CN112335407A

CN112335407A - Picking robot

Info

Publication number: CN112335407A
Application number: CN202011235792.2A
Authority: CN
Inventors: 康望才
Original assignee: Hunan Hankun Industrial Co Ltd
Current assignee: Hunan Hankun Industrial Co Ltd
Priority date: 2020-07-20
Filing date: 2020-11-06
Publication date: 2021-02-09
Also published as: CN111730619A

Abstract

The invention discloses a picking robot, which comprises a chassis, a travelling mechanism, a swing mechanism and a picking mechanical arm, wherein the travelling mechanism is arranged below the chassis; the slewing mechanism is arranged above the chassis; the picking mechanical arm is connected with the swing mechanism; the picking robot further comprises a fruit containing cylinder, a pressing mechanism and a limiting mechanism; the limiting mechanism comprises a first linear moving driving piece and a limiting plate, the limiting plate is provided with a containing hole and a containing groove, the first linear moving driving piece is installed on the chassis, and the first linear moving driving piece is connected with the limiting plate; the fruit containing barrel is placed in the accommodating hole; the pressing mechanism comprises a motor, a gear, an arc-shaped gear ring, a supporting rod, a driving motor, a pressing rod, a second linear moving driving piece and a moving sliding block. The fruit picking device realizes automatic picking of fruits, greatly improves the fruit picking effect, saves manpower and reduces the labor intensity of workers.

Description

Picking robot

Technical Field

The invention relates to the technical field of robots, in particular to a picking robot.

Background

The fruit picking operation is the most time-consuming and labor-consuming link in agricultural production, belongs to labor-intensive work, and generally adopts manual picking, and the labor force input by the fruit picking operation accounts for 50-70% of the whole planting link. The existing manual picking is low in efficiency, high in labor cost, high in labor intensity, time-consuming and labor-consuming, and particularly for picking fruits at high positions, the problem of low safety still exists.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a picking robot, which realizes automatic picking of fruits, greatly improves the picking effect of the fruits, saves manpower and reduces the labor intensity of workers.

In order to achieve the purpose, the invention provides a picking robot, which comprises a chassis, a travelling mechanism, a slewing mechanism and a picking mechanical arm, wherein the travelling mechanism is arranged below the chassis; the slewing mechanism is arranged above the chassis; the picking mechanical arm is connected with the swing mechanism; the picking robot further comprises a fruit containing cylinder, a pressing mechanism and a limiting mechanism; the limiting mechanism comprises a first linear moving driving piece and a limiting plate, the limiting plate is provided with a containing hole and a containing groove, the first linear moving driving piece is installed on the chassis, and the first linear moving driving piece is connected with the limiting plate; the fruit containing barrel is placed in the accommodating hole;

the pressing mechanism comprises a motor, a gear, an arc-shaped gear ring, a supporting rod, a driving motor, a pressing rod, a second linear movement driving piece and a moving slide block, and the motor is connected with the limiting plate; the gear is mounted on an output shaft of the motor, the arc-shaped gear ring is connected with one end of the supporting rod into a whole, one end of the supporting rod is rotatably connected with the limiting plate, and the arc-shaped gear ring is meshed with the gear; the supporting rod is provided with a sliding groove matched with the movable sliding block, the movable sliding block is arranged at the sliding groove, the driving motor is connected with one side of the movable sliding block, an output shaft of the driving motor penetrates through an inner hole in the movable sliding block and then is connected with the pressing rod, and the pressing rod is positioned on the other side of the movable sliding block; the second linear moving driving piece is arranged at the other end of the supporting rod and is connected with the moving slide block; when the pressing mechanism is not used, the pressing mechanism is accommodated in the accommodating groove, and when the pressing mechanism presses the fruit containing barrel, the pressing rod presses the upper end of the fruit containing barrel.

