A picking robot

Abstract

The utility model discloses an embodiment relates to picking technical field, especially disclose a kind of picking robot, including mobile chassis, mechanical arm, picking mechanism, storage container, flexible duct and drive mechanism;Picking mechanism is located in mechanical arm;Mechanical arm and storage component are located in mobile chassis, and storage container is equipped with storage space;Flexible duct is equipped with the import end below picking mechanism and the export end that is communicated with storage space;Drive mechanism includes the support of mobile chassis and first drive component, and first drive component includes the first driving part of support and the mounting piece respectively connected with export end and first driving part, and first driving part is used to drive the export end of flexible duct along first axial X moves.

Description

Technical Field

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

[0002] Current harvesting robots typically consist of a chassis, a harvesting mechanism, a robotic arm, and a storage container. The robotic arm and storage container are mounted on the chassis, while the harvesting mechanism is attached to the end of the robotic arm. The robotic arm moves the harvesting mechanism, which harvests the target object. After harvesting, the robotic arm swings back until the target object enters the storage container. Then, the harvesting mechanism releases the target object, which falls into the storage container.

[0003] In the process of realizing this invention, the inventors discovered that during the picking process, the robotic arm needs to drive the picking mechanism to extend towards the target object and then pick the target object. After the picking is completed, the robotic arm also needs to swing back until the target object enters the storage container or is above the storage container before releasing the target object so that the target object falls into the storage container. The robotic arm needs to perform two actions: extending to pick and swinging back to release, which results in low picking efficiency. Utility Model Content

[0004] This utility model provides a harvesting robot that can improve harvesting efficiency.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A harvesting robot is provided, comprising a mobile chassis, a robotic arm, a harvesting mechanism, a storage container, a flexible pipe, and a drive mechanism; the robotic arm is mounted on the mobile chassis; the harvesting mechanism is installed at the end of the robotic arm and is used to harvest target objects; the storage container is mounted on the mobile chassis and has a storage space arranged along a second axis Y; the flexible pipe is installed on the robotic arm and has an inlet end and an outlet end, the inlet end of the flexible pipe extending to the end of the robotic arm and located below the harvesting mechanism, the flexible pipe... The outlet extends to connect with the storage space. When the picking mechanism releases the picked target object, the target object can enter the soft pipe from the inlet and fall into the storage space from the outlet. The drive mechanism includes a bracket and a first drive assembly. The first drive assembly includes a first drive component and a mounting component. The bracket is set on the mobile chassis, the first drive component is set on the bracket, and the first drive component is connected to the mounting component. The outlet end of the soft pipe is set on the mounting component. The first drive component is used to drive the outlet end of the soft pipe to move along the first axis X. The first axis X is perpendicular to the depth direction of the storage space, and the second axis Y is the depth direction of the storage space.

[0006] Optionally, the flexible conduit may also be provided with a buffer protrusion, which is located on the inner wall of the flexible conduit and at least at the outlet end. The buffer protrusion is used to buffer the target object.

[0007] Optionally, there are multiple buffer protrusions, which are arranged sequentially at intervals along the length of the flexible pipe, and adjacent buffer protrusions are staggered along the circumference of the flexible pipe.

[0008] Optionally, the outlet end of the flexible conduit is rotatably connected to the mounting hardware.

[0009] Optionally, the drive mechanism further includes a second drive assembly, which is mounted on the first drive assembly, and the mounting component is mounted on the second drive assembly; the first drive assembly is used to drive the second drive assembly to move along the first axis X, and the second drive assembly is used to drive the mounting component to move along the second axis Y.

[0010] Optionally, the bracket includes a first upright and a second upright, one end of the first upright and one end of the second upright are fixed to the movable base, and the first upright and the second upright are located on both sides of the storage container; the first driving component includes a moving component, a lead screw, a guide rod and a rotating component, the two ends of the lead screw are respectively disposed on the first upright and the second upright, the two ends of the guide rod are respectively fixed to the first upright and the second upright, the rotating component is fixed to the first upright, the moving component is provided with a guide hole and a screw hole, the lead screw passes through the screw hole and is screwed to the screw hole, the second driving component is fixed to the moving component, the guide rod passes through the guide hole, the rotating component is connected to the lead screw, and the rotating component is used to drive the lead screw to rotate, thereby driving the second driving component to move along the first axis X.

