CN113352340A - Full-automatic picking robot and picking method - Google Patents

Abstract

The invention discloses a full-automatic picking robot and a picking method, wherein the full-automatic picking robot comprises a base plate, a feeding assembly, a blanking assembly, a picking assembly and a first camera, and the picking method comprises the following steps of initializing equipment; step two, putting the collecting basket; step three, automatically picking; step four, carrying the packaging basket; compared with the existing picking robot, the feeding assembly is designed, the collecting frames can be automatically put in, and picking efficiency is improved.

Description

Full-automatic picking robot and picking method

Technical Field

The invention relates to the technical field of picking robots, in particular to a full-automatic picking robot and a picking method.

Background

The picking robot is a crops results equipment that intelligent degree is high, can reduce the picking cost, improve and pick efficiency, current picking robot lacks the function of automatic input collection frame, need the manual work to lay and gather the frame, very big influence picking efficiency, current picking robot can't the safety and stability unload after gathering the frame and filling with, it emptys easily to gather the frame, lead to the crop impaired, current picking robot only has single arm to pick, efficiency is comparatively low, and unable accurate location picking position, cause easily to pick incompletely, perhaps pick excessively, so that will cultivate the stake and cut off.

Disclosure of Invention

The invention aims to provide a full-automatic picking robot and a picking method, which aim to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a full-automatic picking robot comprises a base plate, a feeding component, a blanking component, a picking component, a first mounting seat, a first connecting shaft, a moving wheel, a wireless charger, a power supply arm, a second mounting seat, a first electric telescopic rod, a controller, a level gauge and a first camera, wherein the feeding component is mounted on the outer wall of the top end of the base plate and comprises a collecting basket group, a limiting rod, a supporting rod, a first motor, a second connecting shaft, a connecting rod, a baffle rod, a second motor, a first belt wheel, a supporting plate, a conveying belt and a second belt wheel, the top end of the base plate is provided with the collecting basket group, the limiting rods are symmetrically arranged on the outer walls of the two sides of the collecting basket group and fixedly connected to the outer wall of the top end of the base plate, the supporting rods are distributed on the two sides of the collecting basket group and fixedly connected to the outer wall of the top end of the base plate, the first motor is symmetrically arranged on one side of the collecting basket group, and first motor fixed connection is on one side outer wall of bracing piece, fixedly connected with second connecting axle on one side outer wall of first motor output, and the second connecting axle rotates to be connected on the inner wall of bracing piece, and the outside of second connecting axle distributes and is provided with the pin, and the symmetry is fixed with the connecting rod on one side outer wall of pin, and the one end fixed connection of connecting rod is on the outer wall of second connecting axle.

Preferably, the bilateral symmetry of collection dress basket group is provided with the second motor, and second motor fixed connection on one side outer wall of bracing piece, the first band pulley of fixedly connected with on one side outer wall of second motor output, has cup jointed the conveyer belt on the outer wall of first band pulley, has cup jointed the second band pulley on one side inner wall of conveyer belt, and the second band pulley rotates to be connected on one side outer wall of bracing piece, is provided with the backup pad on one side inner wall of conveyer belt, and backup pad fixed connection is on one side outer wall of gag lever post.

Preferably, the bottom outer wall of base plate is gone up to distribute and is fixed with first mount pad, rotates on one side inner wall of first mount pad and is connected with first connecting axle, installs on one side outer wall of first connecting axle and removes the wheel, and the symmetry is fixed with the second mount pad on the both sides outer wall of base plate, the first electric telescopic handle of fixedly connected with on one side inner wall of second mount pad.

Preferably, the blanking assembly is arranged on the outer wall of the top end of the base plate and comprises a case, a third motor, a first gear, a second gear, a third connecting shaft, a first guide rod, a first spring, a first stop block, a first connecting plate, a second guide rod, a third mounting seat, a second electric telescopic rod, a slide rail, a limiting groove, a limiting block, a second spring, a second stop block, a pulley, a third stop block and a slide groove, the case is fixedly connected to the outer wall of the top end of the base plate, the third motor is fixedly connected to the inner wall of one side of the case, the first gear is fixedly connected to the outer wall of one side of the output end of the third motor, the second gear is engaged and connected to the outer wall of one side of the first gear, the third connecting shaft is arranged on the inner wall of one side of the second gear, the third connecting shaft is rotatably connected to the inner wall of the bottom end of the case, the first guide rod is fixedly connected to the outer wall of the top end of the third connecting shaft, the first check block of fixedly connected with on the outer wall of the top of first guide bar, sliding connection has first connecting plate on the outer wall of one side of first guide bar, the first spring of fixedly connected with on the outer wall of bottom of first connecting plate, and first spring cup joints on the outer wall of one side of first guide bar, fixedly connected with second guide bar on the outer wall of one side of first connecting plate, the symmetry is fixed with the third mount pad on the outer wall of one side of second guide bar, fixedly connected with second electric telescopic handle on the outer wall of one side of third mount pad, fixedly connected with slide rail on the outer wall of one side of second electric telescopic handle output, and slide rail sliding connection is on the outer wall of second guide bar, fixedly connected with third check block on the outer wall of top of slide rail, the pulley has been installed in the distribution on the outer wall of top of slide rail.