Furthermore, the picking mechanical arm comprises a base, a large arm, a telescopic small arm, a swinging wrist, a palm, a grabbing finger, a cutting blade, a first rotary driving component, a second rotary driving component, a third rotary driving component, a fourth rotary driving component, a fifth rotary driving component, a sixth rotary driving component, a first transmission component, a second transmission component, a first connecting rod and a swinging gear, wherein the lower end of the base is connected with the swinging mechanism, one end of the large arm is hinged with the upper end of the base, and the first rotary driving component is installed on the base and connected with one end of the large arm; the other end of the large arm is rotatably connected with one end of the small telescopic arm, and the second rotary driving component is arranged at the other end of the large arm and is connected with one end of the small telescopic arm; the other end of the telescopic small arm is rotatably connected with one end of the swing wrist, and the third rotary driving component is arranged at the other end of the telescopic small arm and is connected with one end of the swing wrist; the other end of the swinging wrist is rotatably connected with one end of the palm, and the fourth rotary driving component is mounted at the other end of the swinging wrist and connected with one end of the palm; the fifth rotary driving component and the sixth rotary driving component are both arranged on the palm of the hand; the swing gear comprises a gear body and a swing shaft connected with the gear body; the two gear bodies are meshed with each other and are rotatably arranged on the palm, and the two swinging shafts are respectively and rotatably connected with one ends of the two grabbing fingers; one ends of the two first connecting rods are rotatably connected with the palm, and the other ends of the two first connecting rods are respectively rotatably connected with the middles of the two grabbing fingers; the fifth rotary driving component is connected with the gear body through the first transmission component; the cutting blade rotates and installs in on the palm, just sixth rotary driving subassembly passes through the second transmission subassembly with the cutting blade is connected.

Furthermore, the picking robot further comprises a large arm auxiliary mechanism, the large arm auxiliary mechanism comprises a second connecting rod, a third connecting rod and a seventh rotary driving component, one end of the second connecting rod is hinged with the middle of the base, the seventh rotary driving component is installed on the base and connected with one end of the second connecting rod, the other end of the second connecting rod is hinged with one end of the third connecting rod, and the other end of the third connecting rod is hinged with the middle of the large arm.

Further, the small telescopic arm comprises a basic arm, a moving arm and a linear driving assembly, wherein one end of the basic arm is hinged with the other end of the large arm, the basic arm is movably matched and connected with the moving arm, and the moving arm is hinged with the swing wrist; the linear driving assembly is mounted on the base arm and connected with the moving arm.

Furthermore, the traveling mechanism comprises a front wheel, a rear wheel, a direction retainer, a front support frame, a rear rotating shaft, an eighth rotary driving assembly, a driving gear, a fourth connecting rod, a rotary motor, an L-shaped shaft and a poking disc, wherein a rack is arranged on the fourth connecting rod, the front support frame and the rear support frame are respectively arranged at the front end and the rear end below the chassis, and the rear rotating shaft is rotatably connected with the rear support frame; the two front wheels are respectively and rotatably arranged at two ends of the front supporting frame; the two rear wheels are respectively and rotatably arranged at two ends of the rear rotating shaft; the eighth rotary driving assembly is arranged on the rear supporting frame and is connected with the rear rotating shaft; the rotating motor is arranged at the front end of the chassis, and the driving gear is arranged on an output shaft of the rotating motor; the fourth connecting rod is rotatably arranged at the front end of the chassis through the direction retainer, and the driving gear is meshed with the rack; two ends of the fourth connecting rod are respectively and rotatably connected with one ends of the two L-shaped shafts; the other end of the L-shaped shaft is movably sleeved with the poking disc, and the poking disc is connected with the front wheel.

Furthermore, the picking robot also comprises a damping mechanism, and the rear support frame, the chassis and the rear rotating shaft are connected through the damping mechanism; the front support frame, the poking disc and the chassis are connected through the damping mechanism.

Further, the damping mechanism comprises a damping connecting rod, a damping spring connected with the damping connecting rod and a mounting seat connected with the damping connecting rod.

Furthermore, the picking robot also comprises a visual detection sensor and a controller connected with the visual detection sensor, and the controller is connected with the walking mechanism, the swing mechanism and the picking mechanical arm.