[0011] Optionally, the flexible pipe is also equipped with a funnel-shaped component. The funnel-shaped component is located at the inlet end of the flexible pipe, with the larger end of the funnel-shaped component facing the harvesting mechanism. The funnel-shaped component is used to receive the target object released by the harvesting mechanism and guide the target object to flow into the flexible pipe from the inlet end.

[0012] Optionally, the harvesting robot also includes a detection component disposed on the mounting, which is used to detect the distance between the outlet end of the flexible pipe and the target object located below it along the second axis Y.

[0013] Optionally, the detection assembly also includes a distance sensor for detecting the distance between the outlet end of the flexible pipe and a target object located below it along the second axis Y.

[0014] Optionally, the detection component also includes a camera device that captures images below the installation component, which are used to identify the distance between the outlet end of the flexible pipe and the target object located below it.

[0015] The beneficial effects of this utility model embodiment are as follows: Unlike the prior art, this invention provides a harvesting robot, which includes a mobile chassis, a robotic arm, a storage container, and a flexible pipe. The robotic arm is mounted on the mobile chassis, and a harvesting mechanism is installed at the end of the robotic arm. The harvesting mechanism is used to harvest target objects. The storage container is mounted on the mobile chassis and has a storage space. The flexible pipe is installed on the robotic arm and has an inlet end and an outlet end. The inlet end of the flexible pipe extends to the end of the robotic arm and is located below the harvesting mechanism. The outlet extends to connect with the storage space. After the picking mechanism releases the picked object, the object can enter the soft pipe from the inlet and fall into the storage space from the outlet. This reduces the swinging motion of the robotic arm pulling the picking mechanism back to or above the storage container when the picking mechanism finishes picking. It allows the picking mechanism to immediately release the object after picking it, and the object can fall into the storage container through the soft pipe under its own weight. The robotic arm can then continue to drive the picking mechanism for the next picking, greatly improving efficiency.

[0016] Furthermore, the harvesting robot also includes a drive mechanism, which comprises a support frame and a first drive assembly. The first drive assembly includes a first drive component and a mounting component. The support frame is mounted on a mobile chassis, and the first drive component is mounted on the support frame and connected to the mounting component. The outlet end of the flexible pipe is mounted on the mounting component. The first drive component drives the outlet end of the flexible pipe to move along a first axis X, wherein the first axis X is perpendicular to the depth direction of the storage space. This ensures that when the target object falls along the flexible pipe, it can fall evenly into the storage container. Compared to a fixed outlet end of the flexible pipe, the technical solution of this application reduces the risk of the target object accumulating in one place of the storage container while other parts of the container remain empty. Attached Figure Description

[0017] 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.

[0018] Figure 1 This is a perspective view of the harvesting robot according to an embodiment of the present utility model; Figure 2 This is an exploded view of the harvesting robot according to an embodiment of the present invention; Figure 3 This is a diagram showing the relative positions of the drive mechanism and the storage container in an embodiment of this utility model; Figure 4This is a flowchart of the control method for the harvesting robot according to an embodiment of the present invention; Figure 5 This is a detailed flowchart of step 04 of the harvesting robot according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Harvesting robot; 10. Mobile chassis; 20. Robotic arm; 21. End effector; 22. Mounting end; 30. Picking organizations; 40. Storage container; 41. Storage space; 42. Opening; 50. Flexible pipe; 51. Inlet end; 52. Outlet end; 53. Funnel-shaped fitting; 60. Drive mechanism; 61. Bracket; 611. First upright; 612. Second upright; 62. First drive assembly; 621. First drive component; 6211. Moving component; 6212. Lead screw; 6213. Guide rod; 6214. Rotating component; 622. Mounting component; 63. Second drive assembly. Detailed Implementation

[0020] To facilitate understanding of this utility model, 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.