Preferably, the limiting groove has been seted up on the top outer wall of slide rail, has cup jointed the stopper on one side inner wall of limiting groove, fixedly connected with second spring on the bottom outer wall of stopper, and the one end fixed connection of second spring is on the bottom inner wall of limiting groove, fixedly connected with second dog on the top outer wall of stopper.

Preferably, the sliding groove is formed in the outer wall of one side of the case, the first connecting plate is connected to the inner wall of one side of the sliding groove in a sliding mode, the wireless charger is fixedly connected to the outer wall of one side of the case, the first camera is fixedly connected to the outer wall of one side of the case, the power supply arm is installed on the outer wall of one side of the case, the controller is fixedly connected to the inner wall of one side of the case, and the level meter is fixedly connected to the outer wall of the top end of the controller.

Preferably, install on one side outer wall of quick-witted case and pick the subassembly, it includes picks the basket to pick the subassembly, the second connecting plate, the fourth motor, the fourth connecting axle, a separation plate, first support, the fifth motor, the lead screw, the slider, first manipulator, the second camera, the second support, the third guide bar, second manipulator and third camera, one side of machine case is provided with picks the basket, the symmetry is fixed with the second connecting plate on the outer wall of one side of picking the basket, and second connecting plate fixed connection is on one side outer wall of machine case, fixedly connected with fourth motor on the outer wall of one side of picking the basket, fixedly connected with fourth connecting axle on the outer wall of one side of fourth motor output, and the fourth rotates to be connected on one side inner wall of picking the basket, install the baffle on one side outer wall of fourth connecting axle, and the baffle cup joints on one side inner wall of picking the basket.

Preferably, pick on the outer wall of one side of basket the first support of fixedly connected with, fixedly connected with fifth motor on the outer wall of one side of first support, fixedly connected with lead screw on the outer wall of one side of fifth motor output, and the lead screw rotates and connects on the inner wall of first support, threaded connection has the slider on the outer wall of one side of lead screw, install first manipulator on the top outer wall of slider, one side of first manipulator is provided with the second camera, and second camera fixed connection is on the top outer wall of slider, pick fixedly connected with second support on the outer wall of one side of basket, fixedly connected with third guide bar on the outer wall of one side of second support, and slider sliding connection is on the outer wall of one side of third guide bar, install the second manipulator on the outer wall of top of machine case, fixedly connected with third camera on the outer wall of one side of second manipulator.

A picking method of a full-automatic picking robot comprises the following steps of firstly, initializing equipment; step two, putting the collecting basket; step three, automatically picking; step four, carrying the packaging basket;

in the first step, different movable wheels are installed according to the environment condition of the operation field, the first camera, the second camera and the third camera are checked and adjusted, and parameters of equipment are set;

in the second step, the controller is started, the first motor is synchronously started, one collecting basket in the collecting basket group is put in and falls on the conveying belt under the action of gravity, and the second motor is synchronously started to convey the collecting basket to the material receiving position on the sliding rail;

in the third step, the third camera captures a crop culture pile, signals are transmitted to the controller, the controller controls the second mechanical arm to clamp the crop culture pile and move to the picking position, the second camera captures a fungus position on the crop culture pile, the signals are transmitted to the controller, the controller controls the fifth motor to be started, the first mechanical arm is made to move to the picking position, the first mechanical arm picks off the fungus crop, and the fungus crop falls into the picking basket;

wherein in above-mentioned step four, when the fungus class crop in the picking basket reached the settlement capacity of picking the basket, the fourth motor started, and the baffle upset makes the fungus class crop fall into the collection dress basket, and the third motor starts, makes the slide rail shift to the unloading position, and second electric telescopic handle starts, and the slide rail opens to both sides, and the collection dress basket falls to the ground, and second electric telescopic handle resets, and the third motor starts, makes the slide rail reset, waits for the input of next collection dress basket.

Preferably, in the first step, the moving wheels are of an orbital type and a triangular crawler type, and when the orbital type moving wheels are used, the tracks need to be laid in advance, and each moving wheel is provided with a separate driving motor.