The invention realizes the walking of the whole machine through the walking mechanism, so as to facilitate the movement of the whole machine and picking fruits in a large area. 360-degree rotation of the picking mechanical arm is achieved through the rotating mechanism, the operation range of the picking mechanical arm is improved, automatic picking of fruit materials is achieved through the picking mechanical arm, the picking effect of the fruits is greatly improved, labor is saved, the labor intensity is reduced, the fruit picked by the picking mechanical arm is placed in a fruit loading barrel, the fruit loading barrel does not need to be held by hands to pick the fruits, the labor intensity is reduced, the pressing mechanism is used for ensuring that the fruit loading barrel is effectively pressed on the chassis, the fruit loading barrel is enabled not to shift along with integral walking and drop off the chassis, the structure is stable and reliable, when the pressing mechanism is not used, the fruit loading barrel is stored in the chassis, the occupied space is avoided, and the use is flexible and convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view corresponding to fig. 1, after the fruit containing barrel is removed and rotated by a certain angle.

Fig. 3 is an enlarged view of fig. 2 after a certain angle of rotation is formed at a position a.

Fig. 4 is a perspective view of fig. 3 with parts broken away and rotated at an angle.

Fig. 5 is a perspective view of fig. 4 with the palm cut away.

Fig. 6 is a perspective view of the chassis and the traveling mechanism of fig. 1.

Fig. 7 is a perspective view of the chassis and the traveling mechanism of fig. 1.

Fig. 8 is a schematic structural diagram of the pressing mechanism of the present invention.

Fig. 9 is a partial perspective view of the hold-down mechanism of the present invention.

The above reference numerals:

1 chassis, 2 walking mechanisms, 3 slewing mechanisms, 4 picking robotic arms, 40 bases, 41 first rotary drive components, 42 big arms, 43 telescopic small arms, 44 second rotary drive components, 45 third rotary drive components, 46 swinging wrists, 47 fourth rotary drive components, 48 second connecting rods, 49 third connecting rods, 50 seventh rotary drive components, 51 palms, 52 grabbing fingers, 53 cutting blades, 54 sixth rotary drive components, 55 vision detection sensors, 56 fifth rotary drive components, 57 first transmission components, 58 swinging gears, 580 gear bodies, 581 swinging shafts, 59 first connecting rods, 20 front wheels, 21 rear wheels, 22 front support frames, 23 rear support frames, 24 rotary motors, 25 driving gears, 26 fourth connecting rods, 260 racks, 27 direction holders, 28L-shaped shafts, 29 dial plates, 30 eighth rotary drive components, 310 damping connecting rods, 311 damping springs, the fruit tree.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 9, the picking robot provided in this embodiment includes a chassis 1, a traveling mechanism 2, a swing mechanism 3, and a picking robot arm 4, where the traveling mechanism 2 is installed below the chassis 1; the swing mechanism is arranged above the chassis 1; the picking mechanical arm 4 is connected with the slewing mechanism 3; the picking robot further comprises a fruit containing cylinder 5, a pressing mechanism and a limiting mechanism; the limiting mechanism comprises a first linear moving driving part (not shown in the figure) and a limiting plate 6, wherein the limiting plate 6 is provided with a containing hole 602 and a containing groove 601, the first linear moving driving part is installed on the chassis 1, and the first linear moving driving part is connected with the limiting plate 6; the fruit cartridge 5 is placed in the accommodation hole 602.

The pressing mechanism comprises a motor (not shown in the figure), a gear 76, an arc-shaped gear ring 710, a supporting rod 71, a driving motor 72, a pressing rod 74, a second linear movement driving piece 75 and a moving slide block 73, and the motor is connected with the limiting plate 6; the gear 76 is mounted on an output shaft of the motor, the arc-shaped gear ring 710 is connected with one end of the supporting rod 71 into a whole, one end of the supporting rod 71 is rotatably connected with the limiting plate 6, specifically, one end of the supporting rod 71 is rotatably connected with the limiting plate 6 through a rotating shaft 77, and the arc-shaped gear ring 710 is meshed with the gear 76; a sliding groove 711 matched with the movable sliding block 73 is arranged on the supporting rod 71, the movable sliding block 73 is arranged at the sliding groove 711, the driving motor 72 is connected with one side of the movable sliding block 73, an output shaft of the driving motor 72 penetrates through an inner hole in the movable sliding block 73 and then is connected with the pressing rod 74, and the pressing rod 74 is positioned on the other side of the movable sliding block 73; the second linear motion driving member 75 is installed at the other end of the supporting rod 71, and the second linear motion driving member 75 is connected with the moving slider 73; when the pressing mechanism is not used, the pressing mechanism is accommodated in the accommodating groove 601, and when the pressing mechanism presses the fruit containing barrel 5, the pressing rod 74 presses the upper end of the fruit containing barrel 5.

