Rigid-flexible coupled rope-driven exo-limb robot for fruit picking

Abstract

The present invention relates to a rigid-flexible coupling rope-driven external limb robot for fruit picking, which includes a back support plate, a wearable device, a power supply device and two mechanical arms, wherein the wearable device is connected to the back support plate and is used to be worn on a human body, and the power supply device is used to supply power; the mechanical arm includes a mechanical arm seat, a mechanical arm body, a mechanical claw and a driving device, and the mechanical arm seat is installed on the back support plate; the mechanical arm body includes a rigid upper arm, a rigid lower arm and a continuous flexible arm connected in sequence, and the head end of the rigid upper arm is connected to the mechanical arm seat; the mechanical claw is installed at the end of the continuous flexible arm; the driving device is installed on the back support plate, and the rigid upper arm, the rigid lower arm and the continuous flexible arm are connected by ropes respectively, and is used to drive the rigid upper arm, the rigid lower arm and the continuous flexible arm to move. The present invention adopts a combination of rigid arms and continuous flexible arms to achieve precise control and good flexibility, and effectively improves the work efficiency of personnel when working.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a rigid-flexible coupling rope-driven exo-limb robot for fruit picking. Background Art

[0002] In recent years, with the continuous development of science and technology, people have further demands for life and production, and robots used in various scenarios have emerged. In order to improve work efficiency and reduce the labor intensity of operators, external limb robots have attracted much attention due to their portability and high efficiency. For the current stage of fruit picking, traditional machines are prone to damage fruits, and the yield rate of fruits is low; although manual picking can ensure the yield rate of fruits, its labor intensity is high and the work efficiency is low. In addition, when some fruit trees are located in mountainous areas or the planting density is high, large-scale picking equipment cannot enter. At this time, the external limb robot can ensure that the operator completes auxiliary actions such as picking, grasping, and fixing due to its portability. When facing tall fruit trees, it can enable the operator to pick fruits without the help of other tools, which can effectively improve the yield rate of fruits and the work intensity of personnel. At the same time, it also has broad application prospects in the fields of auxiliary assembly, rehabilitation and health care. For complex assembly tasks that cannot be completed by a single person, the external limb robot can assist in completing the work, and for people with incomplete limb movement functions, it can complete daily auxiliary actions such as picking and supporting.

[0003] The functions of existing exo-limb robot structures are still relatively simple. For example, a wearable pneumatic flexible exo-limb robot is a robot that can assist people in grasping objects, but the robot has only one mechanical arm, which makes it difficult to cope with complex and changeable application scenarios. In addition, the robot is made of flexible materials that are easily damaged, which is not conducive to later inspection and maintenance. There is also a dual-purpose exo-limb robot for assisting human motion, which can provide upper limb assistance and lower limb assistance, but it can only perform simple basic operations and is difficult to cope with complex multi-task scenarios. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a rigid-flexible coupling rope-driven exo-limb robot for fruit picking, which adopts a combination of rigid arms and continuous flexible arms to achieve precise control and good flexibility, effectively improving the work efficiency of personnel at work.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a rigid-flexible coupling rope-driven exo-limb robot for fruit picking, which includes a back support plate, a wearable device, a power supply device and two mechanical arms, wherein the wearable device is connected to the back support plate and is used to be worn on the human body, and the power supply device is used to supply power; the mechanical arm includes:

[0006] A mechanical arm seat, mounted on the back support plate;

[0007] The mechanical arm body comprises a rigid upper arm, a rigid lower arm and a continuous flexible arm connected in sequence, wherein the head end of the rigid upper arm is connected to the mechanical arm base;

[0008] A mechanical claw mounted at the end of the continuous flexible arm;

[0009] A driving device is installed on the back support plate, and is connected to the rigid upper arm, the rigid lower arm and the continuous flexible arm through ropes respectively, so as to drive the rigid upper arm, the rigid lower arm and the continuous flexible arm to move.

[0010] A specific structure of a driving device is further provided, the driving device comprises four motors, a winding wheel is mounted on the output shaft of each motor, two ropes are wound in opposite directions around the winding wheel of each motor, the rigid upper arm and the rigid lower arm can swing up and down respectively, and the continuous flexible arm can be bent in any direction; wherein,

[0011] The two ropes of one motor are respectively connected to the upper and lower sides of the rigid upper arm; the two ropes of another motor are respectively connected to the upper and lower sides of the rigid lower arm; the four ropes of the other two motors are evenly distributed along the circumference of the continuous flexible arm and connected to the end of the continuous flexible arm.

