A picking robot

Abstract

This application relates to the field of material handling technology, and in particular discloses a harvesting robot, including a chassis, a holding component, a sorting component, and a harvesting component. The chassis is provided with a carrying platform, the holding component is disposed on the carrying platform, the holding component includes multiple parallel and independent holding cavities, the sorting component is disposed on the carrying platform, the sorting component is located above the holding component, and the sorting area of ​​the sorting component covers the holding cavities of the holding component, and the harvesting component is disposed on the carrying platform. The harvesting component is used to grip and transfer the items to be harvested to the sorting component, and the sorting component is used to sort the harvested items into the corresponding holding cavities. Through the above method, this application embodiment enables the harvesting robot to classify the items to be harvested by relying on the sorting component, thereby reducing the degree of human intervention when the items to be harvested are centrally stored, and improving harvesting efficiency.

Description

Technical Field

[0001] This application relates to the field of handling device technology, and in particular to a harvesting robot. Background Technology

[0002] Harvesting robots, as machines used in agriculture to replace manual harvesting, are favored by plantation workers due to their ability to work continuously for long periods and their low operating costs. Harvesting robots mainly consist of a moving device, an extending device, a gripping device, and a harvesting basket. One end of the extending device is mounted on the moving device, and the gripping device is mounted on the other end of the extending device. The harvesting basket is mounted on the moving device. The extending device is used to deliver the gripping device to the fruit, and the gripping device picks up the fruit and places it in the harvesting basket. The moving device enables the harvesting robot to move quickly to pick fruit from different plants.

[0003] In the process of realizing this application, the inventors of this application discovered that: Currently, after the gripping device of the harvesting robot picks the fruit from the plant, it places it in the harvesting basket. When the fruit in the harvesting basket reaches the upper limit of the basket's volume, the moving device transports the fruit to a centralized collection point for recycling. However, the fruit growing on the plant is of different sizes, and the fruit still needs to be sorted and sieved manually at the centralized collection point, which increases the harvesting cost. Utility Model Content

[0004] This application provides a harvesting robot, which mainly solves the technical problem that existing harvesting robots cannot classify the harvested items, increasing the number of manual steps and affecting harvesting efficiency.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a harvesting robot, including a chassis, a holding component, a sorting component, and a harvesting component. The chassis is provided with a carrying platform, the holding component is disposed on the carrying platform, the holding component includes multiple parallel and independent holding cavities, the sorting component is disposed on the carrying platform, the sorting component is located above the holding component, the sorting area of ​​the sorting component covers the holding cavities of the holding component, and the harvesting component is disposed on the carrying platform. The harvesting component is used to grip and transfer the items to be harvested to the sorting component, and the sorting component is used to sort the harvested items into the corresponding holding cavities.

[0006] Optionally, the sorting assembly includes a mounting frame, a receiving tray, and two guide rods. The mounting frame is fixed to the carrying platform. One end of the receiving tray is fixed to the mounting frame, and the other end of the receiving tray is inclined toward the carrying platform. A discharge port is provided on the side wall of the receiving tray. One end of the two guide rods is spaced apart from the discharge port, and the other end of the two guide rods extends away from the discharge port. The distance between the two guide rods increases along the extension direction of the two guide rods.

[0007] Optionally, the receiving plate includes a base plate and two side plates, the two side plates being fixed to the base plate in a trumpet shape, and the distance between the two side plates gradually decreasing towards the bearing platform.

[0008] Optionally, the other end of the two guide rods is inclined toward the bearing platform.

[0009] Optionally, the mounting bracket includes four uprights and a fixing rod. The uprights are spaced apart around the container assembly. One end of each of the four uprights is connected to the support platform, and the other end of two of the uprights is connected to the receiving plate. The fixing rod is located at the other end of the other two uprights, and the two guide rods are connected to the other end of the other two uprights. One or both of the two guide rods are rotatably connected to the receiving plate along a direction parallel to the opening of the container cavity, and the other end is slidably connected to the fixing rod.

[0010] Optionally, the fixing rod is provided with a plurality of fixing slots at intervals, and the end of the guide rod can be accommodated in any one of the fixing slots.

[0011] Optionally, the picking robot includes a ranging component, which is disposed in the sorting component. The ranging component includes multiple ranging sensors, with one ranging sensor corresponding to one of the holding cavities.

[0012] Optionally, the container assembly includes multiple loading frames, each loading frame being provided with a receiving slot, the receiving slot forming the container cavity. The harvesting robot includes a limiting assembly, the limiting assembly including multiple limiting members, each pair of limiting members being spaced apart to form multiple limiting spaces, and one loading frame being received in one of the limiting spaces.

[0013] Optionally, the limiting member includes a first vertical wall, a second vertical wall, and a third vertical wall. The first vertical wall and the second vertical wall are opposite to each other and spaced apart. One end of the third vertical wall is vertically connected to the first vertical wall, and the other end of the third vertical wall is connected to the second vertical wall, so that the first vertical wall, the second vertical wall, and the third vertical wall together form a limiting groove.

