the servo motors of each robotic arm 440 are read. Based on this, the system automatically counts the number of grasped targets and movable arms and their corresponding positions, achieving rapid and accurate updates of the data required for scheduling.

[0101] In step S120, based on the fact that the number of spherical fruits and vegetables to be grasped is greater than or equal to the number of idle robotic arms 440, all idle robotic arms 440 are determined to be grasping robotic arms 440. Based on the position information of each grasping robotic arm 440 and the position information of the spherical fruits and vegetables to be grasped, the movement path of each grasping robotic arm 440 is determined. The straight-line distance between each robotic arm 440 and the target fruits and vegetables can be calculated, and the task can be assigned using the shortest distance matching principle. Simultaneously, a collision-free synchronous trajectory along the X, Y, and rotation axes can be generated using a preset kinematic model, achieving optimal path planning for parallel grasping by all idle arms.

[0102] In step S120, based on the fact that the number of spherical fruits and vegetables to be grasped is less than the number of idle robotic arms 440, and the position information of the spherical fruits and vegetables to be grasped and the position information of the idle robotic arms 440, the grasping robotic arm 440 and the avoidance robotic arm 440 among the idle robotic arms 440 are determined, and the movement paths of the grasping robotic arm 440 and the avoidance robotic arm 440 are determined respectively. By calculating the straight-line distance between all idle robotic arms 440 and the fruits and vegetables to be grasped, and sorting them from closest to furthest, the nearest arm with the same number of fruits and vegetables is selected as the grasping robotic arm 440, and the remaining arms are automatically set as avoidance robotic arms 440. The grasping robotic arm 440 moves to the target fruits and vegetables using the shortest path planning, while the avoidance robotic arm 440 retreats to the avoidance position along a safe path outside the operating range of the X-axis movement module. This achieves synchronous planning of grasping and avoidance, avoids path conflicts, and ensures maximum scheduling efficiency.

[0103] See Figure 18As shown, the system first counts the number of apples to be grabbed and the number of available robotic arms 440: if the number of apples is not less than the number of robotic arms 440, then all robotic arms 440 are identified as grabbing robotic arms 440, and each grabs the target according to the "shortest distance" principle, and immediately calculates the corresponding grabbing path; otherwise, it enters the filtering mode - the idle arms are sorted by distance, and the nearest arm with the same number of apples is selected as the grabbing robotic arm 440, and the rest are automatically assigned to avoidance robotic arms 440. The grabbing side performs target allocation and path planning, and the avoidance side only calculates the trajectory to retreat to the safe zone. The two generate instructions synchronously and then issue them at once to ensure that parallel grabbing and spatial avoidance are completed at the same time.

[0104] Subsequently, all path instructions are sent to the control system for execution: the grasping robotic arm 440 moves along the planned trajectory to the corresponding positioning slot 311 to complete the fruit suction, posture correction and boxing actions, while the avoidance robotic arm 440 moves in advance to the preset avoidance position outside the X-axis running range and remains stationary until the end signal of this round of grasping arrives; this process eliminates the path conflict that may be caused by the simultaneous movement of multiple arms, and also ensures that each robotic arm 440 is always in a clear state of grasping or avoiding, thereby achieving continuous collision-free automatic packaging operations with the minimum stroke and the highest cycle time.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spherical fruit and vegetable packaging robot system, characterized in that, include: The feeding unit includes a feeding conveyor device, which is used to convey spherical fruits and vegetables into the feed. The feeding unit includes multiple feeding channels arranged along the X direction, and the inlet end of the feeding channel is connected to the outlet end of the feeding unit; The posture adjustment unit includes an adjustment bracket, a first image recognition component, and multiple adjustment components. The adjustment bracket is provided with multiple positioning slots along the X direction that correspond one-to-one with the multiple feeding channels. Each positioning slot is provided with an adjustment component. The adjustment component is used to drive the spherical fruits and vegetables to rotate to adjust to a set packaging posture. The first image recognition component is used to detect the posture of the spherical fruits and vegetables located in the positioning slot. The gripping and packaging unit includes a gripping and packaging support, a first slide rail, a second slide rail, and multiple robotic arms for gripping spherical fruits and vegetables in the positioning groove. The first slide rail and the second slide rail are both disposed on the packaging support. The first slide rail is disposed along the X direction, and the second slide rail is disposed along the Y direction. The first slide rail is slidably disposed on the second slide rail along the Y direction. The multiple robotic arms are slidably disposed on the first slide rail along the X direction. The number of feeding channels is greater than or equal to the number of robotic arms. The box conveying unit includes a box conveying device located at the unloading end of the robotic arm, used to convey empty boxes or boxes that have been filled with fruit.