[0012] In order to effectively reduce the motion error caused by the slack of the rope during the operation of the robot arm, the rigid-flexible coupling rope-driven exo-limb robot for fruit picking also includes a rope tensioning device corresponding to the robot arm one by one, and the rope tensioning device includes a guide mechanism and a tensioning mechanism, and the rope passes through the guide mechanism and enters the tensioning mechanism; wherein,

[0013] The tensioning mechanism includes eight tensioning assemblies, each tensioning assembly corresponds to a rope, and the tensioning assembly includes a tensioning guide wheel, a tensioning wheel and another tensioning guide wheel for the corresponding ropes to pass around in sequence, and an adjustment assembly that acts on the tensioning wheel and is used to adjust the position of the tensioning wheel to adjust the tension degree of the rope.

[0014] Furthermore, the eight tensioning assemblies of the tensioning mechanism are arranged from top to bottom, a tensioning guide wheel, a tensioning wheel and another tensioning guide wheel of each tensioning assembly are arranged in the left-right direction, and two tensioning assemblies adjacent in the up-down direction are staggered in the front-back direction.

[0015] A specific structure of an adjustment component is further provided, the adjustment component comprising:

[0016] A bolt is threadedly connected to a mounting plate and abuts against the tensioning wheel, and is used to push the tensioning wheel to move by screwing it in;

[0017] At least one elastic element is connected between the tensioning wheel and the mounting plate, and is used to drive the tensioning wheel to retract along with the bolt through its rebound during the process of retracting the bolt.

[0018] In order to make the ropes orderly, the head end of the rigid boom is rotatably mounted on the mechanical arm seat through a boom drive shaft, and a boom drive wheel and three first reversing fixed pulleys are coaxially mounted on the boom drive shaft;

[0019] The head end of the rigid small arm is rotatably mounted on the end of the rigid large arm through the small arm driving shaft, and the small arm driving wheel and two second reversing fixed pulleys are coaxially mounted on the small arm driving shaft; wherein,

[0020] Two ropes of a motor are connected to the boom drive wheel;

[0021] Two ropes of another motor pass around the corresponding first reversing fixed pulley and are connected to the driving wheel of the small arm;

[0022] The four ropes of the other two motors are connected to the continuous flexible arm by passing through the corresponding first reversing fixed pulley and the corresponding second reversing fixed pulley.

[0023] A specific structure of a mechanical arm base capable of expanding the degree of freedom of the mechanical arm is further provided, the mechanical arm base comprising:

[0024] A fixed base, fixedly mounted on the back support plate;

[0025] A large arm rotating joint, rotatably supported on the fixed base;

[0026] A driving motor is connected to the upper arm rotating joint through a synchronous belt, and is used to drive the upper arm rotating joint to rotate; wherein,

[0027] The rigid boom is rotatably mounted on the boom rotation joint, and a rotation center line of the boom rotation joint relative to the fixed base is perpendicular to a rotation center line of the rigid boom relative to the boom rotation joint.

[0028] Furthermore, the rigid-flexible coupling rope-driven exo-limb robot for fruit picking further comprises a control device, and the control device comprises:

[0029] An encoder group, used for detecting the rotation data of the upper arm rotation joint, the rigid upper arm and the rigid lower arm;

[0030] A bending sensor, used to detect bending data of the continuous flexible arm;

[0031] Arm electromyography sensor, worn on the human arm, is used to obtain the movement posture of the human arm;

[0032] Wireless handle, used to receive motion instructions;

[0033] A main control chip is connected to the encoder group, the bending sensor, the arm electromyography sensor and the mechanical arm, respectively, and is used to realize motion control of the mechanical arm according to the motion posture or motion instruction; and

[0034] The motion compensation of the upper arm rotation joint and the robot arm body is realized according to the rotation data and the bending data.

[0035] In order to further effectively protect the fruit, the portion of the mechanical claw that is used to contact the fruit is made of flexible silicone material.