When the fruit picking device is used in the present embodiment, the fruits picked by the picking arm 4 are placed in the fruit containing cylinder 5. Wherein a fruit section of thick bamboo 5 places in the accommodation hole 602 of limiting plate 6, and wherein limiting plate 6 reciprocates for chassis 1 through first rectilinear movement driving piece drive limiting plate 6 to limiting plate 6 effectively limits the position of a fruit section of thick bamboo 5, compresses tightly a fruit section of thick bamboo 5 through hold-down mechanism simultaneously, keeps the stability of a fruit section of thick bamboo 5, prevents that fruit section of thick bamboo 5 from shifting. Wherein hold-down mechanism's quantity can be a plurality of, sets up along the outer circumference equipartition of a dress fruit section of thick bamboo 5, is equipped with a plurality of holding tanks 101 on the limiting plate 1 that corresponds.

The embodiment realizes integral walking through the walking mechanism 1 so as to facilitate integral movement and picking fruits in a large area. 360-degree rotation of the picking mechanical arm 4 is achieved through the rotating mechanism 3, the operation range of the picking mechanical arm 4 is improved, automatic picking of fruit materials is achieved through the picking mechanical arm 4, the picking effect of the fruits is greatly improved, labor is saved, the labor intensity is reduced, the fruits picked by the picking mechanical arm 4 are placed in the fruit loading barrel 5, the fruit loading barrel 5 does not need to be held by hands to pick the fruits, the labor intensity is reduced, the fruit loading barrel 5 is effectively pressed on the chassis through the pressing mechanism, the fruit loading barrel 5 cannot be displaced along with whole walking and fall off from the chassis 1, the structure is stable and reliable, the pressing mechanism is not used, the fruit loading mechanism is contained in the chassis 1, space is not occupied, and the use is flexible and convenient.

The working principle of the hold-down mechanism is illustrated in the orientation shown in fig. 8: the motor rotates forwards, the driving gear 76 rotates to drive the arc-shaped gear ring 710 to rotate, so that the supporting rod 71 is driven to rotate to a vertical state, and the motor stops working; the second linear driving element 75 drives the movable slider 73 to move on the support rod 71, so that the pressing rod 74 moves out upward relative to the support rod 71, the second linear driving element 75 stops moving, and the driving motor 72 drives the pressing rod 74 to rotate backward relative to the movable slider 73, so that the pressing rod 74 is driven to rotate backward until the pressing rod 74 is in a horizontal state, and the pressing rod 74 presses the upper end of the fruit containing barrel 5. When the hold-down mechanism is not used, the driving motor 72 rotates reversely, the hold-down rod 74 is driven to rotate forwards to the hold-down rod 74 to be in a vertical state, the second linear moving driving piece 75 drives the moving slider 73 to move downwards on the supporting rod 71, so that the hold-down rod 74 is folded and stored relative to the supporting rod 71, the second linear moving driving piece 75 stops moving, the motor rotates reversely again, the hold-down mechanism is driven to move towards the inside of the containing groove 601, the hold-down mechanism is enabled to rotate to the inside of the containing groove 601, the space is not occupied, and the use is.

