Device for picking crops by using multifunctional flexible mechanical arm

Abstract

The invention relates to the technical field of agricultural equipment, and discloses a device for picking crops by using a multifunctional flexible mechanical arm, the device comprises a carriage, a driving seat arranged on one side of the carriage and the flexible mechanical arm mounted on the driving seat, and a driving mechanism is arranged on one side of the carriage; through a plurality of impact columns arranged on the outer side of the rotating cylinder, when the rotating cylinder rotates, centrifugal force enables the impact columns to overcome the pulling force of an elastic connecting belt to move in the direction away from the rotating cylinder, so that root systems of crops are impacted, and through the design, muck attached to the crops can be effectively scattered, so that the muck is more thoroughly removed; compared with a traditional device for cleaning soil only through a vibration mode, the device is better in cleaning effect and especially suitable for crops with developed root systems, the distance between the two positioning plates is detected through the distance measuring element, and therefore the diameter of the stem part of the crops clamped by the arc-shaped clamping plates is calculated; crops can be automatically graded after picking is completed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, and in particular to a device for picking crops using a multifunctional flexible mechanical arm. Background Art

[0002] Crop harvesting devices are mechanical equipment used for automatic or semi-automatic harvesting of crops, aiming to improve harvesting efficiency, reduce labor costs and reduce crop damage. Traditional crop harvesting mainly relies on manual operation, which is labor-intensive, inefficient and easily affected by factors such as weather and season. With the development of agricultural mechanization, harvesting devices are gradually used in the harvesting process of various crops such as fruits, vegetables, tea, etc.

[0003] Chinese patent CN110972676B discloses an integrated operation device for harvesting and removing soil from the roots of crops, including a machine body, a soil-scraping group, and a clamping group. The clamping group includes a main motor and a long clamping plate. The main motor is fixedly mounted on the side wall of the machine body. The outer wall of the machine body is provided with a body groove. The output end of the main motor is located in the machine body groove. A clamping plate is fixedly mounted on the output end of the main motor. A vibration shaft and a vibration driving plate are fixedly mounted between two groups of clamping plates. The outer wall of the vibration shaft is rotatably matched with a vibration shaft sleeve and a torsion spring. The torsion spring is located at both ends of the vibration shaft sleeve. A vibration long plate is fixedly mounted on the bottom of the vibration shaft sleeve. An electromagnet is fixedly mounted on the top of the vibration driving plate. The invention can realize the pulling out of the roots of crops and automatic harvesting, so that the crops after harvesting can reduce the content of slag soil by vibration. At the same time, the vibration will not cause damage to the roots of the crops.

[0004] As shown in the above patent, existing crop picking devices usually use a clamping mechanism to clamp the stems of crops, then pull the crops upwards through a driving mechanism, and use a vibration device to shake off the soil attached to the roots. However, for crops with well-developed root systems, it is difficult to completely remove the debris at the roots by vibration alone, resulting in unsatisfactory soil removal effects. In addition, for crops whose stems are edible parts, existing devices cannot automatically grade according to the diameter of the stems after picking, and must rely on subsequent manual or additional equipment to complete the grading process, which not only increases the complexity of the operation process, but also reduces the overall picking efficiency.

[0005] Therefore, there is an urgent need for a device that can simultaneously achieve efficient cleaning of debris and automatic grading of stems during the picking process to improve work efficiency and crop processing quality. Summary of the invention

[0006] The purpose of the present invention is to provide a device for harvesting crops using a multifunctional flexible robotic arm, which has a better cleaning effect and is particularly suitable for crops with well-developed root systems. It can also automatically grade the crops after harvesting, without the need for subsequent manual or additional equipment for grading, thereby improving the harvesting efficiency.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions: a device for picking crops using a multifunctional flexible mechanical arm, comprising a carriage, a driving seat arranged on one side of the carriage and a flexible mechanical arm installed on the driving seat, a driving mechanism is arranged on one side of the carriage, the driving mechanism is connected to the driving seat in a transmission manner, a plurality of collecting baskets are arranged in the carriage, a clamping mechanism is arranged on the flexible mechanical arm, the clamping mechanism comprises a shell, two slides are slidably installed inside the shell, a first transmission assembly for driving the two slides to move synchronously in opposite directions is arranged in the shell, an arc-shaped clamping plate is fixedly installed on one side of the two slides, the two arc-shaped clamping plates are arranged opposite to each other, a positioning plate is fixedly installed on the other side of the two slides, a distance measuring element is installed on the positioning plate, a rotating cylinder is arranged below the shell, a plurality of impact columns are arranged on the outside of the rotating cylinder, the impact columns are connected to the rotating cylinder through an elastic connecting belt, and a second transmission assembly for driving the rotating cylinder to rotate is arranged below the shell.