[0021] 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 invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0022] Please see Figure 1The harvesting robot 1 includes a mobile chassis 10, a robotic arm 20, a harvesting mechanism 30, a collection container 40, a flexible pipe 50, a drive mechanism 60, a detection component, and a controller. The robotic arm 20 is mounted on the mobile chassis 10, and the harvesting mechanism 30 is mounted on the robotic arm 20. The harvesting mechanism 30 is used to harvest target objects, and the robotic arm 20 drives the harvesting mechanism 30 to move. The collection container 40 is mounted on the mobile chassis 10 and is used to collect target objects. The flexible pipe 50 is mounted on the robotic arm 20 and is used to receive the target objects released by the harvesting mechanism 30 and transport them into the collection container 40. The drive mechanism 60 drives the flexible pipe 50 to move, allowing the flexible pipe 50 to drop target objects into the collection container 40 at different positions. The detection component is mounted on the drive component and is used to detect the distance between the flexible pipe 50 and the target object located below the flexible pipe 50. The controller is electrically connected to the detection component and the drive mechanism 60 respectively. The controller is used to control the drive mechanism 60 to move when the detection component detects that the distance between the soft pipe 50 and the target object located below the soft pipe 50 is less than or equal to a preset threshold, thereby avoiding collision or squeezing between the soft pipe 50 and the target object and improving the yield of the target object.

[0023] For the aforementioned mobile chassis 10, please refer to... Figure 1 The mobile chassis 10 is used to travel on the ground. The mobile chassis 10 can be a wheeled mechanism or a tracked mechanism, etc., and the user can choose according to the needs.

[0024] For the robotic arm 20 mentioned above, please refer to... Figure 2 The robotic arm 20 includes a mounting end 22 and an end cap 21. The mounting end 22 of the robotic arm 20 is disposed on the mobile chassis 10.

[0025] For the aforementioned picking organization 30, please refer to [link / reference]. Figure 2 The picking mechanism 30 is located at the end 21 of the robotic arm 20. The appropriate picking mechanism 30 can be selected depending on the type of target object. The picking mechanism 30 can pick up the target object and release it, causing the target object to fall off the picking mechanism 30 under the influence of gravity.

[0026] For the storage container 40 mentioned above, please refer to... Figure 2 and Figure 3 The storage container 40 is set on the mobile chassis 10. The storage container 40 is provided with a storage space 41 and an opening 42. The opening 42 is set above the storage space 41 and is connected to the storage space 41.

[0027] For ease of understanding, the directions are defined as follows: the direction perpendicular to the depth of the storage space 41 is the first axis X, and the direction of the depth of the storage space 41 is the second axis Y.

[0028] For the flexible conduit 50 mentioned above, please refer to... Figure 2 The inlet end 51 of the flexible tube 50 is located on the robotic arm 20 and below the picking mechanism 30, so that the target object released by the picking mechanism 30 can fall into the flexible tube 50 from the inlet end 51. The outlet end 52 of the flexible tube 50 is connected to the storage space 41, so that the target object falling from the outlet end 52 of the flexible tube 50 can fall into the storage space 41. It can be understood that the outlet end 52 of the flexible tube 50 can be located above the opening 42 of the storage container 40, and the target object falling from the outlet end 52 of the flexible tube 50 can fall into the storage space 41 through the opening 42. Alternatively, the outlet end 52 of the flexible tube 50 can also pass through the opening 42 of the storage container 40 and extend into the storage space 41.

[0029] With the aforementioned flexible conduit 50, after the picking mechanism 30 picks the target object, it is not necessary to move the picking mechanism 30 above the storage container 40 and release the target object via the robotic arm 20. The target object simply falls into the storage container 40 to complete the collection. In this embodiment, the picking mechanism 30 can release the target object immediately after picking, and the target object, under its own weight, can automatically fall into the storage space 41 through the flexible conduit 50, greatly improving picking efficiency.

[0030] In some embodiments, the flexible conduit 50 is provided with a buffer protrusion (not shown), which is disposed on the inner wall of the flexible conduit 50 and is at least disposed at the outlet end 52. The buffer protrusion is used to buffer a target object falling inside the flexible conduit 50, thereby reducing the speed of the target object and preventing the target object from colliding at a high speed, thereby reducing damage to the target object.