[0014] Optionally, the container assembly includes multiple slide rails, which are fixed to the chassis at intervals. A loading frame is slidably disposed on one of the slide rails, and the loading frame is capable of reciprocating along the extension direction of the slide rail.

[0015] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides a harvesting robot including a chassis, a holding component, a sorting component, and a harvesting component. The chassis is equipped with a carrying platform, the holding component is disposed on the carrying platform, and the holding component includes multiple parallel and independent holding cavities. The sorting component is disposed on the carrying platform, located above the holding component, and its sorting area covers the holding cavities of the holding component. The harvesting component is disposed on the carrying platform and is used to grip and transfer the items to be harvested to the sorting component. Through the above structure, this application embodiment can, through the cooperation of the sorting component and the harvesting component, enable the harvesting component to grip the items to be harvested and place them on the sorting component to classify them by size. This allows items of different sizes to fall into their corresponding holding cavities, achieving classified storage of the items and reducing the cost of manual sorting. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is an exploded structural diagram of a harvesting robot provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of the assembly structure of a harvesting robot provided in an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of the receiving plate and guide rod of a harvesting robot provided in an embodiment of this application;

[0020] Figure 4 yes Figure 3 Enlarged view of part A in the middle;

[0021] Figure 5 This is a schematic diagram of the base plate without a slide rail of a harvesting robot provided in an embodiment of this application;

[0022] Figure 6 yes Figure 5 Enlarged view of part B in the middle;

[0023] Figure 7 This is a schematic diagram of the structure of the fixing rod of a harvesting robot provided in an embodiment of this application;

[0024] Figure 8 yes Figure 5 Enlarged view of a section in the middle C;

[0025] Figure 9 This is a schematic diagram of a harvesting robot with a sliding rail provided in an embodiment of this application.

[0026] Icon labels:

[0027] 100. Harvesting robots;

[0028] 1. Chassis; 11. Load-bearing platform; 12. Rotating frame; 121. First rotating plate; 122. Second rotating plate; 123. Rotating shaft; 13. Limiting block;

[0029] 2. Container assembly; 21. Container cavity; 22. Loading frame; 221. Receiving slot; 23. Slide rail;

[0030] 3. Sorting assembly; 31. Mounting frame; 311. Upright pole; 312. Fixing rod; 3121. Fixing groove; 32. Receiving tray; 321. Discharge port; 322. Base plate; 323. Side plate; 3231. Rotating groove; 3232. Rotating column; 33. Guide rod; 331. Rotating hole; 34. Drive component;

[0031] 4. Harvesting components;

[0032] 5. Motion components;

[0033] 6. Distance measuring component;

[0034] 7. Limiting component; 71. Limiting element; 711. Limiting space; 712. First vertical wall; 713. Second vertical wall; 714. Third vertical wall; 715. Limiting groove;

[0035] 8. Main body;

[0036] 9. Identification components. Detailed Implementation

[0037] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0039] Existing harvesting robots mainly consist of a chassis, a holding component, and a harvesting component. Both the holding and harvesting components are fixed to the chassis. This type of harvesting robot collects the harvested fruit into the holding component after harvesting. When the holding component reaches a preset capacity, the robot transfers the fruit to a centralized collection point for storage. However, the harvested fruit varies in size and needs to be sorted by size during storage or transportation. This sorting process is done manually, increasing the harvesting cost for users. Furthermore, manual sorting takes time, which can affect harvesting efficiency, especially for fruit with a short harvesting period.

[0040] To solve the above-mentioned technical problems, this application provides a harvesting robot 100. Please refer to [link / reference]. Figure 1 and Figure 2 The harvesting robot 100 includes a chassis 1, a holding component 2, a sorting component 3, and a harvesting component 4. The chassis 1 is equipped with a support platform 11, which is used to hold various parts and lift them away from the ground. The holding component 2 is set on the support platform 11 and includes multiple parallel and independent holding cavities 21. The sorting component 3 is set on the support platform 11 and is located above the holding component 2. The sorting area of ​​the sorting component 3 covers the holding cavities 21 of the holding component 2. The harvesting component 4 is set on the support platform 11 and is used to pick up and transfer the items to be harvested to the sorting component 3. The sorting component 3 is used to sort the harvested items into the corresponding holding cavities 21. Through the above structure, this application can classify the objects to be picked by sorting component 3, so that the fruits picked by picking component 4 are sorted by sorting component 3 and then stored in each independent storage cavity 21 according to the classification. The picking robot 100 realizes the operation process of picking, sorting and storing the objects to be picked, which improves the automation level of the picking robot 100. Compared with the picking robot 100 without sorting component 3, the picking robot 100 of this application can save the time and labor costs of manual sorting and improve the picking and storage efficiency of the picking robot 100.

[0041] Understandably, the chassis 1 of the picking robot 100 is also equipped with a motion component 5, so that the picking robot 100 can drive the chassis 1 and the holding component 2, sorting component 3 and picking component 4 set on the chassis 1 to move under the drive of the motion component 5, thereby realizing the picking of the items to be picked in different location areas and the transportation of the items to be picked.