[0008] The present invention is further configured as follows: a connecting seat is fixedly installed on the top of the shell, the connecting seat is fixedly connected to the flexible mechanical arm, and a second motor is fixedly installed inside the connecting seat.

[0009] The present invention is further configured as follows: the first transmission assembly includes a double-headed screw, a worm wheel and a worm, the double-headed screw is rotatably installed inside the shell, the middle part of the double-headed screw is fixedly sleeved with a worm wheel, the output end of the second motor is fixedly connected to the top end of the worm, the worm wheel is meshed with the worm, the double-headed screw passes through two sliding seats, and the double-headed screw is threadedly connected to the two sliding seats, and the two sliding seats are symmetrically arranged on both sides of the worm wheel.

[0010] The present invention is further configured as follows: a plurality of grooves are formed on the outer peripheral wall of the rotating cylinder, the impact posts are arranged in the grooves, an embedding groove is arranged on the inner side of the groove, and the elastic connecting belt is arranged in the embedding groove.

[0011] The present invention is further configured as follows: the second transmission assembly includes a connecting ring, a driving cylinder, a sliding column and a spring, the connecting ring is fixedly installed on the bottom end of the shell, the top of the driving cylinder is rotatably installed on the inner side of the connecting ring, the bottom end of the worm is fixedly installed with a rotating shaft, the rotating shaft extends into the interior of the driving cylinder, and the rotating shaft and the driving cylinder are rotatably matched, a spring is arranged inside the driving cylinder, one end of the spring is fixedly connected to the rotating shaft, the other end of the spring is fixedly connected to the inner wall of the driving cylinder, and the top of the sliding column is fixedly connected to the bottom wall of the driving cylinder.

[0012] The present invention is further configured as follows: a slide groove is opened at the axis center of the rotating cylinder, the bottom end of the slide column extends into the slide groove, a slide plate is slidably installed in the slide groove, the bottom end of the slide column is fixedly connected to the slide plate, and the slide plate is elastically connected to the bottom wall of the rotating cylinder through a spring.

[0013] The present invention is further configured as follows: a plug plate is fixedly mounted on the bottom end of the sliding plate, a protruding groove is provided on the bottom wall of the rotating cylinder, and the bottom end of the plug plate extends into the protruding groove.

[0014] The present invention is further configured as follows: a plurality of through slots are provided on one side of the bottom of the collection basket, and bumps are provided on the tops of two opposite inner side walls of the collection basket.

[0015] The present invention is further configured as follows: an anti-skid gasket is fixedly installed on the inner side of the arc-shaped clamping plate, the anti-skid gasket is fixedly connected to the arc-shaped clamping plate by connecting bolts, the anti-skid gasket is an arc-shaped structure, and a plurality of anti-skid protrusions are arranged on the inner side of the anti-skid gasket.

[0016] The present invention is further configured as follows: the driving mechanism includes two mounting plates, a screw rod rotatably mounted between the two mounting plates, and a first motor, the two mounting plates are arranged parallel to each other, the first motor is fixedly mounted on one side of one of the mounting plates, the output end of the first motor is fixedly connected to one end of the screw rod, the screw rod passes through the drive seat, and the screw rod is threadedly connected to the drive seat, a guide column is fixedly mounted between the two mounting plates, the guide column passes through the drive seat, and the guide column is slidably matched with the drive seat.