2. The spherical fruit and vegetable packaging robot system according to claim 1, characterized in that, The feeding unit also includes multiple feeding and conveying devices, which are respectively arranged in the feeding channel; A first detection component for detecting spherical fruits and vegetables is provided inside or outside the positioning groove. The first detection component is communicatively connected to the corresponding feeding and conveying device and the corresponding adjustment component.

3. The spherical fruit and vegetable packaging robot system according to claim 1, characterized in that, The robotic arm includes a first drive motor, a first motor bracket, a drive gear, a linear drive device, and a suction cup. The first drive motor is mounted on the first motor bracket, the drive gear is mounted on the output shaft of the first drive motor, the linear drive device is arranged vertically and connected to the first motor bracket, and the suction cup is mounted on the output end of the linear drive device. The first slide rail is provided with a rack along the X direction, and the drive gear meshes with the rack.

4. The spherical fruit and vegetable packaging robot system according to claim 3, characterized in that, The robotic arm also includes a second drive motor and a rotating bracket. The second drive motor is mounted on the first motor bracket, and the rotating bracket is rotatably connected to the first motor bracket. The linear drive device is mounted on the rotating bracket, and the output shaft of the second drive motor is drively connected to the rotating bracket to drive the rotating bracket to rotate relative to the first motor bracket. The grasping and packaging unit also includes a second image recognition component, which is used to detect the posture of spherical fruits and vegetables on the suction cup.

5. The spherical fruit and vegetable packaging robot system according to claim 4, characterized in that, A first positioning component is provided between the first slide rail and the second slide rail. The first positioning component includes a first photoelectric switch and a first positioning baffle. The first photoelectric switch is located on the first slide rail and at a preset initial position on the second slide rail. The first positioning baffle is located on the second slide rail. And / or, a second positioning component is provided between the first motor bracket and the second slide rail. The second positioning component includes a second photoelectric switch and a second positioning baffle. The second photoelectric switch is provided on the first motor bracket and located at a preset initial position of the first motor bracket. The second photoelectric switch is provided on the second slide rail. And / or, a third positioning component is provided between the second motor bracket and the first motor bracket. The third positioning component includes a third photoelectric switch and a third positioning baffle. The third photoelectric switch is located on the first motor bracket and at a preset initial angle on the second motor bracket. The third positioning baffle is located on the second motor bracket. And / or, the suction cup is equipped with a distance sensor.

6. The spherical fruit and vegetable packaging robot system according to any one of claims 1 to 5, characterized in that, The first image recognition component includes multiple image recognition devices, which are spaced apart along the X direction on the gripping packaging bracket, and the recognition end of each image recognition device is positioned towards the positioning groove.

7. The spherical fruit and vegetable packaging robot system according to any one of claims 1 to 5, characterized in that, The box conveying unit further includes a second detection component, which is located at the unloading position of the box conveying device corresponding to the robotic arm.

8. The spherical fruit and vegetable packaging robot system according to any one of claims 1 to 5, characterized in that, The positioning groove is provided with flexible balls along its circumference.

9. The spherical fruit and vegetable packaging robot system according to any one of claims 1 to 5, characterized in that, Both the feeding conveyor and the feeding unit are arranged along the Y direction, and the discharge end of the feeding unit is located inside the gripping and packaging bracket. The box conveying device is installed along the Y direction through the gripping and packaging bracket. The loading side of the box conveying device is located below the loading conveying device and the feeding unit, and the loading end of the box conveying device and the loading end of the loading conveying device are on the same side.

10. A control method for a quasi-spherical fruit and vegetable packaging robot system as described in any one of claims 1 to 9, characterized in that, include: The quantity and position information of the spherical fruits and vegetables to be grasped within the posture adjustment unit, as well as the quantity and position information of the idle robotic arms, are obtained. Based on the fact that the number of spherical fruits and vegetables to be grasped is greater than or equal to the number of idle robotic arms, all the idle robotic arms are determined to be grasping robotic arms. Based on the position information of each grasping robotic arm and the position information of the spherical fruits and vegetables to be grasped, the movement path of each grasping robotic arm is determined. Alternatively, based on the fact that the number of spherical fruits and vegetables to be grasped is less than the number of idle robotic arms, and the position information of the spherical fruits and vegetables to be grasped and the position information of the idle robotic arms, the grasping robotic arm and the avoidance robotic arm among the idle robotic arms are determined, and the movement paths of the grasping robotic arm and the avoidance robotic arm are determined respectively.

Images