[0042] It should be noted that the structure that can be selected for motion component 5 includes, but is not limited to, tracks, mechanical legs, etc.

[0043] In some embodiments, please refer to Figure 1 and Figure 3 The sorting assembly 3 includes a mounting frame 31, a receiving tray 32, and two guide rods 33. The mounting frame 31 is fixed to the support platform 11. One end of the receiving tray 32 is fixed to the mounting frame 31, and the other end of the receiving tray 32 is inclined towards the support platform 11 so that the items to be picked contained in the receiving tray 32 can roll along the inclined direction of the receiving tray 32 under its own weight. The side wall of the receiving tray 32 is provided with a discharge port 321, and one end of the two guide rods 33 is spaced apart at the discharge port 321. The other ends of the two guide rods 33 extend away from the discharge port 321. Along the extension direction of the two guide rods 33, the distance between the two guide rods 33 increases, so that the two guide rods 33 form a trapezoidal gap by means of their gradually increasing distance. Along the direction of the guide rods 33 away from the receiving plate 32, the width of the gap gradually increases, so that fruits of different sizes can fall at different positions in the gap formed by the guide rods 33, and then fall into the corresponding holding cavity 21. The mounting frame 31 raises the receiving tray 32 away from the chassis 1 so that the sorting assembly 3 has enough space to classify the items to be picked. The receiving tray 32 is used to temporarily hold the items to be picked that need to be classified. The inclined receiving tray 32 allows the items to be picked in the receiving tray 32 to have enough initial speed to roll along the two guide rods 33 when they roll out from the discharge port 321 under their own weight. When the items to be picked move to a position where the width of the gap is equal to or greater than the diameter of the items to be picked, the items to be picked will fall from that position into the holding cavity 21 below, thereby achieving the sorting of the size of the items to be picked.

[0044] It should be noted that the tilt angle of the receiving tray 32 relative to the supporting platform 11 of the chassis 1 needs to be sufficiently large to ensure that the harvested material, under its own weight, rolls out of the discharge port 321 with sufficient initial velocity and travels a sufficient distance along the guide rods 33, thereby enabling the trapezoidal gaps between the guide rods 33 to classify the harvested material. For example, the tilt angle of the receiving tray 32 relative to the supporting platform 11 of the chassis 1 can be any angle between 30° and 90°.

[0045] For the aforementioned receiving plate 32, please refer to... Figure 4 The receiving tray 32 includes: a base plate 322 and at least two side plates 323 (preferably two side plates 323 in this application). The two side plates 323 are fixed to the base plate 322 in a trumpet shape. The distance between the two side plates 323 gradually decreases towards the bearing platform 11 so that the two side plates 323 can guide the items to be picked temporarily contained on the bearing tray, so that the items to be picked can slide out along the discharge port 321 formed by the two side plates 323, thereby ensuring that the items to be picked can fall smoothly into the gap between the two guide rods 33 for size classification.

[0046] It should be noted that the width of the discharge port 321 (i.e., the minimum distance between the two side plates 323) is equal to the minimum distance between the two guide rods 33, in order to ensure the normal operation of the sorting device.

[0047] In some embodiments, the other ends of the two guide rods 33 are inclined toward the bearing platform 11 to accelerate the rolling speed of the object to be picked in the gap between the guide rods 33. Specifically, when the object to be picked rolls out of the discharge port 321, it will have an initial movement speed V1. Under the action of gravitational acceleration G, the two inclined guide rods 33 will apply a force F to the object to be picked rolling between the two guide rods 33, so that the movement speed V2 of the object to be picked along the extension direction of the guide rods 33 is greater than the initial speed V1, thereby accelerating the sorting efficiency of the sorting component 3 in classifying the object to be picked.

[0048] In some embodiments, please refer to Figure 1 The mounting frame 31 includes four uprights 311 and a fixed rod 312. The uprights 311 are spaced apart around the holding assembly 2. One end of each upright is connected to the support platform 11, and the other end of two uprights 311 is connected to the receiving plate 32. The fixed rod 312 is located at the other end of the other two uprights 311 and is rotatably connected to the other end of the other two uprights 311. A guide rod 33 is connected to the other end of the other two uprights 311. One or both of the guide rods 33 are rotatably connected to the receiving plate 32 along a direction parallel to the opening of the holding cavity 21, and the other end is slidably connected to the fixed rod 312. This structure allows the guide rods 33 to be rotatably mounted on the receiving plate 32, thereby making the width of the trapezoidal spacing between the two guide rods 33 adjustable. By sliding the other end of the guide rod 33 on the fixed rod 312, the sorting accuracy of the sorting assembly 3 for the items to be picked can be adjusted. Specifically, the greater the distance between the other ends of the two guide rods 33, the larger the diameter range of the items to be picked that the sorting component 3 can classify; the smaller the distance between the other ends of the two guide rods 33, the smaller the diameter range of the items to be picked that the sorting component 3 can classify.