[0017] In summary, the present invention has the following beneficial effects: the present invention moves the clamping mechanism to the picking position through the flexible mechanical arm, and its operation flexibility is high. The flexible mechanical arm can simulate the movement of the human arm and can accurately reach the position of the stem of the crop in a complex farmland environment. Compared with the traditional fixed picking device, the application of the flexible mechanical arm makes the picking process more flexible and diverse, and can adapt to various terrains and crop planting methods; by arranging a plurality of impact columns on the outside of the rotating cylinder, when the rotating cylinder rotates, the centrifugal force causes the impact columns to overcome the pulling force of the elastic connecting belt and move in a direction away from the rotating cylinder, thereby impacting the root system of the crop. This design can The dirt attached to the crops is effectively broken up, making the dirt fall off more thoroughly. Compared with the traditional device that only relies on vibration to clean the soil, the cleaning effect of this solution is better, especially suitable for crops with well-developed root systems. After the arc-shaped clamping plate clamps the stem of the crop stably, the distance between the two positioning plates is detected by the distance measuring element, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plate, and then according to the grading range, the crops are placed in the collection basket through the flexible mechanical arm in coordination with the drive seat, so that the crops can be automatically graded after picking is completed, without the need for subsequent manual or additional equipment for grading, thereby improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention; Figure 3 It is a cross-sectional structural schematic diagram of the clamping mechanism of the present invention; Figure 4 It is a schematic cross-sectional structural diagram of the housing of the present invention; Figure 5 It is a schematic structural diagram of the slide seat, the arc-shaped clamping plate and the anti-slip pad of the present invention; Figure 6 It is a cross-sectional structural schematic diagram of the rotating cylinder and the driving cylinder of the present invention; Figure 7 It is a schematic diagram of the local structure of the present invention when the plug board is inserted into the soil; Figure 8 It is a schematic diagram of the local structure of the present invention when the rotating drum is rotating; Fig. 9 It is a schematic structural diagram of the collecting basket of the present invention.

[0019] In the figure: 1, carriage; 2, mounting plate; 3, lead screw; 4, guide column; 5, first motor; 6, driving seat; 7, flexible robotic arm; 8, collecting basket; 801, through groove; 802, bump; 9, connecting seat; 10, shell; 11, sliding seat; 12, double-headed screw; 13, worm gear; 14, worm; 15, arc-shaped clamping plate; 16, anti-skid gasket; 1601, anti-skid protrusion; 17, positioning plate; 18, ranging element; 19, second motor; 20, rotating shaft; 21, connecting ring; 22, driving cylinder; 23, spring; 24, sliding column; 25, limiting strip; 26, rotating cylinder; 2601, groove; 2602, extending groove; 27, sliding plate; 28, spring; 29, impact column; 30, elastic connecting belt; 31, plug plate; 32, camera; 33, connecting bolt. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] See also Figures 1 to 5In an embodiment of the present invention, a device for picking crops using a multifunctional flexible mechanical arm includes a carriage 1, a driving seat 6 arranged on one side of the carriage 1, and a flexible mechanical arm 7 installed on the driving seat 6. The carriage 1 is driven by an agricultural vehicle, a driving mechanism is arranged on one side of the carriage 1, and the driving mechanism is transmission-connected with the driving seat 6. A plurality of collecting baskets 8 are arranged in the carriage 1, and a clamping mechanism is arranged on the flexible mechanical arm 7. The clamping mechanism includes a shell 10, and two slide seats 11 are slidably installed inside the shell 10. A first transmission assembly for driving the two slide seats 11 to move synchronously in opposite directions is arranged in the shell 10. The two slide seats 11 are arranged in a first transmission assembly. An arc-shaped clamping plate 15 is fixedly installed on one side, and the two arc-shaped clamping plates 15 are arranged opposite to each other. A positioning plate 17 is fixedly installed on the other side of the two slide seats 11. A distance measuring element 18 is installed on the positioning plate 17. The distance measuring element 18 adopts an infrared distance measuring sensor to measure the distance between the two positioning plates 17. A rotating cylinder 26 is arranged below the shell 10, and a plurality of impact columns 29 are arranged on the outer side of the rotating cylinder 26. The impact columns 29 are connected to the rotating cylinder 26 through an elastic connecting belt 30. A second transmission component for driving the rotating cylinder 26 to rotate is arranged below the shell 10; when in use, the device is moved to the picking area through the carriage 1, and the visual system The system automatically identifies the crops to be picked, and then moves the clamping mechanism to the picking position through the flexible mechanical arm 7, so that the two arc-shaped clamping plates 15 are located on both sides of the stem of the crop, and then drives the two slides 11 to approach each other through the first transmission component, so that the two arc-shaped clamping plates 15 clamp the stem of the crop, and then pulls out the crop through the flexible mechanical arm 7. After the crop is pulled out of the soil, the rotating cylinder 26 rotates under the drive of the second transmission component. When the rotating cylinder 26 rotates, under the action of centrifugal force, the impact column 29 overcomes the pulling force of the elastic connecting belt 30 and moves in a direction away from the rotating cylinder 26, so that the impact column 29 hits the root system of the crop, thereby The debris attached to the crops is broken up and falls off. While the rotating drum 26 rotates, the flexible mechanical arm 7 can be controlled to swing slightly, so that the root system of the crops can swing, further improving the cleaning effect of the debris. After the arc-shaped clamping plate 15 clamps the stem of the crop stably, the distance between the two positioning plates 17 is detected by the distance measuring element 18, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plate 15. Then, according to the grading range and in coordination with the drive seat 6, the crops are placed in the collecting basket 8 through the flexible mechanical arm 7, so that the crops can be automatically graded after picking is completed, without the need for subsequent manual or additional equipment for grading, thereby improving the picking efficiency.