Compared with the prior art, the invention has the beneficial effects that: compared with the existing picking robot, the feeding assembly is designed, the collecting frames can be automatically put in, and picking efficiency is improved.

Drawings

FIG. 1 is an elevational view of the overall front cut-away construction of the present invention;

FIG. 2 is an enlarged view of the structure of the area A in FIG. 1;

FIG. 3 is an enlarged view of the structure of the area B in FIG. 1;

FIG. 4 is an enlarged view of the structure of the area C in FIG. 1;

FIG. 5 is an enlarged view of the structure of the area D in FIG. 1;

FIG. 6 is a schematic view of the overall top view of the present invention;

FIG. 7 is a perspective view of the feed assembly of the present invention;

FIG. 8 is a front view of the picking basket of the present invention;

FIG. 9 is a flow chart of a method of the present invention;

in the figure: 1. a substrate; 2. a supply assembly; 3. a blanking assembly; 4. a picking assembly; 5. a first mounting seat; 6. a first connecting shaft; 7. a moving wheel; 8. a wireless charger; 9. a power supply arm; 10. a second mounting seat; 11. a first electric telescopic rod; 12. a controller; 13. a level gauge; 14. a first camera; 21. a collection basket group; 22. a limiting rod; 23. a support bar; 231. a first motor; 232. a second connecting shaft; 233. a connecting rod; 234. a stop lever; 235. a second motor; 236. a first pulley; 237. a support plate; 238. a conveyor belt; 239. a second pulley; 31. a chassis; 32. a third motor; 321. a first gear; 322. a second gear; 323. a third connecting shaft; 324. a first guide bar; 325. a first spring; 326. a first stopper; 33. a first connecting plate; 331. a second guide bar; 332. a third mounting seat; 333. a second electric telescopic rod; 334. a slide rail; 3341. a limiting groove; 3342. a limiting block; 3343. a second spring; 3344. a second stopper; 335. a pulley; 336. a third stopper; 34. a chute; 41. picking baskets; 411. a second connecting plate; 412. a fourth motor; 413. a fourth connecting shaft; 414. a partition plate; 42. a first bracket; 421. a fifth motor; 422. a screw rod; 43. a slider; 431. a first manipulator; 432. a second camera; 44. a second bracket; 441. a third guide bar; 45. a second manipulator; 46. and a third camera.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, an embodiment of the present invention: a full-automatic picking robot comprises a base plate 1, a feeding component 2, a blanking component 3, a picking component 4, a first mounting seat 5, a first connecting shaft 6, a moving wheel 7, a wireless charger 8, a power supply arm 9, a second mounting seat 10, a first electric telescopic rod 11, a controller 12, a level meter 13 and a first camera 14, wherein the feeding component 2 is mounted on the outer wall of the top end of the base plate 1, the feeding component 2 comprises a collecting basket group 21, a limiting rod 22, a supporting rod 23, a first motor 231, a second connecting shaft 232, a connecting rod 233, a blocking rod 234, a second motor 235, a first belt wheel 236, a supporting plate 237, a conveying belt 238 and a second belt wheel 239, the collecting basket group 21 is arranged at the top end of the base plate 1, the limiting rods 22 are symmetrically arranged on the outer walls of two sides of the collecting basket group 21, the limiting rods 22 are fixedly connected to the outer wall of the top end of the base plate 1, the supporting rods 23 are distributed on two sides of the collecting basket group 21, the supporting rod 23 is fixedly connected to the outer wall of the top end of the base plate 1, one side of the packaging basket group 21 is symmetrically provided with a first motor 231, the first motor 231 is fixedly connected to the outer wall of one side of the supporting rod 23, the outer wall of one side of the output end of the first motor 231 is fixedly connected with a second connecting shaft 232, the second connecting shaft 232 is rotatably connected to the inner wall of the supporting rod 23, the outer side of the second connecting shaft 232 is distributed with a stop lever 234, the outer wall of one side of the stop lever 234 is symmetrically fixed with connecting rods 233, and one end of each connecting rod 233 is fixedly connected to the outer wall of the second connecting shaft 232; the two sides of the collecting basket group 21 are symmetrically provided with second motors 235, the second motors 235 are fixedly connected to the outer wall of one side of the supporting rod 23, the outer wall of one side of the output end of each second motor 235 is fixedly connected with a first belt pulley 236, the outer wall of the first belt pulley 236 is sleeved with a conveying belt 238, the inner wall of one side of the conveying belt 238 is sleeved with a second belt pulley 239, the second belt pulley 239 is rotatably connected to the outer wall of one side of the supporting rod 23, the inner wall of one side of the conveying belt 238 is provided with a supporting plate 237, the supporting plate 237 is fixedly connected to the outer wall of one side of the limiting rod 22, the second motors 235 provide power for the conveying belt 238 through the first belt pulley 236, the supporting plate 237 is used for supporting the collecting basket, and the second belt pulleys 239 are used for assisting in transmission of the conveying belt 238; a first mounting seat 5 is distributed and fixed on the outer wall of the bottom end of the substrate 1, a first connecting shaft 6 is rotatably connected to the inner wall of one side of the first mounting seat 5, a moving wheel 7 is mounted on the outer wall of one side of the first connecting shaft 6, second mounting seats 10 are symmetrically fixed on the outer walls of two sides of the substrate 1, a first electric telescopic rod 11 is fixedly connected to the inner wall of one side of each second mounting seat 10, the first connecting shaft 6 on the first mounting seat 5 is used for mounting the moving wheels 7 in different types, and the first electric telescopic rods 11 on the second mounting seats 10 are used for equipment inclination correction; the blanking component 3 is installed on the outer wall of the top end of the substrate 1, the blanking component 3 comprises a case 31, a third motor 32, a first gear 321, a second gear 322, a third connecting shaft 323, a first guide rod 324, a first spring 325, a first stop 326, a first connecting plate 33, a second guide rod 331, a third installation seat 332, a second electric telescopic rod 333, a