[0049] Furthermore, in some embodiments, please refer to Figure 5 and Figure 6 The support platform 11 is provided with multiple rotating frames 12, each rotating frame 12 corresponding to a vertical pole 311. Each rotating frame 12 includes a first rotating plate 121 and a second rotating plate 122 spaced apart, and a rotating shaft 123. The first rotating plate 121 and the second rotating plate 122 are respectively provided with a first rotating hole and a second rotating hole. The vertical pole 311 is provided with a third rotating hole. The rotating shaft 123 passes through the first rotating hole, the second rotating hole and the third rotating hole in sequence. The inner wall of the rotating shaft 123 and the third rotating hole are interference-fitted, and the inner wall of the rotating shaft 123 and the second rotating hole and the inner wall of the first rotating hole are clearance-fitted, so that the vertical pole 311 can rotate around the rotating shaft 123.

[0050] In some embodiments, please refer to Figure 4 One end of a guide rod 33 is rotatably connected to a receiving plate 32 along a direction parallel to the opening of the container cavity 21, and the other end of the guide rod 33 is slidably connected to a fixed rod 312. One end of another guide rod 33 is fixed to the receiving plate 32, and the other end of the guide rod 33 is fixed to the fixed rod 312. The distance between the two guide rods 33 is adjusted by moving the position of the guide rod 33 on the fixed rod 312. In other embodiments, one end of another guide rod 33 is rotatably connected to the receiving plate 32 along a direction parallel to the opening of the container cavity 21, and the other end of the guide rod 33 is slidably connected to the receiving plate 32. A fixed rod 312 is used. One end of a guide rod 33 is fixed to the receiving plate 32, and the other end of the guide rod 33 is fixed to the fixed rod 312. The distance between the two guide rods 33 can be adjusted by moving the position of the guide rod 33 on the fixed rod 312. In some embodiments, one end of each of the two guide rods 33 is rotatably connected to the receiving plate 32 in a direction parallel to the opening of the container cavity 21, and the other end of each of the two guide rods 33 is slidably connected to the fixed rod 312. The distance between the two guide rods 33 can be adjusted by moving one of the guide rods 33 or by moving both guide rods 33.

[0051] In some embodiments, please refer to Figure 4 Two side plates 323 are provided with rotating grooves 3231 and rotating columns 3232 are provided at the opening of the rotating grooves 3231. One end of the guide rod 33 is provided with a rotating hole 331. The inner wall of the rotating hole 331 and the rotating column 3232 are fitted with a gap so that the guide rod 33 can rotate around the rotating column 3232.

[0052] It should be noted that the distance between the other ends of the two guide rods 33 is greater than the distance between the two guide rods 33 at one end, in order to ensure the normal operation of the sorting component 3 in classifying the items to be picked.

[0053] Understandably, to prevent the object to be harvested from exerting a squeezing force on the guide rods 33 as they roll between them, thus causing unintended displacement of the distance between the two guide rods 33, a limiting structure is also required to constrain the other end of the guide rod 33 when it slides to the desired position. Optional limiting structures include, but are not limited to, fixing grooves 3121, locking elements, limiting pins, and limiting holes. In this embodiment, a fixing groove 3121 is used as an example.

[0054] For details, please refer to Figure 7 The fixed rod 312 is provided with multiple fixed slots 3121 at intervals, and the end of the guide rod 33 can be accommodated in any one of the fixed slots 3121.

[0055] Understandably, the tilt angle of the fixing groove 3121 at different positions on the fixing rod 312 relative to the extension direction of the fixing rod 312 is different. The specific tilt angle is determined by the tilt angle of the guide rod 33 relative to the extension direction of the fixing rod 312 when it is received in the corresponding position of the fixing groove 3121. As long as it is ensured that the guide rod 33 can be smoothly received in the fixing groove 3121.

[0056] In some embodiments, the sorting assembly 3 further includes an elastic abutment (not shown) and a gripping housing (not shown). The gripping housing covers the connection position between the guide rod 33 and the fixing rod 312. The gripping housing can slide back and forth along the extension direction of the fixing rod 312 to drive the guide rod 33 to slide relative to the fixing rod 312. The gripping housing is provided with an abutment cavity. One end of the elastic abutment abuts against the inner wall of the gripping housing, and the other end of the elastic abutment abuts against the guide rod 33. The elastic abutment is compressed between the inner wall of the gripping housing and the guide rod 33. The elastic abutment continuously applies force to the guide rod 33 so that the guide rod 33 can be stably received in the fixing groove 3121. When external shaking occurs, or the object to be picked is squeezed or collided, the guide rod 33 will not move to an unexpected position.

[0057] Furthermore, to facilitate the user's selection of the smoothness of the guide rod 33 when it is housed in different fixed positions during sliding, in some embodiments, the fixing groove 3121 has a V-shaped opening. When the user needs to slide the guide rod 33, he / she only needs to push the holding housing with his / her hand to apply force along the extension direction of the fixing rod 312.

