Picking unmanned aerial vehicle for hillside orchard

Abstract

The utility model belongs to the technical field of fruit picking unmanned aerial vehicles, and particularly relates to a picking unmanned aerial vehicle for a hillside orchard, which comprises an unmanned aerial vehicle and a mechanical arm, and an image acquisition device is arranged at the front end of the unmanned aerial vehicle; the mechanical arms comprise the first mechanical arm and the second mechanical arm, a first rotating shaft is rotationally arranged at the bottom of the unmanned aerial vehicle, a second rotating shaft is rotationally arranged on the first rotating shaft, and the first end of the first mechanical arm is fixedly connected with the second rotating shaft; the second end of the first mechanical arm is rotationally connected with the first end of the second mechanical arm through a third rotating shaft; the second end of the second mechanical arm is rotationally provided with a mechanical claw used for grabbing fruits through a fourth rotating shaft, the unmanned aerial vehicle is further provided with a driving mechanism, and the picking system is simpler in structure and better in use effect.

Description

Technical Field

[0001] The utility model belongs to the technical field of fruit picking drones, and in particular relates to a fruit picking drone used in mountain orchards. Background Art

[0002] At present, most fruits are picked manually, which is inefficient, time-consuming, labor-intensive, and costly (especially in rugged terrain such as mountains and hot summer climates, where the cost of picking is greatly increased); due to the high temperature in summer, the fruits mature faster, and the scorching sun also poses a great challenge to farmers in picking. In addition, due to the shortage of manpower, it is often impossible to pick fruits in time and quickly, resulting in waste, which seriously affects the income of fruit farmers. Ordinary picking robots can only operate on flat ground and cannot be used for picking and transportation in mountains. The robot uses a mechanical claw to grab, but when facing higher fruits, such as persimmons of trees, it is difficult for ground equipment to reach them.

[0003] To this end, the invention patent with publication number CN115735561A discloses a digital-based intelligent fruit-picking drone, including a four-wing drone body, a universal transmission device and a power transmission assembly under the drone body, a retractable four-axis robotic arm mounted on both sides of the universal transmission device, and the end of the four-axis robotic arm consists of an end effector that can perform automatic identification and grasping; this solution makes full use of the real-time sensing of the pressure sensor and the recognition diversity of the visual sensor, solves the problem that taller fruit trees are difficult to pick, and effectively reduces the picking cost; among them, this solution adopts the method of picking fingers and blades, so that it has a lower requirement on the rotation angle of the robotic arm, but there are also problems such as easy wear of the blade.

[0004] Another utility model with publication number CN216415171U provides a fruit picking system based on a drone with a telescopic grab arm, including a drone and a ground collection and sorting mobile platform; the drone includes a universal joint telescopic grab arm and a fruit storage cabin; this solution reduces the labor cost of picking high-altitude fruits and reduces the fruit breakage rate by coordinating the drone with the ground collection and sorting mobile platform; in this solution, a universal joint telescopic grab arm is used to rotate and pick the fruits. For some fruits with good toughness of the fruit stalks, it may be difficult to pick them by simply rotating the fruits. At the same time, the design of the telescopic arm, the overly long telescopic arm will cause the force transmission to be weakened, thereby affecting the picking efficiency.

[0005] Therefore, there is an urgent need for an unmanned picking device with a simpler structure and better picking effect for rugged terrain such as mountains. Utility Model Content

[0006] The utility model aims to provide a harvesting drone for mountain orchards with a simple structure, so as to improve the harvesting efficiency and reduce the harvesting cost at the same time.