[0022] The present solution uses the flexible mechanical arm 7 to move the gripping mechanism to the picking position, and has high operational flexibility. The flexible mechanical arm 7 can simulate the movements of a human arm and can accurately reach the position of the stem of a crop in a complex farmland environment. Compared with the traditional fixed picking device, the application of the flexible mechanical arm 7 makes the picking process more flexible and diverse, and can adapt to various terrains and crop planting methods. By providing a plurality of impact columns 29 on the outside of the rotating cylinder 26, when the rotating cylinder 26 rotates, the centrifugal force causes the impact columns 29 to overcome the pulling force of the elastic connecting belt 30 and move in a direction away from the rotating cylinder 26, thereby impacting the root system of the crop. This design can effectively break up the debris attached to the crops and make the debris fall off more thoroughly. Compared with the traditional device that only relies on vibration to clean the soil, the present solution has a better cleaning effect, and is particularly suitable for crops with well-developed root systems. Moreover, while the rotating cylinder 26 rotates, the flexible mechanical arm 7 can be controlled to swing slightly. The root system of the crops also follows the swing, and this action further improves the cleaning effect of the debris, ensuring that the debris at the roots of the crops is removed as much as possible. Through this multi-dimensional cleaning method, the cleanliness of the crops after picking is greatly improved, providing better quality assurance for subsequent processing and sales; and after the arc-shaped clamping plate 15 clamps the stem of the crop stably, the distance between the two positioning plates 17 can be detected by the distance measuring element 18, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plate 15. This measurement method is accurate and reliable, and can provide accurate data basis for subsequent grading. According to the grading range, in conjunction with the drive of the drive seat 6, the crops can be placed in the collection basket 8 through the flexible mechanical arm 7, without the need for subsequent manual or additional equipment for grading, which greatly simplifies the operation process and improves the overall picking efficiency. At the same time, automatic grading can also ensure the accuracy and consistency of grading, thereby improving the market value of agricultural products.

[0023] In this embodiment, preferably, the driving mechanism includes two mounting plates 2, a screw rod 3 rotatably installed between the two mounting plates 2 and a first motor 5, the two mounting plates 2 are arranged parallel to each other, the first motor 5 is fixedly installed on one side of one of the mounting plates 2, the output end of the first motor 5 is fixedly connected to one end of the screw rod 3, the screw rod 3 passes through the drive seat 6, and the screw rod 3 is threadedly connected to the drive seat 6, a guide column 4 is fixedly installed between the two mounting plates 2, the guide column 4 passes through the drive seat 6, and the guide column 4 is slidably matched with the drive seat 6; the screw rod 3 can be driven to rotate by the first motor 5, and when the screw rod 3 rotates, it drives the drive seat 6 to move, thereby driving the flexible robotic arm 7 to move.