[0058] It should be noted that when the guide rod 33 slides relative to the fixed rod 312, the distance between the receiving plate 32 and the fixed rod 312 will change. Therefore, the length of the guide rod 33 needs to be long enough so that the guide rod 33 will not detach when sliding along the extension direction of the fixed rod 312. That is, the length of the guide rod 33 is greater than the farthest distance between the receiving plate 32 and the fixed rod 312.

[0059] In some embodiments, the guide rod 33 is a telescopic rod structure. For example, the guide rod 33 includes a first rod (not shown) and a second rod (not shown). One end of the first rod is connected to the receiving plate 32, and the other end of the first rod is telescopically connected to the second rod. The end of the second rod away from the first rod is slidably connected to the fixed rod 312. When the guide rod 33 slides relative to the fixed rod 312, the first rod and the second rod can undergo telescopic deformation. Specifically, the first rod is provided with a receiving cavity, and the partial telescopic deformation of the second rod is received in the receiving cavity.

[0060] Understandably, when the first and second rods of the guide rod 33 undergo elongation or shortening deformation, it can be done manually or by relying on the elastic force applied by the elastic element to assist the operation.

[0061] In some embodiments, the guide rod 33 includes an elastic element (not shown). One end of the elastic element abuts against the bottom wall of the receiving cavity, and the other end of the elastic element abuts against the end face of the second rod body received within the receiving cavity. The elastic element is compressed and received within the receiving cavity. By utilizing the elastic force stored in the compressed state of the elastic element, when the first and second rod bodies need to extend, the elastic element releases the elastic force to force the first and second rod bodies to slide relative to each other, thereby improving the smoothness of the relative sliding of the first and second rod bodies and enhancing the user experience. When the first and second rod bodies need to shorten, the elastic element contracts under pressure, accumulating elastic force.

[0062] In other embodiments, the sorting assembly 3 can be electrically driven to move the items to be picked instead of relying on the weight of the items. Specifically, the guide rod 33 is replaced with a conveyor belt device (not shown). One end of the receiving plate 32 is fixed to the mounting frame 31, and the other end of the receiving plate 32 is inclined toward the carrying platform 11. One end of the two conveyor belt devices is spaced apart at the discharge port 321 so that the items to be picked that roll out from the discharge port 321 can fall between the two conveyor belt devices. The other end of the conveyor belt devices extends away from the discharge port 321. Along the extension direction of the two conveyor belt devices, the distance between the two conveyor belt devices increases, and the two conveyor belt devices are inclined toward the center line of the two conveyor belt devices so that the bearing surfaces of the two conveyor belt devices form a "channel" type gap, so that when the conveyor belt devices transport the items to be picked by friction, the items to be picked will not fall off the conveyor belt devices, which would cause the sorting assembly 3 to fail to operate normally. Furthermore, the conveyor belt device can be set parallel to the carrying platform 11 or inclined in a direction away from the carrying platform 11. Compared with the guide rod 33 set parallel to or towards the carrying platform 11, the space between the conveyor belt device and the holding component 2 is larger, and the height of the holding component 2 can be increased. Therefore, in a single picking task, the picking robot 100 using the conveyor belt device can pick and transport more items to be picked than the picking robot 100 using the guide rod 33, further improving the picking efficiency of the picking robot 100.

[0063] Understandably, when the guide rod 33 is replaced with a conveyor belt device, the receiving tray 32 may not be set. Instead, the picking component 4 will place the material to be picked directly between the two conveyor belt devices. At this time, the conveyor belt devices need to be in operation so that the material to be picked can be sorted and screened in time when it falls between the two conveyor belt devices to avoid accumulation.

[0064] In some embodiments, the harvesting robot 100 includes a ranging component 6, see [link to relevant documentation]. Figure 1The ranging component 6 is disposed on the sorting component 3. The ranging component 6 includes multiple ranging sensors, with one ranging sensor corresponding to one container cavity 21. The ranging sensors are fixed to the guide rod 33 and are located on the side of the guide rod 33 facing the container cavity 21, so that the multiple ranging sensors can be directly facing the multiple container cavities 21. The distance sensor is used to detect the distance between the guide rod 33 and the container 21 and generate a feedback signal. The distance sensor is preset with a preset distance value (e.g., the used volume of the container 21 reaches 80%, 90%, 100%, etc.). When the distance sensor detects that the distance between the guide rod 33 and the object to be picked in the container 21 is less than the preset distance value, the picking robot 100 continues to pick. When the distance sensor detects that the distance between the guide rod 33 and the object to be picked in the container 21 is equal to or greater than the preset distance value, the picking robot 100 stops picking and moves to the collection point of the object to be picked in order to transfer the object to be picked in the container 21.

[0065] In some embodiments, the sorting component 3 is movably disposed on the support platform 11 so that when the sorting component 3 is not required to work, it can be moved away from above the container cavity 21, reducing obstruction of the container cavity 21 and preventing the picking component 4 from colliding with the sorting component 3 when performing picking work.