[0031] Furthermore, along the circumference of the flexible conduit 50, a buffer protrusion is provided on a portion of the inner wall of the flexible conduit 50, and a gap area is formed between the buffer protrusion and another portion of the inner wall of the flexible conduit 50 for the target object to pass through, thereby reducing the risk of the target object being stuck by the buffer protrusion.

[0032] Understandably, the buffer protrusion acts as a buffer by colliding with the target object. Upon impact, the buffer protrusion deforms, widening the gap area to reduce the risk of the target object getting stuck. Furthermore, the buffer protrusion recovers its deformation when the external force disappears. Optionally, the buffer protrusion can be configured as an airbag.

[0033] The aforementioned buffer protrusions are multiple in number, arranged sequentially along the length of the flexible conduit 50. Adjacent buffer protrusions are staggered along the circumference of the flexible conduit 50. These multiple buffer protrusions provide multiple buffering actions to the target object, further reducing its velocity as it falls from the outlet 52 of the flexible conduit 50. The staggered arrangement of the buffer protrusions reduces the likelihood of the target object avoiding them, thus ensuring the buffering effect.

[0034] In some other embodiments, the buffer protrusion is annular in shape and is arranged around the inner wall of the flexible conduit 50 along the circumference of the flexible conduit 50.

[0035] In some embodiments, the flexible conduit 50 is further provided with a funnel-shaped component 53. The smaller end of the funnel-shaped component 53 is located at the inlet end 51 of the flexible conduit 50, and the larger end of the funnel-shaped component 53 is positioned towards the harvesting mechanism 30, so that the target object released by the harvesting mechanism 30 can enter the flexible conduit 50 through the larger end of the funnel-shaped component 53. The funnel-shaped component 53 expands the area of ​​the flexible conduit 50 that receives the target object, thereby reducing the risk that the target object released by the harvesting mechanism 30 will fall outside the flexible conduit 50.

[0036] For the drive mechanism 60 mentioned above, please refer to... Figure 2 and Figure 3 The drive mechanism 60 includes a bracket 61 and a first drive assembly 62. The bracket 61 is mounted on the movable chassis 10, and the first drive assembly 62 is mounted on the bracket 61. The first drive assembly 62 includes a first drive frame and a mounting member 622. The mounting member 622 is connected to the first drive member 621, and the outlet end 52 of the flexible pipe 50 is mounted on the mounting member 622. The first drive member 621 drives the mounting member 622 to move along a first axial direction X, thereby causing the outlet section of the flexible pipe 50 to move along the first axial direction X.

[0037] It should be noted that if target objects continuously fall from the outlet end 52 of the flexible pipe 50 at the same position, the target objects may accumulate rapidly, making them prone to collision or compression with the flexible pipe 50 or the mounting component 622, thus causing damage to the target objects. By driving the outlet section of the flexible pipe 50 to move along the first axis X through the first driving component 621, the outlet end 52 of the flexible pipe 50 can be offset from the accumulated target objects, thereby reducing the risk of collision between the target objects and the flexible pipe 50 and improving the yield rate.

[0038] In some embodiments, the outlet end 52 of the flexible pipe 50 is rotatably connected to the mounting member 622, so that when the flexible pipe 50 is about to twist during the movement of the flexible pipe 50 or the robotic arm 20, the outlet end 52 of the flexible pipe 50 can rotate adaptively, thereby reducing the risk of the flexible pipe 50 twisting. This not only reduces the risk of the flexible pipe 50 breaking, but also reduces the risk of the twisted flexible pipe 50 getting stuck on the target object.

[0039] The aforementioned support 61 includes a first upright 611 and a second upright 612, which are respectively disposed on both sides of the storage container 40. One end of the first upright 611 is fixed to the movable base 10, and the other end of the first upright 611 is higher than the opening 42 of the storage container 40. One end of the second upright 612 is fixed to the movable base 10, and the other end of the second upright 612 is higher than the opening 42 of the storage container 40.