[0036] After adopting the above technical scheme, the robot arm in the present invention adopts a combination of rigid structure and flexible structure, which effectively combines the advantages of the rigid structure such as high control accuracy and strong load capacity with the advantages of the flexible structure such as good compliance and good spatial accessibility; the rigid structure can accurately reach the predetermined picking position, and the flexible structure can complete the non-destructive picking of fruits, which reduces the work intensity of operators when picking fruits and improves the yield rate during picking; the robot arm is rope-driven, which effectively reduces the inertia of the robot arm during operation compared to traditional robot arms, and can also effectively protect core components such as motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the structure of the rigid-flexible coupling rope-driven exo-limb robot for fruit picking of the present invention worn on a human body;

[0038] Figure 2 It is a structural schematic diagram of another perspective of the rigid-flexible coupling rope-driven exo-limb robot for fruit picking of the present invention worn on a human body;

[0039] Figure 3 It is a structural schematic diagram of a rigid-flexible coupling rope-driven exo-limb robot for fruit picking according to the present invention;

[0040] Figure 4 It is a structural schematic diagram of another perspective of the rigid-flexible coupling rope-driven exo-limb robot for fruit picking of the present invention;

[0041] Figure 5 It is a schematic structural diagram of a mechanical arm of the present invention;

[0042] Figure 6 This is a schematic diagram of the structure of the robot arm of the present invention after removing some components;

[0043] Figure 7 It is a right side view of the mechanical arm of the present invention;

[0044] Figure 8It is a schematic diagram of the internal structure of the robot arm of the present invention;

[0045] Fig. 9 It is a structural schematic diagram of the rope tensioning device of the present invention;

[0046] Fig.10 It is a structural schematic diagram of the tensioning mechanism of the present invention;

[0047] Fig.11 It is a structural schematic diagram of the tensioning mechanism of the present invention after some components are removed;

[0048] Fig.12 It is a structural schematic diagram of the driving shaft of the upper arm of the present invention;

[0049] Fig.13 It is a schematic structural diagram of the drive shaft of the small arm of the present invention;

[0050] Fig.14 It is a structural schematic diagram of the continuous flexible arm of the present invention;

[0051] Fig.15 is a schematic diagram of the structure of the wearable device of the present invention;

[0052] In the figure:

[0053] 1. Back support plate, 1-1. Wearable device, 1-2. Motor frame;

[0054] 2. Mechanical arm, 2-1. Fixed base, 2-2. Upper arm rotation joint, 2-3. Rigid upper arm, 2-4. Rigid lower arm, 2-5. Continuous flexible arm, 2-6. Mechanical claw, 2-7. Upper arm drive shaft, 2-8. Lower arm drive shaft, 2-9. Upper arm drive wheel, 2-10. Lower arm drive wheel, 2-11. First reversing fixed pulley, 2-12. Second reversing fixed pulley; 2-13. Guide wheel;

[0055] 3. Rope tensioning device, 3-1. Guide mechanism, 3-2. Tensioning mechanism, 3-3. Tensioning guide wheel, 3-4. Tensioning wheel, 3-5. Partition plate;

[0056] 4. Driving device, 4-1. Brushless DC motor, 4-3. Motor driver, 4-4. Lasso, 4-5. Rope, 4-6. Synchronous belt;

[0057] 5. Control device, 5-2 encoder, 5-3 bending sensor, 5-4 arm electromyography sensor;

[0058] 6. Power supply unit. DETAILED DESCRIPTION

[0059] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0060] like Figures 1 to 15 As shown, a rigid-flexible coupling rope-driven exo-limb robot for fruit picking includes a back support plate 1, a wearable device 1-1 mounted on the back support plate 1, a power supply device 6, a control device 5 and two mechanical arms 2; wherein,

[0061] The U-shaped groove on the upper part of the back support plate 1 is used to install the wearable device 1-1, and the fixed base 2-1 of the mechanical arm 2 is respectively installed on both sides of the upper end of the back support plate 1, and the rope tensioning devices 3 are respectively installed on both sides of the upper end of the back side of the back support plate 1. The rope tensioning devices 3 are used to tension the ropes 4-5 when the mechanical arm 2 is initially reset. Four motor frames 1-2 distributed in a vertical stepped manner are installed below the two rope tensioning devices 3. Grooves are opened in the middle part of the back side of the back support plate 1 and on both sides of the U-shaped groove, and some components of the control device 6, the motor driver 4-3 and the power supply device 6 are respectively installed.

[0062] like Figure 1 , 2 As shown in , 3 and 15, the wearable device 1-1 is an integrated structure, and its back is a U-shaped boss for installation and fixation on the back support plate 1, and the front end of the wearable device 1-1 is a shoulder fixing frame and a waist belt.