[0024] In this embodiment, preferably, a connecting seat 9 is fixedly installed on the top of the shell 10, and the connecting seat 9 is fixedly connected to the flexible mechanical arm 7, and a second motor 19 is fixedly installed inside the connecting seat 9; the first transmission assembly includes a double-headed screw 12, a worm gear 13 and a worm 14, the double-headed screw 12 is rotatably installed inside the shell 10, and the middle part of the double-headed screw 12 is fixedly sleeved with a worm gear 13, the output end of the second motor 19 is fixedly connected to the top of the worm 14, and the worm gear 13 is connected to the worm 14. 4 are meshed, the double-headed screw 12 passes through the two slides 11, and the double-headed screw 12 is threadedly connected to the two slides 11, and the two slides 11 are symmetrically arranged on both sides of the worm wheel 13; the two sections of thread on the double-headed screw 12 are symmetrically arranged in opposite directions, and the worm 14 can be driven to rotate by the second motor 19. When the worm 14 rotates, it drives the worm wheel 13 to rotate, thereby driving the double-headed screw 12 to rotate. When the double-headed screw 12 rotates, it drives the two slides 11 to move synchronously in opposite directions, thereby driving the two arc-shaped clamping plates 15 to move synchronously in opposite directions.

[0025] In this embodiment, preferably, an anti-skid pad 16 is fixedly installed on the inner side of the arc-shaped clamping plate 15, and the anti-skid pad 16 is fixedly connected to the arc-shaped clamping plate 15 by connecting bolts 33. The anti-skid pad 16 is an arc-shaped structure, and a plurality of anti-skid protrusions 1601 are arranged on the inner side of the anti-skid pad 16; the anti-skid pad 16 is made of elastic rubber material, and a slip sensor is arranged inside the anti-skid pad 16, and the slip sensor is used to sense the friction force on the surface of the object to achieve the grasping, carrying and operation of the object. The slip sensor can help the robot determine the appropriate gripping force to avoid damaging the object due to excessive gripping force, or causing the object to slip due to insufficient gripping force, thereby achieving flexible gripping of the robot, and the anti-skid pad 16 is detachably connected to the arc-shaped clamping plate 15 by connecting bolts 33, so that the anti-skid pad 16 can be replaced, so as to replace anti-skid pads 16 of different sizes according to the different crops to be picked, and the setting of the anti-skid protrusions 1601 can further improve the firmness of the crops when clamped.

[0026] In this embodiment, preferably, the flexible mechanical arm 7 and the carriage 1 are both provided with cameras 32, so as to construct a visual system of the device, thereby improving the accuracy of picking and facilitating the picking work.

[0027] See also Figures 6 to 9In the embodiment of the present invention, the outer peripheral wall of the rotating cylinder 26 is provided with a plurality of grooves 2601, the impact column 29 is arranged in the groove 2601, the inner side of the groove 2601 is connected to an embedding groove, and the elastic connecting belt 30 is arranged in the embedding groove; the second transmission assembly includes a connecting ring 21, a driving cylinder 22, a sliding column 24 and a spring 28, the connecting ring 21 is fixedly installed at the bottom end of the housing 10, the top of the driving cylinder 22 is rotatably installed on the inner side of the connecting ring 21, the bottom end of the worm 14 is fixedly installed with a rotating shaft 20, the rotating shaft 20 extends into the interior of the driving cylinder 22, and the rotating shaft 20 and the driving cylinder 22 are rotatably matched, the driving cylinder A spring 23 is provided inside 22, one end of which is fixedly connected to the rotating shaft 20, and the other end of which is fixedly connected to the inner wall of the driving cylinder 22. The top of the sliding column 24 is fixedly connected to the bottom wall of the driving cylinder 22. A sliding groove is provided at the axis of the rotating cylinder 26, and the bottom end of the sliding column 24 extends into the sliding groove. A sliding plate 27 is slidably installed in the sliding groove. The bottom end of the sliding column 24 is fixedly connected to the sliding plate 27, and the sliding plate 27 is elastically connected to the bottom wall of the rotating cylinder 26 through a spring 28. A limiting strip 25 is fixedly provided on the outer wall of the sliding column 24. Through the setting of the limiting strip 25, the rotating cylinder 26 can be driven to rotate when the sliding column 24 rotates.