[0040] The first driving member 621 described above includes a moving member 6211, a lead screw 6212, a guide rod 6213, and a rotating member 6214. Both the lead screw 6212 and the guide rod 6213 are arranged along the first axial direction X. The two ends of the lead screw 6212 are rotatably connected to the ends of the first upright 611 and the second upright 612 away from the moving chassis 10, respectively. The two ends of the guide rod 6213 are fixed to the ends of the first upright 611 and the second upright 612 away from the moving chassis 10, respectively. Both the lead screw 6212 and the guide rod 6213 are located above the opening 42. The moving member 6211 is provided with a guide hole and a screw hole. The guide rod passes through the guide hole, and the lead screw 6212 passes through and is screwed into the screw hole. The rotating member 6214 is disposed on the first upright 611 and connected to the lead screw 6212 to drive the lead screw 6212 to rotate. Mounting member 622 is disposed on moving member 6211, so that when lead screw 6212 rotates, it drives mounting member 622 on moving member 6211 to move along the first axis X.

[0041] In some embodiments, the drive mechanism 60 further includes a second drive component 63, which is disposed on the movable member 6211. The second drive mechanism 60 includes a movable end that is movable along a second axis Y, and the mounting member 622 is disposed on the movable end of the second drive component 63.

[0042] The aforementioned detection component (not shown) is mounted on the mounting member 622. The detection component includes a distance sensor electrically connected to the controller, which detects the distance between the outlet end 52 of the flexible pipe 50 and a target object located below it along the second axis Y. Optionally, the detection component also includes a camera electrically connected to the controller, which acquires images below the mounting member 622. These images are used to identify the distance between the outlet end 52 of the flexible pipe 50 and the target object located below it.

[0043] The controller (not shown in the figure) is connected to the first drive assembly 62, the second drive assembly 63, and the detection assembly. When the detection assembly detects that the distance between the outlet end 52 of the flexible pipe 50 and the target object below it is less than or equal to a preset threshold, the controller controls the first drive assembly 62 to move the outlet end 52 of the flexible pipe 50 along the first axis X to offset the target object accumulated below the outlet end 52 of the flexible pipe 50. The controller can also be used to control the first drive assembly 62 to move the outlet end 52 of the flexible pipe 50 along the second axis Y when the detection assembly detects that the distance between the outlet end 52 of the flexible pipe 50 and the target object below it is less than or equal to the preset threshold, thereby increasing the distance between the outlet end 52 of the flexible pipe 50 and the target object below it, thus leaving space for the target object to continue accumulating, thereby reducing the risk of the target object colliding with or being squeezed by the outlet end 52 of the flexible pipe 50.

[0044] In this embodiment of the invention, the harvesting robot 1 includes a mobile chassis 10, a robotic arm 20, a storage container 40, and a flexible pipe 50. The robotic arm 20 is mounted on the mobile chassis 10, and a harvesting mechanism 30 is installed at the end 21 of the robotic arm 20. The harvesting mechanism 30 is used to harvest target objects. The storage container 40 is mounted on the mobile chassis 10 and has a storage space 41. The flexible pipe 50 is installed on the robotic arm 20 and has an inlet end 51 and an outlet end 52. The inlet end 51 of the flexible pipe 50 extends to the end 21 of the robotic arm 20 and is located below the harvesting mechanism 30. The outlet end 52 of the flexible pipe 50... Extending to connect with the storage space 41, after the picking mechanism 30 releases the picked target object, the target object can enter the flexible pipe 50 from the inlet end 51 and fall into the storage space 41 from the outlet end 52. This reduces the swinging motion of the robotic arm 20 driving the picking mechanism 30 to swing back to or above the storage container 40 when the picking mechanism 30 finishes picking. It enables the picking mechanism 30 to immediately release the target object after picking it and releasing it. The target object can fall into the storage container 40 through the flexible pipe 50 under its own gravity. The robotic arm 20 can then continue to drive the picking mechanism 30 to pick again, greatly improving efficiency.

[0045] In addition, the harvesting robot 1 also includes a drive mechanism 60, which includes a bracket 61 and a first drive assembly 62. The first drive assembly 62 includes a first drive member 621 and a mounting member 622. The bracket 61 is mounted on the mobile chassis 10, and the first drive member 621 is mounted on the bracket 61 and connected to the mounting member 622. The outlet end 52 of the flexible pipe 50 is mounted on the mounting member 622. The first drive member 621 is used to drive the outlet end 52 of the flexible pipe 50 to move along a first axis X, wherein the first axis X is perpendicular to the depth direction of the storage space 41. This ensures that when the target object falls along the flexible pipe 50, it can fall evenly into the storage container 40. Compared with the fixed setting of the outlet end 52 of the flexible pipe 50, the technical solution of this application reduces the risk of the target object accumulating in one place in the storage container 40 while other places in the storage container 40 are empty when the target object falls along the flexible pipe 50.