Further preferably, in this embodiment, the picking robot arm 4 includes a base 40, a large arm 42, a small telescopic arm 43, a swing wrist 46, a palm 51, a gripping finger 52, a cutting blade 53, a first rotary driving component 41, a second rotary driving component 44, a third rotary driving component 45, a fourth rotary driving component 47, a fifth rotary driving component 56, a sixth rotary driving component 54, a first transmission component, a second transmission component 57, a first connecting rod 59, and a swing gear 58, wherein the lower end of the base 40 is connected to the swing mechanism 3, one end of the large arm 41 is hinged to the upper end of the base 40, and the first rotary driving component 41 is mounted on the base 40 and connected to one end of the large arm 41; the other end of the large arm 41 is rotatably connected with one end of the small telescopic arm 43, and the second rotary driving assembly 44 is mounted at the other end of the large arm 41 and is connected with one end of the small telescopic arm 43; the other end of the telescopic small arm 43 is rotatably connected with one end of the swing wrist 46, and the third rotary driving component 45 is mounted at the other end of the telescopic small arm 43 and connected with one end of the swing wrist 46; the other end of the swing wrist 46 is rotatably connected with one end of the palm 51, and the fourth rotary driving component 47 is mounted at the other end of the swing wrist 46 and connected with one end of the palm 51; the fifth rotary drive assembly 56 and the sixth rotary drive assembly 54 are both mounted on the palm 51; the swing gear 58 includes a gear body 580, and a swing shaft 581 connected to the gear body 580; the two gear bodies 580 are engaged with each other and rotatably mounted on the palm 51, and the two swing shafts 581 are respectively rotatably connected with one ends of the two grabbing fingers 52; one end of each of the two first connecting rods 59 is rotatably connected with the palm 51, and the other end of each of the two first connecting rods 59 is rotatably connected with the middle of each of the two grabbing fingers 52; the fifth rotary driving assembly 56 is connected with the gear body 580 through the first transmission assembly 57; the cutting blade 53 is rotatably mounted on the palm 51, and the sixth rotary driving component 54 is connected with the cutting blade 53 through the second transmission component.

In the present embodiment, the first rotation driving assembly 41, the second rotation driving assembly 44, the third rotation driving assembly 45, the fourth rotation driving assembly 47, the fifth rotation driving assembly 56, and the sixth rotation driving assembly 54 may be an existing motor or a combination structure of a motor and a speed reducer as they are, and are not particularly limited.

The first transmission assembly 57 of the present embodiment adopts a gear structure; the second transmission component adopts a belt pulley structure or a chain wheel and chain structure.

In the embodiment, the picking mechanical arm 4 realizes the swing of the large arm 42 through the first rotary driving component 41, the swing of the telescopic small arm 43 through the second rotary driving component 44, the swing of the swing wrist 46 through the third rotary driving component 45, and the swing of the palm 51 through the fourth rotary driving component 47, so that the multidirectional adjustment of the picking mechanical arm 4 in space is realized, the operation range is wide, and the use is flexible. When picking, the fruit is clamped by the two grabbing fingers 52, and the part of the fruit connected with the branch is cut by the cutting piece 53, so that the automatic picking of the fruit is realized, the picking effect of the fruit is greatly improved, the labor is saved, and the manual labor intensity is reduced. This embodiment specially adapted eminence fruit is picked, need not the manual work and carries out the manual work with the help of the instrument and picks, and the security is high, picks efficiently.

In this embodiment, it is further preferable that the picking robot further includes a large arm auxiliary mechanism, the large arm auxiliary mechanism includes a second connecting rod 48, a third connecting rod 49, and a seventh rotary driving component 50, one end of the second connecting rod 48 is hinged to the middle of the base 40, the seventh rotary driving component 50 is mounted on the base 40 and connected to one end of the second connecting rod 48, the other end of the second connecting rod 48 is hinged to one end of the third connecting rod 49, and the other end of the third connecting rod 49 is hinged to the middle of the large arm 42. Under the effect of the large arm auxiliary mechanism, the auxiliary large arm 42 swings, the structural strength of the large arm 42 is ensured, and the stability of the whole structure is improved.

In this embodiment, the small telescopic arm 43 preferably comprises a basic arm, a movable arm and a linear driving assembly, wherein one end of the basic arm is hinged with the other end of the large arm 42, the basic arm is connected with the movable arm in a movable fit manner, and the movable arm is hinged with the swing wrist 46; the linear driving assembly is mounted on the base arm and connected with the moving arm. The linear driving assembly drives the moving part to move relative to the basic arm, so that the length of the telescopic small arm 43 is adjusted, and the overall operation height is improved. The telescopic boom 43 of the present embodiment is a conventional telescopic structure, and can directly adopt the same telescopic boom structure of the existing crane and other equipment.