[0007] In order to solve the above-mentioned technical problems, the utility model specifically adopts the following technical solutions: comprising a drone body and a mechanical arm, wherein an image acquisition device is provided at the front end of the drone body;

[0008] The mechanical arm comprises a first mechanical arm and a second mechanical arm, a first rotating shaft is rotatably provided at the bottom of the drone body, a second rotating shaft is rotatably provided on the first rotating shaft through a mounting seat, a first end of the first mechanical arm is fixedly connected to the second rotating shaft, and a second end of the first mechanical arm is rotatably connected to a first end of the second mechanical arm through a third rotating shaft; a mechanical claw for grabbing fruits is rotatably provided at the second end of the second mechanical arm through a fourth rotating shaft, and the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel to each other and perpendicular to the first rotating shaft;

[0009] The mechanical claw comprises a first rotating seat arranged on the fourth rotating shaft, and a main clamp arranged on the first rotating seat; the width of the main clamp gradually decreases from one end connected to the first rotating seat to the other end, and the main clamp comprises a plurality of main clamping pieces, the main clamping piece comprises a first area connected to the first rotating seat, and a second area connected to an end of the first area away from the first rotating seat, the first area is made of a rigid material, the second area is made of a rigid material, and a flexible material layer is arranged on the inner side contacting the fruit, so as to prevent the force acting on the fruit from being concentrated on the second area of ​​the main clamping piece when the fruit is dragged in all directions by the mechanical arm, thereby causing the fruit to be damaged or lost;

[0010] The drone body is also provided with a driving mechanism for driving the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the first rotating seat to rotate, and for driving the mechanical claw to open and close.

[0011] As an improvement, the main clip is an arc-shaped clip, and the curvature of the first area is greater than the curvature of the second area. Furthermore, the width of the first area gradually decreases from the first width to the second width, and the width of the second area gradually decreases from the second width to the third width, so that in the same cross section, the arc length of the first area is smaller than the arc length of the second area, so that the projection of the first area on the plane looks like an isosceles trapezoid, and the projection of the second area on the plane looks like a triangle.

[0012] As an improvement, a second rotating seat is further provided on the first rotating seat, the driving mechanism is further used to drive the second rotating seat to rotate, an auxiliary clamp is provided on the second rotating seat, the auxiliary clamp includes a plurality of auxiliary clamping pieces, and the auxiliary clamping pieces are located outside the main clamping pieces;

[0013] When the driving mechanism drives the second rotating seat to rotate so that the plurality of auxiliary clamping pieces overlap with the plurality of main clamping pieces respectively, the fruit is clamped by the main clamping pieces;

[0014] When the driving mechanism drives the second rotating seat to rotate so that the plurality of auxiliary clamps are staggered with the plurality of main clamps, the auxiliary clamps cooperate with the main clamps to form a clamping structure with a larger coverage area.

[0015] As an improvement, a rubber gasket is provided on the side of the first area in contact with the fruit.

[0016] As an improvement, the sides of the main clamp and the auxiliary clamp that are in contact with the fruit are respectively provided with anti-slip protrusions.

[0017] As an improvement, a tripod is provided at the bottom of the drone body.

[0018] As an improvement, the length of the first robotic arm is 8 cm-12 cm, and the length of the second robotic arm is 14 cm-16 cm.

[0019] As an improvement, the number of the main clips and the number of the auxiliary clips are both three, the three main clips are evenly distributed on the first rotating seat, and the three auxiliary clips are evenly distributed on the second rotating seat.

[0020] As an improvement, a pressure sensor is provided on the side of the main clamping piece in contact with the fruit.

[0021] As an improvement, a controller is provided on the drone body, which is electrically connected to the image acquisition device, the drive mechanism and the pressure sensor respectively, and is used to control the start and stop of the drive mechanism according to the image information acquired by the image acquisition device and the pressure information detected by the pressure sensor.

[0022] The principle and beneficial effects of the utility model are as follows: the present application adopts a double-folding robotic arm combined with a robotic claw for fruit picking, and cooperates with multiple rotating shafts, so that the robotic arm has more rotation angles, thereby making the rotation of the robotic arm more flexible, and the robotic claw can also adapt to fruits in more directions and angles; and the robotic arm is always located below the drone and will not block the image acquisition device, thereby adapting to the situation where the image acquisition device is set at the front end of the drone.

[0023] Compared with the three-fold design or other complex structures, the present application has a simple structure, reduces joints and connection points, thereby reducing the failure rate of the robotic arm and making it more stable; at the same time, the double-fold robotic arm design in the present application reduces the number of components, thereby reducing the overall weight and helping to improve picking efficiency.