[0046] This utility model embodiment also provides a control method for the above-mentioned harvesting robot 1. Please refer to [link / reference]. Figure 4 The control methods include: Step 01: Obtain all preset fruit drop positions that the outlet end 52 of the flexible pipe 50 can move along the first axis X. The preset fruit drop positions refer to the positions on the first axis X, and the preset fruit drop positions are evenly distributed along the first axis X.

[0047] Step 02: Control the first drive component 62 to move the outlet end 52 of the flexible pipe 50 to a preset fruit drop position.

[0048] Step 03: When the outlet end 52 of the flexible pipe 50 moves to a preset fruit drop position, the distance between the outlet end 52 of the flexible pipe 50 and the target object located below it, as detected by the detection component of the harvesting robot 1, is obtained.

[0049] Step 04: Determine whether the preset movement conditions are met based on the spacing.

[0050] Step 05: If the preset movement conditions are met, determine whether the preset fruit placement positions have been traversed.

[0051] Step 06: If the preset fruit drop positions have not been traversed, control the first drive component 62 to drive the outlet end 52 to move along the first axis X to move to the next preset fruit drop position, and return to the step of obtaining the distance between the outlet end 52 of the soft pipe 50 detected by the detection component of the picking robot 1 and the target object located below it, until all preset fruit drop positions have been traversed.

[0052] In some embodiments, along the first axis X, the starting point of the fruit drop position is located at one end of the storage space 41, and the ending point of the fruit drop position is located at the other end of the storage space 41.

[0053] Step 02 also includes: Step 021, controlling the first drive component 62 to move the outlet end 52 of the flexible pipe 50 to the starting fruit drop position.

[0054] Step 06 also includes: Step 061, if the preset fruit drop positions have not been traversed, the first drive component 62 is controlled to drive the outlet end 52 to move along the direction from the starting fruit drop position to the ending fruit drop position, so as to move to the next preset fruit drop position, and return to the step of obtaining the distance between the outlet end 52 of the soft pipe 50 detected by the detection component of the picking robot 1 and the target object located below it, until all preset fruit drop positions have been traversed.

[0055] In some embodiments, please refer to Figure 5 Step 04 further includes: Step 041: Determine whether the outlet end 52 of the flexible pipe 50 is located at the highest point along the second axis Y, and whether the spacing is less than or equal to a preset threshold. The highest point refers to the highest height that the outlet end 52 of the flexible pipe 50 can move along the second axis Y, and the height of the highest point is the same as the height of the opening 42 of the storage container 40.

[0056] Step 042: If the outlet end 52 of the flexible pipe 50 is at its highest point along the second axis Y, and the distance is less than or equal to a preset threshold, then the preset movement condition is satisfied. When the distance is equal to the preset threshold, the distance between the outlet end 52 of the flexible pipe and the target object below it is insufficient to accommodate a new target object. At this time, the outlet end 52 of the flexible pipe is moved along the first axis X so that the outlet end 52 is offset from the target object piled below.

[0057] Step 043: If the outlet end 52 of the flexible pipe 50 is not located at the highest point along the second axis Y, or the spacing is greater than the preset threshold, then it is determined that the preset movement condition is not met. When the spacing is less than the preset threshold, the second drive component 63 is controlled to drive the outlet end 52 of the flexible pipe 50 to move along the second axis Y until the spacing is equal to or greater than the preset threshold.

[0058] Understandably, if the outlet end 52 of the flexible conduit 50 is not at its highest point along the second axis Y, the outlet end 52 of the flexible conduit 50 can still move upward along the second axis Y, allowing the target object to continue falling from that position. There is no need to move the outlet end 52 of the flexible conduit 50 along the first axis X or along the second axis X until the distance is greater than or equal to a preset threshold, allowing the outlet end 52 of the flexible conduit 50 to continue falling the target object. If the distance is greater than the preset threshold, the distance between the outlet end 52 of the flexible conduit and the target object below it is sufficient to accommodate at least one new target object. Similarly, there is no need to move the outlet end 52 of the flexible conduit 50 along the first axis X or along the second axis X until the distance is greater than or equal to the preset threshold.