[0066] Furthermore, the sorting component 3 includes a drive unit 34, see [link / reference] Figure 1 The drive unit 34 is fixed to the support platform 11. One end of each of the four uprights 311 is rotatably mounted on the support platform 11. Two of the uprights 311 are rotatably mounted on the receiving plate 32, and the other two uprights 311 are fixedly connected to the fixing rod 312, or the other two uprights 311 are rotatably connected to the other ends of the two guide rods 33. The drive unit 34 is connected to any one of the four uprights 311. The drive unit 34 drives the upright 311 to rotate, thereby moving the receiving plate 32 and the guide rods 33, so that the receiving plate 32 and the guide rods 33 located above the holding assembly 2 move to an area that will not obstruct the upper part of the holding cavity 21. This structure enables the folding, storage, and concealment of the sorting assembly 3, improving the overall aesthetics of the picking robot 100 and increasing the selectable working modes of the picking robot 100 (using the sorting assembly 3 or concealing the sorting assembly 3).

[0067] It should be noted that the direction of movement of the receiving plate 32 and the guide rod 33 is determined by the direction of rotation of the upright 311 driven by the driving component 34. Therefore, the placement of the driving component 34 and the rotatable direction of the upright 311 need to be comprehensively considered based on the actual usable area of ​​the bearing platform 11.

[0068] For example, when there is sufficient space on the support platform 11 to accommodate the folded receiving tray 32 and guide rod 33 along the parallel direction of the holding cavity 21, the drive unit 34 is positioned parallel to this direction, and the upright 311 can rotate in the direction parallel to the holding cavity 21. This method is suitable for large-sized picking robots 100 to ensure that there is sufficient space on the support platform 11 to accommodate the picking materials and sorting components 3. Alternatively, when there is insufficient space on the support platform 11 to accommodate the folded receiving tray 32 and guide rod 33 along the parallel direction of the holding cavity 21, the drive unit 34 is positioned perpendicular to this direction, and the upright 311 can rotate in the direction perpendicular to the parallel direction of the holding cavity 21. This layout can effectively utilize the space on both sides of the chassis 1, allowing the receiving tray 32 and guide rod 33 to be suspended on both sides of the chassis 1.

[0069] Understandably, when there is sufficient space on the support platform 11 to accommodate the folded receiving tray 32 and guide rod 33 along the parallel direction of the container cavity 21, and the guide rod 33 is inclined as described above, the length of the other two guide rods 33 is less than the length of the two guide rods 33. When there is insufficient space on the support platform 11 to accommodate the folded receiving tray 32 and guide rod 33 along the parallel direction of the container cavity 21, the rotating frame 12 located on the same side of the container assembly 2 needs to be staggered to avoid the uprights 311 on the same side from obstructing each other during folding and affecting the normal operation of the folding function.

[0070] It should be noted that, in order to ensure that the receiving plate 32 and the guide rod 33 can be stably hovered when moved above the container assembly 2 by the drive component 34, corresponding limiting measures are also required to keep the receiving plate 32 and the guide rod 33 in a stable hovering state. Possible methods include, but are not limited to, using a limiting structure or a drive transmission method with self-locking characteristics.

[0071] For example, in some embodiments, please refer to Figure 1 or Figure 6 A limiting block 13 is provided on the chassis 1. The limiting block 13 is located adjacent to the rotation position of the upright 311 and the bearing platform 11, and is located on the side opposite to the rotation direction of the upright 311. When the driving component 34 drives the upright 311 to rotate, thereby moving the receiving plate 32 and the guide rod 33 to above the container assembly 2, the side wall of the upright 311 abuts against the limiting block 13, and the limiting block 13 limits the upright 311 to prevent the rotation angle of the upright 311 from being too large.

[0072] For example, in some other preferred embodiments, a turbine (not shown) and a worm (not shown) are used to transmit the motion of the drive member 34 to the upright 311. Specifically, one end of the upright 311, which is directly driven by the drive member 34, is provided with a rotating tooth. The rotating tooth is closer to the rotating frame 12 than the third rotating hole. The output end of the drive member 34 is a worm. Part of the worm extends into the gap between the first rotating plate 121 and the second rotating plate 122, and the worm meshes with the rotating tooth. The rotation of the worm drives the rotating tooth to rotate. The drive member 34 drives the worm to rotate, thereby driving the rotation of the upright 311. The rotation angle of the upright 311 is controlled by controlling the number of rotations of the worm. The self-locking property of the worm and the rotating tooth ensures that the upright 311 is stably maintained in this position when the drive member 34 is not working.

[0073] In some embodiments, please refer to Figure 1 , Figure 5 and Figure 8 The container assembly 2 includes multiple loading frames 22, each loading frame 22 is provided with a receiving slot 221, the receiving slot 221 forms a container cavity 21. The picking robot 100 includes a limiting assembly 7, which includes multiple limiting members 71. Every two limiting members 71 are spaced apart to form multiple limiting spaces 711. A loading frame 22 is received in a limiting space 711. The limiting effect of the limiting assembly 7 on the loading frame 22 enables the loading frame 22 to be fixed on the carrying platform 11.

[0074] Understandably, the side-by-side direction of the multiple limiting components 7 is consistent with the side-by-side direction of the container cavity 21, so that the container cavity 21 can be arranged in a preset direction.