[0024] Compared with the single-fold design (for example, the single-fold telescopic robotic arm mentioned in the utility model with publication number CN216415171U), although this type of robotic arm is lighter in weight, its rotation angle is relatively fixed, and the telescopic robotic arm is inevitably unstable or even easy to fall off. At the same time, it only picks the fruit by rotating, which is difficult to adapt to the picking of fruits with relatively tough fruit stalks. The double-fold design in the present application has a more flexible angle. When picking, the mechanical claw is rotated and the robotic arm is rotated at the same time. The operation of the human arm is simulated by rotation and pulling to pick the fruit, making picking easier and more efficient.

[0025] During the pulling process, the main force points of the fruit are concentrated on the second area. If the pulling force is too great, the hard second area is very likely to cause damage to the fruit. The present application can effectively avoid this problem by setting a flexible layer inside the second area; at the same time, by setting an auxiliary clamp, the picking device can adapt to fruits of more sizes. Among them, when the fruit is large, the main clamp and the auxiliary clamp overlap. At this time, only the main clamp needs to be used to clamp the fruit, and the auxiliary clamp does not work, thereby achieving the purpose of saving energy; when picking smaller fruits, the fruit may leak out from the gap between adjacent main clamps. At this time, the second rotating seat is rotated to stagger the main clamp and the auxiliary clamp, thereby increasing the clamping area, thereby adapting to small-sized fruits and improving picking efficiency.

[0026] In summary, the present application uses a double-folding robotic arm suitable for specific drones, and at the same time cooperates with a partitioned design and a double-layer clamp-type mechanical claw to realize a dual-action picking method of rotation and pulling for fruits, thereby comprehensively providing a picking system with simpler structure, lower cost and better picking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual proportion. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings without paying creative labor.

[0028] Figure 1It is a schematic diagram of the overall structure of a picking system according to an exemplary embodiment of the utility model;

[0029] Figure 2 An exploded view of the overall structure of a picking system according to an exemplary embodiment of the present utility model;

[0030] Figure 3 It is a schematic diagram of the installation structure of the mechanical arm and the mechanical claw in an exemplary embodiment of the utility model;

[0031] Figure 4 It is an enlarged structural schematic diagram of a main clip / auxiliary clip in an exemplary embodiment of the utility model;

[0032] Figure 5 It is a schematic diagram of an exemplary embodiment of the present invention when the main clip and the auxiliary clip are in an overlapping state.

[0033] Markings in the figure: 1. robotic arm; 2. first robotic arm; 3. second robotic arm; 4. first rotating shaft; 5. second rotating shaft; 6. third rotating shaft; 7. fourth rotating shaft; 8. robotic claw; 9. first direction; 10. second direction; 11. propeller; 12. propeller blade protection cover; 13. tripod; 14. image acquisition device; 15. frame; 16. first rotating seat; 17. main clamp; 18. auxiliary clamp; 19. first area; 20. second area; 21. third direction. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] Herein, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0036] In this document, the terms "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0037] In this document, unless otherwise clearly specified or limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0038] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0039] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0040] Embodiment 1 is basically as shown in the attached Figure 1-4 As shown:

[0041] like Figure 1-2 The utility model provides a harvesting drone for mountain orchards, including a drone body and a mechanical arm 1, wherein the drone body specifically includes a frame 15, and propellers 11 are respectively arranged at the four corners of the frame 15, and a blade protection cover 12 is provided on the propeller 11, and a tripod 13 is arranged at the bottom of the frame 15. An image acquisition device 14 for collecting fruit images and road conditions is arranged at the center position of the front end of the frame 15, that is, the image acquisition device 14 is arranged toward the flight direction of the drone, so as to facilitate the real-time acquisition of road conditions and fruit conditions on the flight path of the drone, and the mechanical arm is located at the bottom of the frame 15.