slide rail 334, a limit groove 3341, a limit block 3342, a second spring 3343, a second stop 3344, a pulley 335, a third stop 336 and a slide groove 34, the case 31 is fixedly connected on the outer wall of the top end of the substrate 1, the third motor 32 is fixedly connected on the inner wall of one side of the case 31, the first gear 321 is fixedly connected on the outer wall of one side of the output end of the third motor 32, the second gear 322 is engaged and connected on the outer wall of one side of the first gear 321, the third connecting shaft 323 is installed on the inner wall of one side of the second gear 322, and the third connecting shaft 323 is rotatably connected on the inner wall of the bottom end of the case 31, a first guide rod 324 is fixedly connected to the outer wall of the top end of the third connecting shaft 323, a first stop 326 is fixedly connected to the outer wall of the top end of the first guide rod 324, a first connecting plate 33 is slidably connected to the outer wall of one side of the first guide rod 324, a first spring 325 is fixedly connected to the outer wall of the bottom end of the first connecting plate 33, the first spring 325 is sleeved on the outer wall of one side of the first guide rod 324, a second guide rod 331 is fixedly connected to the outer wall of one side of the first connecting plate 33, third mounting seats 332 are symmetrically fixed to the outer wall of one side of the second guide rod 331, a second electric telescopic rod 333 is fixedly connected to the outer wall of one side of the third mounting seat 332, a slide rail 334 is fixedly connected to the outer wall of one side of the output end 333 of the second electric telescopic rod, the slide rail 334 is slidably connected to the outer wall of the second guide rod 331, a third stop 336 is fixedly connected to the outer wall of the top end of the, the blanking assembly 3 is used for moving the full collection frame out of the equipment; a limiting groove 3341 is formed in the outer wall of the top end of the sliding rail 334, a limiting block 3342 is sleeved on the inner wall of one side of the limiting groove 3341, a second spring 3343 is fixedly connected to the outer wall of the bottom end of the limiting block 3342, one end of the second spring 3343 is fixedly connected to the inner wall of the bottom end of the limiting groove 3341, a second blocking block 3344 is fixedly connected to the outer wall of the top end of the limiting block 3342, the limiting groove 3341, the limiting block 3342, the second spring 3343 and the second blocking block 3344 form an elastic blocking block structure, which can be used for limiting the collection frame, and preventing the collection frame from sliding out of the sliding rail 334 in the blanking process; a sliding groove 34 is formed in the outer wall of one side of the case 31, the first connecting plate 33 is connected to the inner wall of one side of the sliding groove 34 in a sliding mode, the wireless charger 8 is fixedly connected to the outer wall of one side of the case 31, the first camera 14 is fixedly connected to the outer wall of one side of the case 31, the power supply arm 9 is installed on the outer wall of one side of the case 31, the controller 12 is fixedly connected to the inner wall of one side of the case 31, the level meter 13 is fixedly connected to the outer wall of the top end of the controller 12, the sliding groove 34 is used for accommodating the first connecting plate 33, the wireless charger 8 is used for wireless charging, the first camera 14 is used for path identification, the power supply arm 9 is used for connecting an electric cable to supply power externally, the controller 12 is used for; the picking assembly 4 is installed on the outer wall of one side of the machine case 31, the picking assembly 4 comprises a picking basket 41, a second connecting plate 411, a fourth motor 412, a fourth connecting shaft 413, a partition 414, a first support 42, a fifth motor 421, a screw 422, a slide block 43, a first manipulator 431, a second camera 432, a second support 44, a third guide rod 441, a second manipulator 45 and a third camera 46, the picking basket 41 is arranged on one side of the machine case 31, the second connecting plate 411 is symmetrically fixed on the outer wall of one side of the picking basket 41, the second connecting plate 411 is fixedly connected on the outer wall of one side of the machine case 31, the fourth motor 412 is fixedly connected on the outer wall of one side of the picking basket 41, the fourth connecting shaft 413 is fixedly connected on the outer wall of one side of the output end of the fourth motor 412, the fourth connecting shaft 413 is rotatably connected on the inner wall of one side of the picking basket 41, the partition 414 is installed on the outer wall of one side of the fourth connecting shaft 413, the partition 414 is sleeved on the inner wall of one side of the picking basket 41, and the picking assembly 4 is used for picking fungus crops; a first bracket 42 is fixedly connected to the outer wall of one side of the picking basket 41, a fifth motor 421 is fixedly connected to the outer wall of one side of the first bracket 42, a screw 422 is fixedly connected to the outer wall of one side of the output end of the fifth motor 421, the screw 422 is rotatably connected to the inner wall of the first bracket 42, a slider 43 is in threaded connection with the outer wall of one side of the screw 422, a first manipulator 431 is mounted on the outer wall of the top end of the slider 43, a second camera 432 is arranged on one side of the first manipulator 431, the second camera 432 is fixedly connected to the outer wall of the top end of the slider 43, a second bracket 44 is fixedly connected to the outer wall of one side of the picking basket 41, a third guide rod 441 is fixedly connected to the outer wall of one side of the second bracket 44, the slider 43 is slidably connected to the outer wall of one side of the third guide rod 441, a second manipulator 45 is mounted on the outer wall of the top end of the case 31, a third camera 46 is fixedly connected to one side of the second manipulator 45, the fifth motor 421 adjusts the position of the sliding block 43 through the screw rod 422, so as to adjust the position of the first manipulator 431, and the second camera 432 is used for performing precise picking, wherein the first bracket 42 is used for installing the fifth motor 421 and the screw rod 422, and the second bracket 44 is used for installing the third guide rod 441.