[0028] In this embodiment, preferably, a plug plate 31 is fixedly installed at the bottom end of the sliding plate 27, and a protruding groove 2602 is opened on the bottom wall of the rotating cylinder 26, and the bottom end of the plug plate 31 extends into the protruding groove 2602; when picking, the clamping mechanism is first moved to the two arc-shaped clamping plates 15 located on both sides of the stem of the crop, and then the clamping mechanism is driven downward by the flexible mechanical arm 7 to make the bottom wall of the rotating cylinder 26 contact with the soil, and then the clamping mechanism is continued to be driven downward to make the sliding column 24 extend into the sliding groove in the middle of the rotating cylinder 26, and The spring 28 is compressed. At the same time, the sliding column 24 moves downward, driving the sliding plate 27 to move downward. When the sliding plate 27 moves downward, driving the plug plate 31 to move downward, so that the plug plate 31 is inserted into the soil, thereby making the rotating cylinder 26 unable to rotate. Subsequently, the two sliding seats 11 are driven to approach each other through the first transmission component, so that the two arc-shaped clamping plates 15 cooperate with the anti-slip pads 16 to clamp the stems of the crops. In the process of the first transmission component driving the sliding seat 11 to move, the worm 14 drives the rotating shaft 20 to rotate. Since the rotating cylinder 26 cannot rotate at this time The rotating shaft 20 rotates, and the spring 23 contracts to store energy. When the crop is pulled out, as the slide column 24 moves upward, the plug plate 31 is pulled out of the soil and moves to the inside of the rotating cylinder 26 under the elastic action of the spring 28. At this time, the rotating cylinder 26 is at the same height as the root system of the crop. The spring 23 expands and releases energy to drive the driving cylinder 22 to rotate, thereby driving the rotating cylinder 26 to rotate through the slide column 24. When the rotating cylinder 26 rotates, under the action of centrifugal force, the impact column 29 overcomes the pulling force of the elastic connecting belt 30 and moves away from the rotating cylinder. The impact column 29 moves in the direction of the rotation cylinder 26, so that the impact column 29 impacts the root system of the crop, so that the debris attached to the crop is broken up and falls off; through the arrangement of the above structure, the up and down movement and rotation of the rotating cylinder 26 can be realized without adding additional electrical drive elements, so that the root system of the crop is automatically cleaned, the production cost of the equipment is reduced, and the synchronization is better. Moreover, for some crops with developed root systems that are difficult to pull out, the width of the plug plate 31 can be widened, and the soil can be loosened by inserting the plug plate 31, thereby making it easier to pull out the crops.

[0029] In the present embodiment, preferably, a plurality of through grooves 801 are provided on one side of the bottom of the collecting basket 8, and protrusions 802 are provided on the tops of the two opposite inner walls of the collecting basket 8, through which the collecting basket 8 can be conveniently pulled out, and when crops are put into the collecting basket 8, as the worm 14 drives the arc clamping plate 15 to open, the rotating cylinder 26 rotates, so that the impact column 29 impacts the root system of the crops again for secondary cleaning, and the cleaned debris falls into the carriage 1 through the through grooves 801, and a through hole can be opened at the bottom of the carriage 1 to discharge the debris.