[0042] like Figure 3The mechanical arm 1 specifically includes a first mechanical arm 2 and a second mechanical arm 3. A first rotating shaft 4 is rotatably arranged at the bottom of the drone body. A second rotating shaft 5 is rotatably arranged on the first rotating shaft 4 through a mounting seat. The first end of the first mechanical arm 2 is fixedly connected to the second rotating shaft 5, and the second end of the first mechanical arm 2 is rotatably connected to the first end of the second mechanical arm 3 through a third rotating shaft 6; a mechanical claw 8 for grabbing fruits is rotatably arranged at the second end of the second mechanical arm 3 through a fourth rotating shaft 7. The drone body is also provided with a driving mechanism for driving the first rotating shaft 4, the second rotating shaft 5, the third rotating shaft 6 and the fourth rotating shaft 7 to rotate, and driving the mechanical claw 8 to open and close.

[0043] Among them, the third rotating shaft 6 is rotatably set at the second end of the first robotic arm 2, and the first end of the second robotic arm 3 is fixedly set on the third rotating shaft 6; the fourth rotating shaft 7 is rotatably set at the second end of the second robotic arm 3, and the mechanical claw 8 is fixed on the fourth rotating shaft 7.

[0044] When the first rotating shaft 4 is driven to rotate by the driving mechanism, the first rotating shaft 4 drives the second rotating shaft 5, the first mechanical arm 2, the third rotating shaft 6, the second mechanical arm 3, the fourth rotating shaft 7 and the mechanical claw 8 to rotate along the first direction 9;

[0045] When the second rotating shaft 5 is driven to rotate, the second rotating shaft 5 drives the first mechanical arm 2, the third rotating shaft 6, the second mechanical arm 3, the fourth rotating shaft 7 and the mechanical claw 8 to rotate along the second direction 10;

[0046] When the third rotating shaft 6 is driven to rotate, the third rotating shaft 6 drives the second mechanical arm 3, the fourth rotating shaft 7 and the mechanical claw 8 to rotate along the second direction 10;

[0047] When the fourth rotating shaft 7 is driven to rotate, the fourth rotating shaft 7 drives the mechanical claw 8 to rotate along the second direction 10 .

[0048] Among them, Figure 3 As shown, the first direction 9 is a direction parallel to the bottom surface of the drone body, the second direction 10 is a direction perpendicular to the bottom surface of the drone body, the second direction and the third direction are perpendicular to each other, and the third direction 21 is a direction parallel to the bottom plane of the mechanical claw.

[0049] In some embodiments, in order to avoid affecting the field of view of the image acquisition device 14, it is necessary to make the maximum upward rotation angle of the second robotic arm 3 less than 160°. At this time, considering the size of the drone body, the field of view and the rotation radius of the robotic arm, the length of the first robotic arm 2 is 8cm-12cm (preferably 10cm), and the length of the second robotic arm 3 is 14cm-16cm (preferably 15cm). By designing a robotic arm with an adaptive length to match the size of the drone body and limiting the rotation angle of the robotic arm, the robotic arm is always located below the drone body during rotation, thereby effectively preventing the image acquisition device 14 from being blocked by the robotic arm.

[0050] The cooperation of multiple rotating shafts effectively improves the rotation flexibility of the robot arm 1.

[0051] In some embodiments, the mechanical claw includes a first rotating seat arranged on the fourth rotating shaft, and a main clamp arranged on the first rotating seat; wherein the first rotating seat is also driven to rotate by the above-mentioned driving mechanism, the width of the main clamp gradually decreases from one end connected to the first rotating seat to the other end, the first rotating seat can reciprocate along the third direction, and the main clamp includes a plurality of main clamping pieces 17 (preferably 3), such as Figure 4 The main clamp 17 includes a first area 19 connected to the first rotating seat, and a second area 20 connected to one end of the first area 19 away from the first rotating seat. The first area 19 is made of a rigid material, and the second area 20 includes a rigid layer and a flexible layer (specifically, rubber material can be selected) that are fixedly connected. The flexible layer is located on the side in contact with the fruit.

[0052] By providing a flexible layer, damage to the fruit can be effectively reduced.

[0053] In some embodiments, a rubber gasket may be provided on the side of the first area 19 that contacts the fruit to further reduce damage to the fruit.