Referring to fig. 9, an embodiment of the present invention: a picking method of a full-automatic picking robot comprises the following steps of firstly, initializing equipment; step two, putting the collecting basket; step three, automatically picking; step four, carrying the packaging basket;

in the first step, different moving wheels 7 are installed according to the environment condition of the operation field, the moving wheels 7 are of an orbital type and a triangular crawler type, when the orbital type moving wheels 7 are used, an orbit needs to be laid in advance, each moving wheel 7 is provided with an independent driving motor, the first camera 14, the second camera 432 and the third camera 46 are checked and adjusted, and the parameters of the equipment are set;

in the second step, the controller 12 is started, the first motor 231 is synchronously started, one collecting basket in the collecting basket group 21 is put in and falls on the conveyor belt 238 under the action of gravity, and the second motor 235 is synchronously started to convey the collecting basket to the material receiving position on the slide rail 334;

in the third step, the third camera 46 captures a crop cultivation pile and transmits a signal to the controller 12, the controller 12 controls the second manipulator 45 to clamp the crop cultivation pile and move the crop cultivation pile to a picking position, the second camera 432 captures a fungus position on the crop cultivation pile and transmits the signal to the controller 12, the controller 12 controls the fifth motor 421 to be started, so that the first manipulator 431 moves to a picking position, the first manipulator 431 picks off the fungus crop, and the fungus crop falls into the picking basket 41;

wherein in the fourth step, when the fungus crop in the picking basket 41 reaches the set capacity of the picking basket 41, the fourth motor 412 is started, the partition plate 414 is turned, so that the fungus crop falls into the collecting basket, the third motor 32 is started, the slide rail 334 is shifted to the blanking position, the second electric telescopic rod 333 is started, the slide rail 334 is opened towards two sides, the collecting basket falls to the ground, the second electric telescopic rod 333 is reset, the third motor 32 is started, the slide rail 334 is reset, and the next collecting basket is put in.