[0075] For the aforementioned limiting member 71, please refer to... Figure 8 The limiting member 71 includes a first vertical wall 712, a second vertical wall 713, and a third vertical wall 714. The first vertical wall 712 and the second vertical wall 713 are opposite to each other and spaced apart. One end of the third vertical wall 714 is vertically connected to the first vertical wall 712, and the other end of the third vertical wall 714 is connected to the second vertical wall 713, so that the first vertical wall 712, the second vertical wall 713, and the third vertical wall 714 together form a limiting groove 715, and the limiting groove 715 is shaped as a " The shape of the character.

[0076] It should be noted that when the receiving tray 32 and the guide rod 33 are folded and stored along the parallel distribution direction of the container cavity 21, a gap space is left between two adjacent loading frames 22 so that the fixing rod 312 can be accommodated in the gap space between the two spaced loading frames 22 in the folded state. The specific selection of which two limiting members 71 are spaced apart depends on the actual length of the upright rod 311 and the position of the fixing rod 312 in the folded state, and will not be illustrated here. When the receiving tray 32 and the guide rod 33 are folded and stored along the parallel distribution direction perpendicular to the container cavity 21, the guide rod 33 and the receiving tray 32 are suspended on both sides of the chassis 1. Therefore, the loading frames 22 will not obstruct the guide rod 33, the receiving tray 32 and the fixing rod 312, and the loading frames 22 can be arranged in a parallel layout.

[0077] In some embodiments, when the loading frames 22 are arranged in a side-by-side layout, two adjacent limiting members 71 with their slots facing away from each other can share a third vertical wall 714 to save the number of limiting members 71, thereby reducing the space occupied by the limiting members 71 on the support platform 11, and thus increasing the proportion that the loading frames 22 can occupy in the limited space on the support platform 11.

[0078] It is understood that the limiting member 71 can be fixed to the support platform 11 by means of, but not limited to, welding, gluing, integral molding, screwing, snap-fitting, etc. For example, in this embodiment, the limiting member 71 is fixed to the support platform 11 by welding.

[0079] It should be noted that the movement of the loading frame 22 includes, but is not limited to: manually moving it to detach it from the limiting space 711, or sliding it out by means of the slide rail 23.

[0080] In some embodiments, please refer to Figure 9 The holding assembly 2 includes multiple slide rails 23, which are fixed to the chassis 1 at intervals. A loading frame 22 is slidably disposed on one slide rail 23. The loading frame 22 can slide back and forth along the extension direction of the slide rail 23, and the extension direction of the slide rail 23 is perpendicular to the direction in which the holding cavities 21 are arranged side by side. The slide rails 23 allow the loading frame 22 to slide relative to the support platform 11. This allows the loading frame 22 to be moved to a position where the sorting assembly 3 will not obstruct the loading of the loading frame 22 (e.g., the periphery of the chassis 1) when the receiving tray 32 and the guide rod 33 of the sorting assembly 3 are fixed above the holding assembly 2, facilitating the transfer of the items to be picked from the loading frame 22.

[0081] Understandably, when the loading frame 22 is slidably removed using the slide rail 23, one of the first vertical wall 712 or the second vertical wall 713 of the limiting member 71 needs to be removed to ensure that the loading frame 22 can be smoothly removed by relying on the slide rail 23. Furthermore, the height of the remaining second vertical wall 713 and third vertical wall 714, or the height of the first vertical wall 712 and third vertical wall 714, needs to be greater than the height of the slide rail 23 to ensure that the limiting member 71 can effectively limit the loading frame 22.

[0082] Furthermore, in some embodiments, the loading frame 22 is provided with a locking member (not shown), and the carrying platform 11 is provided with a locking hole (not shown). When the loading frame 22 is located in the limiting space 711, the locking member is inserted into the locking hole so that the loading frame 22 can be fixed in the limiting space 711. When the loading frame 22 needs to be removed from the limiting space 711, the locking member is removed from the locking hole so that the loading frame 22 can slide out from the limiting space 711.

[0083] Understandably, the structures that can be used for locking components include, but are not limited to, bolts, retractable latches, etc.

[0084] It should be noted that the slide rail 23 can be used with the fixedly installed sorting component 3 or with the foldable sorting component 3. The slide rail 23 needs to maintain sufficient strength and toughness so that when the loading frame 22 is carrying the items to be picked and sliding on the carrying platform 11, the slide rail 23 can provide sufficient support for the loading frame 22.

[0085] In some embodiments, please refer to Figure 1 The harvesting robot 100 includes a main body 8, a control component (not shown) and a power supply component (not labeled). The base plate 322 is fixed to the top of the main body 8. The control component and the power supply component are both housed in the main body 8. The power supply component is electrically connected to the control component and provides power support to the control component. The control component is electrically connected to the harvesting component 4, the motion component 5 and the drive component 34. The control component is used to control the harvesting action, movement orientation and movement angle of the harvesting component 4, control the forward direction and movement speed of the motion component 5, and control the start and stop, forward and reverse rotation of the drive component 34.