[0054] To prevent slipping during the grabbing and picking process, in some embodiments, an anti-slip protrusion is provided on the side of the main clamp that contacts the fruit.

[0055] In some embodiments, the width of the first area gradually decreases from the first width to the second width, and the width of the second area gradually decreases from the second width to the third width. The width reduction rate of the first area 19 is less than the width reduction rate of the second area 20, so that the slope of the line connecting the two ends of the same side of the first area 19 is less than the slope of the line connecting the two ends of the same side of the second area 20, so that in the same cross-section, the arc length of the first area is less than the arc length of the second area, and thus the surface area of ​​the first area 19 is greater than the surface area of ​​the second area 20 at the same length, so that the projection of the first area on the plane looks like an isosceles trapezoid, and the projection of the second area on the plane looks like a triangle, ultimately allowing the mechanical claw to have a better clamping effect.

[0056] In some embodiments, since the first area 19 usually contacts the bottom of the fruit during picking, while the second area 20 contacts the middle and upper part of the fruit, wherein the curvature of the upper part is usually smaller than the curvature of the bottom, in order to enable the mechanical claw to better fit the fruit, the main clamp 17 is an arc-shaped clamp, and the curvature of the first area 19 is greater than the curvature of the second area 20.

[0057] In some embodiments, pressure sensors are provided on the sides of the main clip 1717 that are in contact with the fruit, and a controller is provided on the main body of the drone. The controller is electrically connected to the image acquisition device 14, the driving mechanism and the pressure sensor, respectively, and is used to control the start and stop of the driving mechanism according to the image information acquired by the image acquisition device 14 and the pressure information detected by the pressure sensor.

[0058] By providing a pressure sensor, the strength of the main clamping piece 17 can be monitored in real time to prevent the main clamping piece 17 from exerting excessive pressure on the fruit and causing damage to the fruit. At the same time, the main clamping piece 17 is made of elastic material, which further reduces the damage rate of the fruit.

[0059] Embodiment 2

[0060] The difference between this embodiment and the first embodiment is that, in order to meet the needs of picking fruits of more sizes, a second rotating seat is arranged at the outer position of the surface of the first rotating seat, and the second rotating seat can be driven by a driving mechanism, and can rotate along a third direction relative to the first rotating seat, and an auxiliary clamp is arranged on the second rotating seat, and the auxiliary clamp includes a plurality of auxiliary clamping pieces, and the auxiliary clamping pieces are located outside the main clamping piece 17;

[0061] In some embodiments, the auxiliary clip may have the same structure as the main clip.

[0062] like Figure 5When the second rotating seat is rotated so that the plurality of auxiliary clamps overlap with the plurality of main clamps 17 respectively, the fruit is clamped by the main clamps 17; the auxiliary clamps do not work to avoid unnecessary waste of resources.

[0063] When the second rotating seat is rotated so that the multiple auxiliary clamps are staggered with the multiple main clamps 17, the auxiliary clamps and the main clamps 17 cooperate to form a clamping structure with a larger coverage area. At this time, the gap between adjacent main clamps 17 is reduced, thereby adapting to the picking of smaller fruits and preventing small fruits from falling through the gaps.

[0064] In summary, a double-folding robotic arm suitable for specific drones, combined with a partitioned design and a double-layer clamp-type robotic claw, is used to realize a dual-action picking method of rotation and pulling on the fruit, providing a picking system with a simpler structure, lower cost, and better picking effect.

[0065] Embodiment 3

[0066] The difference between this embodiment and the second embodiment is that the auxiliary clamp and the main clamp 17 adopt different sizes and different curvatures, so that when the auxiliary clamp and the main clamp 17 are staggered, they can adapt to more fruits with different curvatures (for example, the size of the auxiliary clamp is set to be smaller than the size of the main clamp 17, and the curvature of the auxiliary clamp is greater than the curvature of the main clamp 17. At this time, when clamping smaller fruits, the main clamp 17 may not fit well with the inner wall of the main clamp 17, but the auxiliary clamp can fit better with it), thereby ensuring that the picking device in this application has a better picking effect.