[0063] like Figure 1 , 2, 3, 4, 5, 6, 7, 8, 12, and 13, the robotic arm 2 includes a robotic arm seat, a rigid upper arm 2-3, a rigid lower arm 2-4, a continuous flexible arm 2-5, and a robotic claw 2-6. The robotic arm seat includes a fixed base 2-1 and an upper arm rotating joint 2-2. The rigid upper arm 2-3 and the upper arm rotating joint 2-2 are connected by an upper arm driving shaft 2-7. The rigid lower arm 2-4 and the rigid upper arm 2-3 are connected by an lower arm driving shaft 2-8. The continuous flexible arm 2-5 is installed at the end groove of the rigid lower arm 2-4. The back support plate 1 The driving motors on both sides drive the upper arm rotating joint 2-2 to move through the synchronous belt 4-6. The driving device 4 includes four brushless DC motors 4-1. The output shaft of each brushless DC motor 4-1 is equipped with a winding wheel, and two ropes 4-5 wound in opposite directions are wound on the winding wheel. The four brushless DC motors 4-1 on the back of the back support plate 1 output 4 groups, i.e., 8 ropes 4-5, i.e., one group of ropes 4-5 is used to drive the rigid upper arm 2-3, one group of ropes 4-5 is used to drive the rigid forearm 2-4, and two groups of ropes 4-5 are used to drive the continuous flexible arm 2-5. After passing through the rope tensioning device 3 and the lasso 4-4 between the fixed base 2-1 and the boom rotating joint 2-2, the rope 4-5 driving the rigid boom is fixed to the boom driving wheel 2-9, the rope 4-5 driving the rigid forearm 2-4 and the rope of the continuous flexible arm 2-5 then pass through the three first reversing fixed pulleys 2-11 on the boom driving shaft 2-7, the rope 4-5 driving the rigid forearm 2-4 is fixed to the forearm driving wheel 2-10 on the forearm driving shaft 2-8, the rope driving the continuous flexible arm 2-5 then passes through the two second reversing fixed pulleys 2-12 on the forearm driving shaft 2-8 and the two guide wheels 2-13 at the end of the rigid forearm 2-4, and finally passes through the rope holes distributed 90 degrees around the continuous flexible arm 2-5 and is fixed to the end of the continuous flexible arm 2-5. A single robot arm 2 has five degrees of freedom, including one degree of freedom of the upper arm rotation joint 2-2, one degree of freedom of the rigid upper arm 2-3, one degree of freedom of the rigid lower arm 2-4, and two degrees of freedom of the continuous flexible arm 2-5. The bearing of the upper arm rotation joint 2-2 and the upper arm drive shaft 2-7 correspond to the shoulder joint of the human body, the lower arm drive shaft 2-8 corresponds to the elbow joint of the human body, and the continuous flexible arm 2-5 corresponds to the wrist joint of the human body. The material of the continuous flexible arm 2-5 is high-performance nylon.

[0064] The continuous flexible arm 2-5 corresponds to the wrist joint of the human body and is driven by four ropes 4-5 to realize bending movement with two degrees of freedom, so as to realize flexible grasping to protect the fruit. The mechanical claw 2-6 installed at the end thereof performs grasping action, and the part of the mechanical claw 2-6 used for contacting the fruit is made of flexible silicone material, which can realize effective protection of the fruit.

[0065] Specifically, the robotic arm 2 in this embodiment adopts a combination of a rigid structure and a flexible structure, which effectively combines the advantages of the rigid structure such as high control accuracy and strong load capacity with the advantages of the flexible structure such as good flexibility and good spatial accessibility; the rigid structure can accurately reach the predetermined picking position, and the flexible structure can complete the non-destructive picking of fruits, which reduces the workload of operators when picking fruits and improves the yield rate during picking.