[0059] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model 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 utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. 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 utility model 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 harvesting robot, characterized in that, include: Mobile chassis; A robotic arm is mounted on the mobile chassis; A picking mechanism is installed at the end of the robotic arm, and the picking mechanism is used to pick the target object; A storage container is provided on the mobile chassis, and the storage container is provided with a storage space arranged along the second axis Y; A flexible tube is installed on a robotic arm. The flexible tube has an inlet end and an outlet end. The inlet end of the flexible tube extends to the end of the robotic arm and is located below the picking mechanism. The outlet end of the flexible tube extends to communicate with the storage space. When the picking mechanism releases the picked target object, the target object can enter the flexible tube from the inlet end and fall into the storage space from the outlet end. A drive mechanism includes a bracket and a first drive assembly. The first drive assembly includes a first drive member and a mounting member. The bracket is disposed on the mobile chassis. The first drive member is disposed on the bracket and connected to the mounting member. The outlet end of the flexible pipe is disposed on the mounting member. The first drive member is used to drive the outlet end of the flexible pipe to move along a first axial direction X. Wherein, the first axis X is perpendicular to the depth direction of the storage space, and the second axis Y is the depth direction of the storage space.

2. The harvesting robot according to claim 1, characterized in that, The flexible conduit is also provided with a buffer protrusion, which is disposed on the inner wall of the flexible conduit and at least located at the outlet end. The buffer protrusion is used to buffer the target object.

3. The harvesting robot according to claim 2, characterized in that, The number of buffer protrusions is multiple, and the multiple buffer protrusions are arranged sequentially at intervals along the length direction of the flexible pipe. Along the circumference of the flexible pipe, adjacent buffer protrusions are staggered.

4. The harvesting robot according to claim 2, characterized in that, The outlet end of the flexible pipe is rotatably connected to the mounting component.

5. The harvesting robot according to claim 1, characterized in that, The drive mechanism further includes a second drive component, which is mounted on the first drive component, and the mounting component is mounted on the second drive component; The first drive component is used to drive the second drive component to move along the first axis X, and the second drive component is used to drive the mounting component to move along the second axis Y.

6. The harvesting robot according to claim 5, characterized in that, The support includes a first upright and a second upright, one end of the first upright and one end of the second upright are both fixed to the movable base, and the first upright and the second upright are located on both sides of the storage container. The first driving component includes a movable component, a lead screw, a guide rod, and a rotating component. The two ends of the lead screw are respectively disposed on the first upright and the second upright. The two ends of the guide rod are respectively fixed to the first upright and the second upright. The rotating component is fixed to the first upright. The movable component is provided with a guide hole and a screw hole. The lead screw passes through the screw hole and is screwed to the screw hole. The second driving component is fixed to the movable component. The guide rod passes through the guide hole. The rotating component is connected to the lead screw. The rotating component is used to drive the lead screw to rotate, thereby driving the second driving component to move along the first axis X.

7. The harvesting robot according to claim 1, characterized in that, The flexible pipe is also provided with a funnel component, which is located at the inlet end of the flexible pipe. The larger end of the funnel component faces the harvesting mechanism. The funnel component is used to receive the target object released by the harvesting mechanism and guide the target object to flow into the flexible pipe from the inlet end.

8. The harvesting robot according to any one of claims 1-7, characterized in that, The harvesting robot also includes a detection component disposed on the mounting component, the detection component being used to detect the distance between the outlet end of the flexible pipe and the target object located below it along the second axis Y.

9. The harvesting robot according to claim 8, characterized in that, The detection assembly also includes a distance sensor for detecting the distance between the outlet end of the flexible pipe and a target object located below it along a second axis Y.

10. The harvesting robot according to claim 8, characterized in that, The detection component also includes a camera device that captures an image below the installation component, the image being used to identify the distance between the outlet end of the flexible pipe and a target object located below it.

Images