[0086] In some embodiments, please refer to Figure 1 The picking robot 100 includes a recognition component 9, which is set on the main body 8 and electrically connected to the control component. The recognition component 9 is used to capture images of the outside world and sense obstacles in the outside world, thereby relying on the control component to cooperate with the picking component 4 to realize the picking work of the object to be picked. The recognition component 9 is also used to sense obstacles in the outside world and cooperate with the motion component 5 to realize the obstacle avoidance function of the picking robot 100.

[0087] In this application, the harvesting robot 100 includes a chassis 1, a holding component 2, a sorting component 3, and a harvesting component 4. The chassis 1 is provided with a support platform 11, which is used to hold various parts and lift them away from the ground. The holding component 2 is set on the support platform 11 and includes multiple parallel and independent holding cavities 21. The sorting component 3 is set on the support platform 11 and is located above the holding component 2. The sorting area of ​​the sorting component 3 covers the holding cavities 21 of the holding component 2. The harvesting component 4 is set on the support platform 11 and is used to pick up and transfer the items to be harvested to the sorting component 3. The sorting component 3 is used to sort the harvested items into the corresponding holding cavities 21. Through the above structure, this application can classify the items to be picked by sorting component 3, so that the fruits picked by picking component 4 are sorted by sorting component 3 and then stored in each independent storage cavity 21 according to the classification. The picking robot 100 realizes the operation process of picking, sorting and transporting the items to be picked, which improves the automation level of the picking robot 100. Compared with the picking robot 100 without sorting component 3, the picking robot 100 of this application can save the time and labor costs of manual sorting and improve the picking and storage efficiency of the picking robot 100.

[0088] It should be noted that while preferred embodiments of this application are provided in the specification and accompanying drawings, this application can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this application; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this application. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this application's specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A picking robot, characterized in that include: The chassis is equipped with a load-bearing platform; A container assembly is disposed on the support platform, and the container assembly includes multiple side-by-side and independent container cavities; A sorting component is disposed on the carrying platform, the sorting component is located above the holding component, and the sorting area of ​​the sorting component covers the holding cavity of the holding component; A picking component is disposed on the carrying platform. The picking component is used to pick up and transfer the material to be picked to the sorting component. The sorting component is used to sort the picked material into the corresponding holding cavity.

2. The harvesting robot according to claim 1, characterized in that, The sorting assembly includes a mounting frame, a receiving tray, and two guide rods. The mounting frame is fixed to the carrying platform, one end of the receiving tray is fixed to the mounting frame, and the other end of the receiving tray is inclined toward the carrying platform. The receiving plate has a discharge port on its side wall. One end of the two guide rods is spaced apart at the discharge port, and the other end of the two guide rods extends away from the discharge port. The distance between the two guide rods increases along the extension direction of the two guide rods.

3. The harvesting robot according to claim 2, characterized in that, The receiving plate includes a base plate and two side plates. The two side plates are fixed to the base plate in a trumpet shape, and the distance between the two side plates gradually decreases towards the bearing platform.

4. The harvesting robot according to claim 2, characterized in that, The other ends of the two guide rods are inclined toward the bearing platform.

5. The harvesting robot according to claim 2, characterized in that, The mounting frame includes four uprights and a fixing rod. The uprights are spaced apart around the container assembly. One end of each of the four uprights is connected to the support platform, and the other end of two of the uprights is connected to the receiving plate. The fixing rod is located at the other end of the other two uprights, and the two guide rods are connected to the other end of the other two uprights. One or both of the two guide rods are rotatably connected to the receiving plate along a direction parallel to the opening of the container cavity, and the other end is slidably connected to the fixing rod.

6. The harvesting robot according to claim 5, characterized in that, The fixing rod is provided with a plurality of fixing slots at intervals, and the end of the guide rod can be accommodated in any one of the fixing slots.

7. The harvesting robot according to any one of claims 1-6, characterized in that, The picking robot includes a ranging component, which is disposed in the sorting component. The ranging component includes multiple ranging sensors, with one ranging sensor corresponding to one of the holding cavities.

8. The harvesting robot according to claim 1, characterized in that, The container assembly includes multiple loading frames, each loading frame being provided with a receiving slot, the receiving slot forming the container cavity; The harvesting robot includes a limiting component, which includes multiple limiting members. Each pair of limiting members is spaced apart to form multiple limiting spaces, and a loading frame is housed in one of the limiting spaces.

9. The harvesting robot according to claim 8, characterized in that, The limiting member includes a first vertical wall, a second vertical wall, and a third vertical wall. The first vertical wall and the second vertical wall are opposite to each other and spaced apart. One end of the third vertical wall is vertically connected to the first vertical wall, and the other end of the third vertical wall is connected to the second vertical wall, so that the first vertical wall, the second vertical wall, and the third vertical wall together form a limiting groove.

10. The harvesting robot according to claim 8, characterized in that, The container assembly includes multiple slide rails, which are fixed to the chassis at intervals. A loading frame is slidably disposed on one of the slide rails, and the loading frame can reciprocate along the extension direction of the slide rail.

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