[0066] like Fig. 9 , 10 As shown in Figures 11, the rope tensioning device 3 includes a guide mechanism 3-1 and a tensioning mechanism 3-2, the outer side of which is the tensioning mechanism 3-2, and the inner side of which is the guide mechanism 3-1. The rope 4-5 enters the tensioning mechanism 3-2 through the guide mechanism 3-1. The tensioning mechanism 3-2 has eight tensioning components, each of which is located in one layer, and adjacent layers are separated by partitions 3-5. There are tensioning guide wheels 3-3 fixed on both sides of each layer for guiding, and a retractable tensioning wheel 3-4 in the middle. The front and rear extension and retraction of the tensioning wheel 3-4 are completed by the joint action of elastic elements and bolts, which is used for tensioning the rope 4-5; since the driving rope 4-5 output by the brushless DC motor 4-1 is not in the same plane, the tensioning components of the two adjacent layers of the tensioning mechanism 3-2 are distributed front and back; the rope 4-5 enters the tensioning mechanism 3-2 from the brushless DC motor 4-1 through the guide mechanism 3-1, and is then output to the mechanical arm 2, which can effectively reduce the motion error caused by the relaxation of the driving rope 4-5 during the operation of the mechanical arm 2.

[0067] Each motor has a motor driver 4-3. The movement of a single robot arm 2 is controlled by five motors. The four brushless DC motors 4-1 on the back of the back support plate 1 are from bottom to top. The first brushless DC motor 4-1 controls the pitching movement of the rigid upper arm 2-3. The second and third brushless DC motors 4-1 control the bending movement of the two degrees of freedom of the continuous flexible arm 2-5. The fourth brushless DC motor 4-1 controls the pitching movement of the rigid lower arm 2-4. The driving motors on both sides of the back support plate 1 control the rotation movement of the entire robot arm 2. The rope output by the first brushless DC motor 4-1 passes through the rope tensioning device 3 and the fixed base 2-1, and is fixed to the upper arm driving wheel 2-9 on the upper arm driving shaft 2-7. The rope output by the fourth brushless DC motor 4-1 passes through the rope tensioning device 3, the fixed base 2-1 and the first reversing fixed pulley 2-11 on the upper arm driving shaft 2-7, and is fixed to the lower arm driving wheel 2-10 on the lower arm driving shaft 2-8. The four ropes output by the second and third brushless DC motors 4-1 are fixed to the end of the continuous flexible arm 2-5 through the rope tensioning device 3, the fixed base 2-1, the first reversing fixed pulley 2-11 on the upper arm drive shaft 2-7, the second reversing fixed pulley 2-12 on the lower arm drive shaft 2-8 and the guide wheel 2-13 at the end of the rigid lower arm 2-4. The driving motors on both sides are connected to the upper arm rotation joint 2-2 through the synchronous belt 4-6. The motors are all installed on the back support plate 1, and the robot 2 is driven by ropes 4-5. Compared with the traditional robot 2, it can effectively reduce the inertia of the robot 2 during movement and can effectively protect the core components such as the motor.

[0068] like Figure 2 , 3 As shown in , 4, 7, 8, and 14, the control device 5 includes multiple encoders 5-2, multiple bending sensors 5-3, a main control chip, an arm electromyographic sensor 5-4, and a wireless control handle. The encoder 5-2 is installed at the upper arm rotation joint 2-2, the upper arm drive shaft 2-7, and the lower arm drive shaft 2-8. The bending sensor 5-3 is installed on the front and side of the continuous flexible arm 2-5. The wireless control handle and the arm electromyographic sensor 5-4 control the movement of the robot arm 2. The encoder 5-2 and the bending sensor 5-3 send the actual movement data to the main control chip 5-1, and the main control chip 5-1 performs motion compensation. According to the needs of the fruit picking operation, the arm electromyographic sensor 5-4 or the wireless handle 5-5 can be selected to realize the motion control of the robot arm. The present invention has two control modes, which enable it to have a more complete human-computer interaction function, namely, a follow-up motion mode and an independent motion mode. Following motion mode: the arm electromyography sensor 5-4 identifies the motion posture of the human arm, and then controls each motor to make the robot arm 2 move to the same posture as the human arm; Independent control mode: the wireless control handle 5-5 is used to control different postures of the robot arm 2. The present invention also performs closed-loop control through motion supplementation to improve motion accuracy.