The combination of the chassis 1 and the running mechanism 2 in the embodiment can directly adopt the existing tire type chassis structure, and can also adopt a crawler type chassis to adapt to different environmental operations. In this embodiment, preferably, the traveling mechanism 2 includes a front wheel 20, a rear wheel 21, a direction holder 27, a front support frame 22, a rear support frame 23, a rear rotating shaft 32, an eighth rotary driving assembly 30, a driving gear 25, a fourth connecting rod 26, a rotary motor 24, an L-shaped shaft 28, and a dial plate 29, a rack 260 is disposed on the fourth connecting rod 26, the front support frame 22 and the rear support frame 23 are respectively mounted at the front end and the rear end below the chassis 1, and the rear rotating shaft 32 is rotatably connected with the rear support frame 23; the two front wheels 20 are respectively and rotatably arranged at two ends of the front supporting frame 22; the two rear wheels 21 are respectively and rotatably arranged at two ends of the rear rotating shaft 32; the eighth rotary driving assembly 30 is mounted on the rear support frame 23 and connected to the rear rotating shaft 32; the rotating motor 24 is arranged at the front end of the chassis 1, and the driving gear 25 is arranged on the output shaft of the rotating motor 24; the fourth connecting rod 26 is rotatably mounted at the front end of the chassis 1 through the direction holder 27, and the driving gear 25 is meshed with the rack 260; two ends of the fourth connecting rod 26 are respectively and rotatably connected with one ends of the two L-shaped shafts 28; the other end of the L-shaped shaft 28 is movably sleeved with the dial plate 29, and the dial plate 29 is connected with the front wheel 20. When the device is used, the rotating motor 24 is started to drive the driving gear 25 to rotate, so that the rack 260 and the fourth connecting rod 26 are driven to move, the two L-shaped shafts 28 are driven to swing, the two L-shaped shafts 28 swing and simultaneously drive the two poking discs 29 to swing, and the two front wheels 20 are driven to turn, so that the integral direction adjustment is realized; wherein the L-shaped shaft 28 is movably sleeved with the dial plate 29 to adapt to the displacement change of the dial plate 29 when the L-shaped shaft 28 swings. Wherein the rear spindle 32 is driven by the eighth rotary drive assembly 30 to move from front to rear to drive the rear wheel 21 to move, thereby driving the whole to move. In the present embodiment, the eighth rotary driving assembly 30 may directly adopt an existing motor or a combination structure of a motor and a speed reducer, which is not particularly limited.

Further preferably, the picking robot further comprises a damping mechanism, and the rear support frame 23, the chassis 1 and the rear rotating shaft 32 are connected through the damping mechanism; the front support frame 22, the toggle plate 29 and the chassis 1 are connected through the damping mechanism. The damping function of the running process is realized through the damping mechanism, and the whole running stability is ensured. Preferably, the damping mechanism comprises a damping connecting rod 310, a damping spring 311 connected with the damping connecting rod 310, and a mounting seat 312 connected with the damping connecting rod 310, and is connected with the chassis 1 through the mounting seat 312, wherein the front support frame 22 and the toggle plate 29 are connected through the damping connecting rod 310, and the rear support frame 23 and the rear main shaft 32 are connected through the damping connecting rod 310.

In this embodiment, it is further preferable that the picking robot further includes a visual detection sensor 55, and a controller connected to the visual detection sensor 55, and the controller is connected to the traveling mechanism 2, the swing mechanism 3, and the picking robot arm 4. Wherein the visual detection sensor 55 is installed on the palm 51, and the ripeness of the fruit is detected by the visual detection sensor 55 during picking, so as to pick the ripe fruit. And meanwhile, the controller controls the actions of the travelling mechanism 2, the slewing mechanism 3 and the picking mechanical arm 4.

The swing mechanism 3 of the present embodiment directly adopts the structure of the existing motor and gear mechanism, and of course, other existing swing forms may be adopted, which is not specifically limited.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A picking robot is characterized by comprising a chassis, a travelling mechanism, a swing mechanism and a picking mechanical arm, wherein the travelling mechanism is arranged below the chassis; the slewing mechanism is arranged above the chassis; the picking mechanical arm is connected with the swing mechanism; the picking robot further comprises a fruit containing cylinder, a pressing mechanism and a limiting mechanism; the limiting mechanism comprises a first linear moving driving piece and a limiting plate, the limiting plate is provided with a containing hole and a containing groove, the first linear moving driving piece is installed on the chassis, and the first linear moving driving piece is connected with the limiting plate; the fruit containing barrel is placed in the accommodating hole;