Based on the above, the invention has the advantages that when the invention is used for automatically picking fungus crops, firstly, different moving wheels 7 are installed according to the environment condition of a working site, the first camera 14, the second camera 432 and the third camera 46 are checked and adjusted, and the parameters of the equipment are set; then the feeding assembly 2 is used for putting in the collecting frame, the controller 12 is started, the first motor 231 is synchronously started to drive the second connecting shaft 232 to rotate 45 degrees on the supporting rod 23, the stop rod 234 is driven to rotate 45 degrees through the connecting rod 233, the lowest collecting basket in the collecting basket group 21 is put in, the collecting basket falls on the conveying belt 238 along the stop rod 22, the supporting plate 237 supports the collecting basket, the second motor 235 is synchronously started to drive the first belt wheel 236, the second belt wheel 239 is driven through the conveying belt 238, the collecting basket is conveyed to the material receiving position on the sliding rail 334, in the process, the collecting basket pushes the second stop block 3344, the second spring 3343 is compressed through the stop block 3342, the collecting basket slides along the pulley 335, after contacting the third stop block 336, the collecting basket is separated from the second stop block 3344, under the reset action of the second spring 3343, the second stop block 3344 pops up along the limit groove 3341, and the collecting basket is clamped; the picking assembly 4 is started to pick, the third camera 46 captures a crop culture pile and transmits a signal to the controller 12, the controller 12 controls the second mechanical arm 45 to clamp the crop culture pile and move to a picking position, the second camera 432 captures a fungus position on the crop culture pile and transmits the signal to the controller 12, the controller 12 controls the fifth motor 421 to start to drive the screw rod 422 to rotate on the first support 42, the screw rod 422 drives the sliding block 43 to slide along the third guide rod 441 on the second support 44, the first mechanical arm 431 moves to the picking position, the first mechanical arm 431 picks the fungus crop, the fungus crop falls into the picking basket 41, when the fungus crop in the picking basket 41 reaches a set capacity, the fourth motor 412 is started to drive the fourth connecting shaft 413 to rotate 180 degrees to turn the partition plate 414, and the fungus crop falls into the collecting basket; the blanking component 3 is started to blank the collection frame, the third motor 32 is started to drive the first gear 321 to rotate, the first gear 321 drives the second gear 322 on the third connecting shaft 323 to rotate 90 degrees, the second gear 322 drives the first guide rod 324 to rotate, the cuboid first guide rod 324 can drive the first connecting plate 33 to rotate, so that the first connecting plate 33 slides along the chute 34, the second guide rod 331 on the first connecting plate 33 rotates along with the first guide rod 331, the collection frame is separated from the substrate 1, under the weight action of the collection frame, the first connecting plate 33 slides downwards along the first guide rod 324, the first spring 325 is compressed, when the sliding rail 334 is transferred to the blanking position, the second electric telescopic rod 333 on the third mounting seat 332 is started to drive the sliding rail 334 to open towards two sides, the collection basket falls to the original height, under the reset action of the first spring 325, the first connecting plate 33 returns to the original height to drive the sliding rail 334 to return to the original height, the second electric telescopic rod 333 resets, the third motor 32 is started to reset the slide rail 334 to wait for the next collecting basket to be put in; when the level meter 13 detects that the equipment inclines, the first electric telescopic rod 11 on the inclined side is started to correct the inclination, wherein the first connecting shaft 6 on the first mounting seat 5 is used for mounting the moving wheels 7 in different styles, the second mounting seat 10 is used for mounting the first electric telescopic rod 11, the wireless charger 8 is used for wireless charging, the first camera 14 on the case 31 is used for path identification, the power supply arm 9 is used for connecting an electric cable to supply external power, the controller 12 is used for automatic control of the equipment, the second connecting plate 411 is used for mounting the picking basket 41, and the first stopper 326 is used for limiting the first connecting plate 33.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. The utility model provides a full-automatic picking robot, includes base plate (1), feeding subassembly (2), unloading subassembly (3), picks subassembly (4), first mount pad (5), first connecting axle (6), removes wheel (7), wireless charger (8), power supply arm (9), second mount pad (10), first electric telescopic handle (11), controller (12), spirit level (13) and first camera (14), its characterized in that: the feeding assembly (2) is installed on the outer wall of the top end of the base plate (1), the feeding assembly (2) comprises a collection basket set (21), a limiting rod (22), a supporting rod (23), a first motor (231), a second connecting shaft (232), a connecting rod (233), a stop rod (234), a second motor (235), a first belt wheel (236), a supporting plate (237), a conveying belt (238) and a second belt wheel (239), the collection basket set (21) is arranged on the top end of the base plate (1), the limiting rods (22) are symmetrically arranged on the outer walls of two sides of the collection basket set (21), the limiting rods (22) are fixedly connected to the outer wall of the top end of the base plate (1), the supporting rods (23) are distributed on two sides of the collection basket set (21), the supporting rods (23) are fixedly connected to the outer wall of the top end of the base plate (1), the first motor (231) is symmetrically arranged on one side of the collection basket set (21), and first motor (231) fixed connection is on one side outer wall of bracing piece (23), fixedly connected with second connecting axle (232) on one side outer wall of first motor (231) output, and second connecting axle (232) rotate to be connected on the inner wall of bracing piece (23), the outside distribution of second connecting axle (232) is provided with pin (234), the symmetry is fixed with connecting rod (233) on one side outer wall of pin (234), and the one end fixed connection of connecting rod (233) is on the outer wall of second connecting axle (232).