[0030] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. A device for picking crops using a multifunctional flexible mechanical arm, comprising a carriage, a driving seat arranged on one side of the carriage, and a flexible mechanical arm installed on the driving seat, characterized in that: A driving mechanism is provided on one side of the carriage, and the driving mechanism is transmission-connected with the driving seat. A plurality of collecting baskets are provided in the carriage, and a clamping mechanism is provided on the flexible mechanical arm. The clamping mechanism comprises a shell, and two slides are slidably installed inside the shell, and a first transmission assembly for driving the two slides to move synchronously in opposite directions is provided in the shell, and an arc-shaped clamping plate is fixedly installed on one side of the two slides, and the two arc-shaped clamping plates are arranged opposite to each other, and a positioning plate is fixedly installed on the other side of the two slides, and a distance measuring element is installed on the positioning plate, and a rotating cylinder is provided below the shell, and a plurality of impact columns are provided on the outer side of the rotating cylinder, and the impact columns are connected to the rotating cylinder through an elastic connecting belt, and a second transmission assembly for driving the rotating cylinder to rotate is provided below the shell.

2. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: A connecting seat is fixedly installed on the top of the shell, the connecting seat is fixedly connected to the flexible mechanical arm, and a second motor is fixedly installed inside the connecting seat.

3. The device for picking crops using a multifunctional flexible mechanical arm according to claim 2, characterized in that: The first transmission assembly includes a double-headed screw, a worm wheel and a worm. The double-headed screw is rotatably installed inside the shell. The middle part of the double-headed screw is fixedly sleeved with a worm wheel. The output end of the second motor is fixedly connected to the top end of the worm. The worm wheel is meshed with the worm. The double-headed screw passes through two slide seats, and the double-headed screw is threadedly connected to the two slide seats. The two slide seats are symmetrically arranged on both sides of the worm wheel.

4. The device for picking crops using a multifunctional flexible mechanical arm according to claim 3, characterized in that: The outer peripheral wall of the rotating cylinder is provided with a plurality of grooves, the impact column is arranged in the groove, the inner side of the groove is connected with an embedding groove, and the elastic connecting belt is arranged in the embedding groove.

5. The device for picking crops using a multifunctional flexible mechanical arm according to claim 4, characterized in that: The second transmission assembly includes a connecting ring, a driving cylinder, a sliding column and a spring. The connecting ring is fixedly installed on the bottom end of the shell, the top of the driving cylinder is rotatably installed on the inner side of the connecting ring, the bottom end of the worm is fixedly installed with a rotating shaft, the rotating shaft extends into the interior of the driving cylinder, and the rotating shaft and the driving cylinder are rotatably matched, a mainspring is arranged inside the driving cylinder, one end of the mainspring is fixedly connected to the rotating shaft, the other end of the mainspring is fixedly connected to the inner wall of the driving cylinder, and the top end of the sliding column is fixedly connected to the bottom wall of the driving cylinder.

6. The device for picking crops using a multifunctional flexible mechanical arm according to claim 5, characterized in that: A slide groove is provided at the axis of the rotating cylinder, the bottom end of the slide column extends into the slide groove, a slide plate is slidably installed in the slide groove, the bottom end of the slide column is fixedly connected to the slide plate, and the slide plate is elastically connected to the bottom wall of the rotating cylinder through a spring.

7. The device for picking crops using a multifunctional flexible mechanical arm according to claim 6, characterized in that: A plug plate is fixedly mounted on the bottom end of the sliding plate, a protruding groove is provided on the bottom wall of the rotating cylinder, and the bottom end of the plug plate extends into the protruding groove.

8. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: A plurality of through slots are provided on one side of the bottom of the collecting basket, and bumps are provided on the tops of two opposite inner side walls of the collecting basket.

9. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: An anti-skid pad is fixedly installed on the inner side of the arc-shaped clamping plate. The anti-skid pad is fixedly connected to the arc-shaped clamping plate through connecting bolts. The anti-skid pad is an arc-shaped structure, and a plurality of anti-skid protrusions are arranged on the inner side of the anti-skid pad.

10. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: The driving mechanism includes two mounting plates, a screw rod rotatably mounted between the two mounting plates, and a first motor. The two mounting plates are arranged parallel to each other. The first motor is fixedly mounted on one side of one of the mounting plates. The output end of the first motor is fixedly connected to one end of the screw rod. The screw rod passes through the driving seat, and the screw rod is threadedly connected to the driving seat. A guide column is fixedly mounted between the two mounting plates, and the guide column passes through the driving seat, and the guide column and the driving seat are slidably matched.

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