[0069] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A rigid-flexible coupled rope-driven exo-limb robot for fruit picking, characterized in that: It includes a back support plate, a wearable device, a power supply device and two mechanical arms. The wearable device is connected to the back support plate and is used to be worn on the human body. The power supply device is used to supply power. The mechanical arms include: A mechanical arm seat, mounted on the back support plate; The mechanical arm body comprises a rigid upper arm, a rigid lower arm and a continuous flexible arm connected in sequence, wherein the head end of the rigid upper arm is connected to the mechanical arm base; A mechanical claw, mounted at the end of the continuous flexible arm; A driving device, mounted on the back support plate, connected to the rigid upper arm, the rigid lower arm and the continuous flexible arm through ropes, respectively, for driving the rigid upper arm, the rigid lower arm and the continuous flexible arm to move; The driving device comprises four motors, each motor has a winding wheel mounted on its output shaft, each motor has two ropes wound in opposite directions around its winding wheel, the rigid upper arm and the rigid lower arm can swing up and down respectively, and the continuous flexible arm can be bent in any direction; wherein, Two ropes of one motor are respectively connected to the upper and lower sides of the rigid big arm; two ropes of another motor are respectively connected to the upper and lower sides of the rigid small arm; four ropes of the other two motors are evenly distributed along the circumference of the continuous flexible arm and connected to the end of the continuous flexible arm; It also includes a rope tensioning device corresponding to the mechanical arm one by one, the rope tensioning device includes a guide mechanism and a tensioning mechanism, and the rope passes through the guide mechanism and enters the tensioning mechanism; wherein, The tensioning mechanism comprises eight tensioning assemblies, each tensioning assembly corresponds to a rope, and the tensioning assembly comprises a tensioning guide wheel, a tensioning wheel and another tensioning guide wheel for the corresponding rope to pass through in sequence, and an adjusting assembly acting on the tensioning wheel and used to adjust the position of the tensioning wheel to adjust the tension of the rope; The eight tensioning assemblies of the tensioning mechanism are arranged from top to bottom, a tensioning guide wheel, a tensioning wheel and another tensioning guide wheel of each tensioning assembly are arranged in the left-right direction, and two tensioning assemblies adjacent in the up-down direction are staggered in the front-back direction; The adjustment component comprises: A bolt is threadedly connected to a mounting plate and abuts against the tensioning wheel, and is used to push the tensioning wheel to move by screwing it in; At least one elastic element is connected between the tensioning wheel and the mounting plate, and is used to drive the tensioning wheel to retract along with the bolt through its rebound during the process of retracting the bolt.

2. The rigid-flexible coupled rope-driven exo-limb robot for fruit picking according to claim 1, characterized in that: The head end of the rigid boom is rotatably mounted on the mechanical arm seat through a boom drive shaft, and a boom drive wheel and three first reversing fixed pulleys are coaxially mounted on the boom drive shaft; The head end of the rigid small arm is rotatably mounted on the end of the rigid large arm through the small arm driving shaft, and the small arm driving wheel and two second reversing fixed pulleys are coaxially mounted on the small arm driving shaft; wherein, Two ropes of a motor are connected to the driving wheel of the boom; Two ropes of another motor pass around the corresponding first reversing fixed pulley and are connected to the driving wheel of the small arm; The four ropes of the other two motors are connected to the continuous flexible arm by passing through the corresponding first reversing fixed pulley and the corresponding second reversing fixed pulley.

3. The rigid-flexible coupled rope-driven exo-limb robot for fruit picking according to claim 1, characterized in that: The mechanical arm base comprises: A fixed base, fixedly mounted on the back support plate; A large arm rotating joint, rotatably supported on the fixed base; A driving motor is connected to the upper arm rotating joint through a synchronous belt, and is used to drive the upper arm rotating joint to rotate; wherein, The rigid boom is rotatably mounted on the boom rotation joint, and a rotation center line of the boom rotation joint relative to the fixed base is perpendicular to a rotation center line of the rigid boom relative to the boom rotation joint.

4. The rigid-flexible coupled rope-driven exo-limb robot for fruit picking according to claim 3, characterized in that: Also included is a control device, the control device comprising: An encoder group, used for detecting the rotation data of the upper arm rotation joint, the rigid upper arm and the rigid lower arm; A bending sensor, used to detect bending data of the continuous flexible arm; Arm electromyography sensor, worn on the human arm, is used to obtain the movement posture of the human arm; Wireless handle, used to receive motion instructions; A main control chip is connected to the encoder group, the bending sensor, the arm electromyography sensor and the mechanical arm, respectively, and is used to realize motion control of the mechanical arm according to the motion posture or motion instruction; and The motion compensation of the upper arm rotation joint and the robot arm body is realized according to the rotation data and the bending data.

5. The rigid-flexible coupled rope-driven exo-limb robot for fruit picking according to claim 1, characterized in that: The portion of the mechanical claw that is used to contact the fruit is made of flexible silicone material.

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