2. A full automatic picking robot according to claim 1 characterised in that: the bilateral symmetry of collection dress basket group (21) is provided with second motor (235), and second motor (235) fixed connection is on one side outer wall of bracing piece (23), first band pulley (236) of fixedly connected with on one side outer wall of second motor (235) output, conveyer belt (238) have been cup jointed on the outer wall of first band pulley (236), second band pulley (239) have been cup jointed on one side inner wall of conveyer belt (238), and second band pulley (239) rotate to be connected on one side outer wall of bracing piece (23), be provided with backup pad (237) on one side inner wall of conveyer belt (238), and backup pad (237) fixed connection is on one side outer wall of gag lever post (22).

3. A full automatic picking robot according to claim 1 characterised in that: the base plate is characterized in that a first mounting seat (5) is fixedly arranged on the outer wall of the bottom end of the base plate (1), a first connecting shaft (6) is connected to the inner wall of one side of the first mounting seat (5) in a rotating mode, a moving wheel (7) is installed on the outer wall of one side of the first connecting shaft (6), second mounting seats (10) are symmetrically fixed to the outer walls of the two sides of the base plate (1), and a first electric telescopic rod (11) is fixedly connected to the inner wall of one side of each second mounting seat (10).

4. A full automatic picking robot according to claim 1 characterised in that: the blanking assembly (3) is arranged on the outer wall of the top end of the base plate (1), the blanking assembly (3) comprises a case (31), a third motor (32), a first gear (321), a second gear (322), a third connecting shaft (323), a first guide rod (324), a first spring (325), a first stop block (326), a first connecting plate (33), a second guide rod (331), a third mounting seat (332), a second electric telescopic rod (333), a slide rail (334), a limiting groove (3341), a limiting block (3342), a second spring (3343), a second stop block (3344), a pulley (335), a third stop block (336) and a slide groove (34), the case (31) is fixedly connected on the outer wall of the top end of the base plate (1), the third motor (32) is fixedly connected on the inner wall of one side of the case (31), the first gear (321) is fixedly connected on the outer wall of one side of the output end of the third motor (32), a second gear (322) is meshed and connected with the outer wall of one side of the first gear (321), a third connecting shaft (323) is installed on the inner wall of one side of the second gear (322), the third connecting shaft (323) is rotatably connected with the inner wall of the bottom end of the case (31), a first guide rod (324) is fixedly connected with the outer wall of the top end of the third connecting shaft (323), a first stop block (326) is fixedly connected with the outer wall of the top end of the first guide rod (324), a first connecting plate (33) is slidably connected with the outer wall of one side of the first guide rod (324), a first spring (325) is fixedly connected with the outer wall of the bottom end of the first connecting plate (33), the first spring (325) is sleeved on the outer wall of one side of the first guide rod (324), a second guide rod (331) is fixedly connected with the outer wall of one side of the first connecting plate (33), and third mounting seats (332) are symmetrically fixed on the outer wall of one side of the second guide rod (331), fixedly connected with second electric telescopic handle (333) on the outer wall of one side of third mount pad (332), fixedly connected with slide rail (334) on the outer wall of one side of second electric telescopic handle (333) output, and slide rail (334) sliding connection is on the outer wall of second guide bar (331), fixedly connected with third dog (336) on the top outer wall of slide rail (334), distribute on the top outer wall of slide rail (334) and install pulley (335).

5. A full automatic picking robot according to claim 4 characterised in that: spacing groove (3341) have been seted up on the top outer wall of slide rail (334), have cup jointed stopper (3342) on one side inner wall of spacing groove (3341), fixedly connected with second spring (3343) on the bottom outer wall of stopper (3342), and the one end fixed connection of second spring (3343) on the bottom inner wall of spacing groove (3341), fixedly connected with second dog (3344) on the top outer wall of stopper (3342).