2. The picking robot of claim 1, wherein the picking robot arm comprises a base, a large arm, a small telescopic arm, a swinging wrist, a palm, a grabbing finger, a cutting blade, a first rotary driving component, a second rotary driving component, a third rotary driving component, a fourth rotary driving component, a fifth rotary driving component, a sixth rotary driving component, a first transmission component, a second transmission component, a first connecting rod and a swinging gear, wherein the lower end of the base is connected with the swinging mechanism, one end of the large arm is hinged with the upper end of the base, and the first rotary driving component is mounted on the base and connected with one end of the large arm; the other end of the large arm is rotatably connected with one end of the small telescopic arm, and the second rotary driving component is arranged at the other end of the large arm and is connected with one end of the small telescopic arm; the other end of the telescopic small arm is rotatably connected with one end of the swing wrist, and the third rotary driving component is arranged at the other end of the telescopic small arm and is connected with one end of the swing wrist; the other end of the swinging wrist is rotatably connected with one end of the palm, and the fourth rotary driving component is mounted at the other end of the swinging wrist and connected with one end of the palm; the fifth rotary driving component and the sixth rotary driving component are both arranged on the palm of the hand; the swing gear comprises a gear body and a swing shaft connected with the gear body; the two gear bodies are meshed with each other and are rotatably arranged on the palm, and the two swinging shafts are respectively and rotatably connected with one ends of the two grabbing fingers; one ends of the two first connecting rods are rotatably connected with the palm, and the other ends of the two first connecting rods are respectively rotatably connected with the middles of the two grabbing fingers; the fifth rotary driving component is connected with the gear body through the first transmission component; the cutting blade rotates and installs in on the palm, just sixth rotary driving subassembly passes through the second transmission subassembly with the cutting blade is connected.

3. A picking robot as claimed in claim 2, characterised in that the picking robot further comprises a boom assist mechanism comprising a second link, a third link, a seventh rotary drive assembly, one end of the second link being hinged to the middle of the base, the seventh rotary drive assembly being mounted on the base and connected to one end of the second link, the other end of the second link being hinged to one end of the third link, the other end of the third link being hinged to the middle of the boom.

4. A picking robot as claimed in claim 2, characterised in that the small telescopic arm comprises a basic arm, a moving arm and a linear driving assembly, wherein one end of the basic arm is hinged with the other end of the large arm, the basic arm is connected with the moving arm in a moving fit manner, and the moving arm is hinged with the swing wrist; the linear driving assembly is mounted on the base arm and connected with the moving arm.

5. The picking robot of claim 2, wherein the traveling mechanism comprises front wheels, rear wheels, a direction holder, a front support frame, a rear rotating shaft, an eighth rotary driving assembly, a driving gear, a fourth connecting rod, a rotary motor, an L-shaped shaft and a dial plate, wherein a rack is arranged on the fourth connecting rod, the front support frame and the rear support frame are respectively arranged at the front end and the rear end below the chassis, and the rear rotating shaft is rotatably connected with the rear support frame; the two front wheels are respectively and rotatably arranged at two ends of the front supporting frame; the two rear wheels are respectively and rotatably arranged at two ends of the rear rotating shaft; the eighth rotary driving assembly is arranged on the rear supporting frame and is connected with the rear rotating shaft; the rotating motor is arranged at the front end of the chassis, and the driving gear is arranged on an output shaft of the rotating motor; the fourth connecting rod is rotatably arranged at the front end of the chassis through the direction retainer, and the driving gear is meshed with the rack; two ends of the fourth connecting rod are respectively and rotatably connected with one ends of the two L-shaped shafts; the other end of the L-shaped shaft is movably sleeved with the poking disc, and the poking disc is connected with the front wheel.

6. A picking robot as claimed in claim 5, characterised in that the picking robot further comprises a shock absorbing mechanism by which the rear support frame, chassis, rear rotating shaft are connected; the front support frame, the poking disc and the chassis are connected through the damping mechanism.

7. A picking robot as claimed in claim 6, characterised in that the shock absorbing mechanism comprises a shock absorbing link, a shock absorbing spring connected to the shock absorbing link, a mounting socket connected to the shock absorbing link.

8. A picking robot as claimed in any one of claims 1 to 7, characterised in that the picking robot further comprises a vision detection sensor, a controller connected to the vision detection sensor, the controller being connected to the travelling mechanism, slewing mechanism and picking robot arm.