[0067] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0068] The embodiments of the utility model are described above in conjunction with the accompanying drawings, but the utility model is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the utility model, ordinary technicians in this field can also make many forms without departing from the scope of protection of the utility model and the claims, which all fall within the protection of the utility model.

Claims

1. A harvesting drone for mountain orchards, comprising a drone body and a mechanical arm, characterized in that: An image acquisition device is provided at the front end of the drone body; The mechanical arm comprises a first mechanical arm and a second mechanical arm, a first rotating shaft is rotatably provided at the bottom of the drone body, a second rotating shaft is rotatably provided on the first rotating shaft through a mounting seat, a first end of the first mechanical arm is fixedly connected to the second rotating shaft, and a second end of the first mechanical arm is rotatably connected to a first end of the second mechanical arm through a third rotating shaft; a mechanical claw for grabbing fruits is rotatably provided at the second end of the second mechanical arm through a fourth rotating shaft, and the second rotating shaft, the third rotating shaft and the fourth rotating shaft are parallel to each other and perpendicular to the first rotating shaft; The mechanical claw comprises a first rotating seat arranged on the fourth rotating shaft, and a main clamp arranged on the first rotating seat; the width of the main clamp gradually decreases from one end connected to the first rotating seat to the other end, and the main clamp comprises a plurality of main clamping pieces, the main clamping pieces comprise a first area connected to the first rotating seat, and a second area connected to an end of the first area away from the first rotating seat, the first area is made of a rigid material, the second area is made of a rigid material, and a flexible layer is arranged on the inner side thereof in contact with the fruit; The drone body is also provided with a driving mechanism for driving the first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft and the first rotating seat to rotate, and for driving the mechanical claw to open and close.

2. The harvesting drone for mountain orchards according to claim 1, characterized in that: The main clip is an arc-shaped clip, and the curvature of the first area is greater than the curvature of the second area.

3. The harvesting drone for mountain orchards according to claim 1 is characterized by: A second rotating seat is also provided on the first rotating seat, and the driving mechanism is also used to drive the second rotating seat to rotate. An auxiliary clamp is provided on the second rotating seat, and the auxiliary clamp includes a plurality of auxiliary clamping pieces, and the auxiliary clamping pieces are located outside the main clamping pieces; When the driving mechanism drives the second rotating seat to rotate so that the plurality of auxiliary clamping pieces overlap with the plurality of main clamping pieces respectively, the fruit is clamped by the main clamping pieces; When the driving mechanism drives the second rotating seat to rotate so that the plurality of auxiliary clamps are staggered with the plurality of main clamps, the auxiliary clamps cooperate with the main clamps to form a clamping structure with a larger coverage area.

4. The harvesting drone for mountain orchards according to claim 1, characterized in that: A rubber gasket is arranged on the side of the first area in contact with the fruit.

5. The harvesting drone for mountain orchards according to claim 3 is characterized by: The main clamp and the auxiliary clamp are respectively provided with anti-slip protrusions on the sides in contact with the fruit.

6. The harvesting drone for mountain orchards according to claim 1, characterized in that: A tripod is arranged at the bottom of the drone body.

7. The harvesting drone for mountain orchards according to claim 1, characterized in that: The length of the first robotic arm is 8cm-12cm, and the length of the second robotic arm is 14cm-16cm.

8. The harvesting drone for mountain orchards according to claim 3, characterized in that: The number of the main clips and the number of the auxiliary clips are both three, the three main clips are evenly distributed on the first rotating seat, and the three auxiliary clips are evenly distributed on the second rotating seat.

9. The harvesting drone for mountain orchards according to claim 1, characterized in that: A pressure sensor is arranged on the side of the main clamping piece in contact with the fruit.

10. The harvesting drone for mountain orchards according to claim 9, characterized in that: A controller is provided on the drone body, and the controller is electrically connected to the image acquisition device, the drive mechanism and the pressure sensor respectively, and is used to control the start and stop of the drive mechanism according to the image information acquired by the image acquisition device and the pressure information detected by the pressure sensor.

Images