6. A full automatic picking robot according to claim 4 characterised in that: the utility model discloses a portable computer, including quick-witted case (31), fixed connection board (33), camera (14), power supply arm (9) are installed to the first camera (14) of fixedly connected with on the outer wall of one side of quick-witted case (31), fixedly connected with controller (12) on the one side inner wall of quick-witted case (31), fixedly connected with spirit level (13) on the top outer wall of controller (12).

7. A full automatic picking robot according to claim 4 characterised in that: the picking assembly (4) is arranged on the outer wall of one side of the case (31), the picking assembly (4) comprises a picking basket (41), a second connecting plate (411), a fourth motor (412), a fourth connecting shaft (413), a partition plate (414), a first support (42), a fifth motor (421), a screw rod (422), a sliding block (43), a first mechanical arm (431), a second camera (432), a second support (44), a third guide rod (441), a second mechanical arm (45) and a third camera (46), the picking basket (41) is arranged on one side of the case (31), the second connecting plate (411) is symmetrically fixed on the outer wall of one side of the picking basket (41), the second connecting plate (411) is fixedly connected to the outer wall of one side of the case (31), the fourth motor (412) is fixedly connected to the outer wall of one side of the output end of the fourth motor (412), the fourth connecting shaft (413) is fixedly connected to the outer wall of one side of the output end of the fourth motor (412), and the fourth connecting shaft (413) is rotatably connected to the inner wall of one side of the picking basket (41), a partition plate (414) is installed on the outer wall of one side of the fourth connecting shaft (413), and the partition plate (414) is sleeved on the inner wall of one side of the picking basket (41).

8. A full automatic picking robot according to claim 7 characterised in that: a first bracket (42) is fixedly connected to the outer wall of one side of the picking basket (41), a fifth motor (421) is fixedly connected to the outer wall of one side of the first bracket (42), a lead screw (422) is fixedly connected to the outer wall of one side of the output end of the fifth motor (421), the lead screw (422) is rotatably connected to the inner wall of the first bracket (42), a sliding block (43) is connected to the outer wall of one side of the lead screw (422) in a threaded manner, a first mechanical arm (431) is mounted on the outer wall of the top end of the sliding block (43), a second camera (432) is arranged on one side of the first mechanical arm (431), the second camera (432) is fixedly connected to the outer wall of the top end of the sliding block (43), a second bracket (44) is fixedly connected to the outer wall of one side of the picking basket (41), a third guide rod (441) is fixedly connected to the outer wall of one side of the second bracket (44), and the sliding block (43) is slidably connected to the outer wall of one side of the third guide rod (441), a second mechanical arm (45) is installed on the outer wall of the top end of the case (31), and a third camera (46) is fixedly connected to the outer wall of one side of the second mechanical arm (45).

9. A picking method of a full-automatic picking robot comprises the following steps of firstly, initializing equipment; step two, putting the collecting basket; step three, automatically picking; step four, carrying the packaging basket; the method is characterized in that:

in the first step, different moving wheels (7) are installed according to the environment condition of the operation field, a first camera (14), a second camera (432) and a third camera (46) are checked and adjusted, and parameters of equipment are set;

in the second step, the controller (12) is started, the first motor (231) is synchronously started, one collecting basket in the collecting basket group (21) is put in and falls on the conveying belt (238) under the action of gravity, and the second motor (235) is synchronously started to convey the collecting basket to the material receiving position on the sliding rail (334);

in the third step, the third camera (46) captures a crop cultivation pile and transmits signals to the controller (12), the controller (12) controls the second mechanical arm (45) to clamp the crop cultivation pile and move to the picking position, the second camera (432) captures the fungus position on the crop cultivation pile and transmits the signals to the controller (12), the controller (12) controls the fifth motor (421) to be started, the first mechanical arm (431) moves to the picking position, the first mechanical arm (431) picks the fungus crop, and the fungus crop falls into the picking basket (41);

wherein in above-mentioned step four, when picking the fungus class crop in basket (41) and reaching the settlement capacity of picking basket (41), fourth motor (412) start, baffle (414) upset, make the fungus class crop fall into the collection dress basket, third motor (32) start, make slide rail (334) shift to the unloading position, second electric telescopic handle (333) start, slide rail (334) open to both sides, the collection dress basket falls to the ground, second electric telescopic handle (333) reset, third motor (32) start, make slide rail (334) reset, wait for the input of next collection dress basket.

10. A picking method of a fully automatic picking robot according to claim 9 characterised in that: in the first step, the moving wheels (7) are of an orbital type and a triangular crawler type, when the orbital type moving wheels (7) are used, the orbits need to be laid in advance, and each moving wheel (7) is provided with a separate driving motor.

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