A spherically-shaped fruit and vegetable picking robot

Abstract

The present application relates to a kind of spheroidal fruit and vegetable picking robot, comprising: frame, picking mechanism and conveying mechanism;Picking mechanism includes rigid arm, pedestal and flexible arm, one end of rigid arm is fixed to frame, and the other end is connected to flexible arm by pedestal;Flexible arm includes flexible tube fixed to pedestal, and can be bent and deformed;Conveying mechanism includes conveying assembly installed on frame, side plate and elastic tube, and the one end of conveying assembly along the conveying direction is provided with collection part for receiving spheroidal fruit and vegetable;Side plate is located on both sides of conveying assembly and is slidably connected with flange moving along the conveying direction;Two ends of elastic tube are respectively fixed to flange and pedestal, and elastic tube and flexible tube are communicated.The spheroidal fruit and vegetable picking robot provided by the present application, the spheroidal fruit and vegetable picked successively pass through flexible tube and elastic tube, slide on conveying assembly, and are conveyed to collection part, improve the picking efficiency of spheroidal fruit and vegetable, without worker participation, reduce the labor intensity of worker, save labor cost.

Description

Technical Field

[0001] This invention relates to the field of fruit and vegetable harvesting technology, and more specifically, to a spherical fruit and vegetable harvesting robot. Background Technology

[0002] With the continuous development of robotics technology, traditional agriculture is gradually transforming into intelligent agriculture. The emergence of agricultural robots has changed the way agricultural labor is carried out and reduced the labor intensity of workers. In recent years, the trend of population aging has further exacerbated the shortage of agricultural labor and gradually increased labor costs. In fruit and vegetable production, harvesting is the most time-consuming and labor-intensive part. In order to improve the efficiency of fruit and vegetable harvesting and save costs, fruit and vegetable harvesting robots have become a research focus in agricultural robotics.

[0003] In existing technologies, rigid robotic arms are typically used for harvesting. Specifically, the rigid robotic arm drives the end effector to move to the position of the spherical fruits and vegetables to be harvested, harvests the spherical fruits and vegetables, moves them to the position of the collection box, and places the harvested spherical fruits and vegetables in the collection box. This method has low harvesting efficiency, poor environmental adaptability, and poor flexibility. Summary of the Invention

[0004] This invention provides a spherical fruit and vegetable harvesting robot to solve the technical problems of low harvesting efficiency, poor environmental adaptability, and poor flexibility in the existing technology that uses rigid robotic arms for harvesting.

[0005] This invention provides a spherical fruit and vegetable harvesting robot, comprising:

[0006] frame;

[0007] A harvesting mechanism includes a rigid arm, a base, and a flexible arm. One end of the rigid arm is fixed to the frame, and the other end is connected to the flexible arm through the base. The flexible arm includes a flexible tube, one end of which is fixed to the base, and the flexible tube is capable of bending and deformation.

[0008] The conveying mechanism includes a conveying component, side plates, and an elastic tube. The conveying component is mounted on the frame. One end of the conveying component along the conveying direction is provided with a collecting part for collecting spherical fruits and vegetables. The side plates are located on both sides of the conveying component. The side plates are slidably connected to flanges, which move along the conveying direction. One end of the elastic tube is fixed to the flange, and the other end is fixed to the base. The elastic tube and the flexible tube are connected.

[0009] The spherical fruit and vegetable harvesting robot provided by this invention has two main features. First, the flexible arm includes a hollow flexible tube that can be aligned with the spherical fruits and vegetables to be harvested or track the position of the end effector. This provides good flexibility, facilitates the transport of spherical fruits and vegetables, simplifies the structure of the robotic arm, and enhances its adaptability to unstructured environments. Second, the harvested spherical fruits and vegetables pass sequentially through the flexible tube and elastic tube, slide onto the conveying assembly, and are then transported to the collection unit. Compared with existing harvesting robots that repeatedly travel back and forth between the spherical fruits and vegetables to be harvested and the collection unit, this invention achieves simultaneous harvesting, conveying, and collection, improving the harvesting efficiency of spherical fruits and vegetables. It eliminates the need for worker intervention, reduces the labor intensity of workers, and saves labor costs.

[0010] Furthermore, the harvesting robot also includes a mobile platform, on which the frame is mounted. This configuration expands the harvesting robot's operating space.

[0011] Furthermore, the harvesting robot also includes: a controller and a vision sensor, the vision sensor being electrically connected to the controller for acquiring images of the spherical fruits and vegetables to be harvested; the controller is configured to perform at least one of the following: controlling the movement of the mobile platform; receiving images of the spherical fruits and vegetables to be harvested; determining the position of the spherical fruits and vegetables to be harvested; controlling the harvesting mechanism to harvest the spherical fruits and vegetables to be harvested; and controlling the conveying component to complete the conveying and collection of the harvested spherical fruits and vegetables.

[0012] This setup utilizes visual guidance for harvesting, automating the harvesting process as well as the conveying and collection, thus improving harvesting, conveying, and collection efficiency. It eliminates the need for worker intervention and reduces the labor intensity of workers.

[0013] Furthermore, the conveying mechanism also includes a conveying housing fixed to the base, the flexible tube fixed to one end of the conveying housing, the elastic tube fixed to the other end of the conveying housing, the inner wall of the conveying housing having an arc surface structure, and both the flexible tube and the elastic tube communicating with the conveying housing; and / or, the flange is provided with a sliding part, the side plate is provided with a sliding track, and the sliding part is slidably connected to the sliding track.

[0014] Furthermore, the conveying assembly includes a support, a driving pulley, a driven pulley, and a conveyor belt. The support is fixedly connected to the frame, and both the driving pulley and the driven pulley are pivotally connected to the support. The driving pulley is drivenly connected to the drive assembly.

[0015] Furthermore, the conveying assembly also includes a guide plate, which is disposed above the conveyor belt, conforming to or close to the two side edges of the conveyor belt and near the collection section. The opening of the guide plate decreases in size along the conveying direction of the conveyor belt. This arrangement provides guidance and restraint for the collection of spherical fruits and vegetables, preventing them from slipping off the conveyor belt and enabling continuous collection of individual fruits, facilitating quantity counting.

[0016] Furthermore, the conveying mechanism also includes a lifting assembly, which is mounted on the frame and drivenly connected to the conveying assembly. This configuration allows for adjustable height of the conveying assembly, facilitating the layered collection of spherical fruits and vegetables.

[0017] Furthermore, the lifting assembly includes a lifting drive assembly, a slide rail, and a slide block slidably connected to the slide rail. Both the lifting drive assembly and the slide rail are mounted on the frame. The lifting drive assembly is used to drive the slide block to move along the slide rail, and the bracket is fixedly connected to the slide block.

[0018] Furthermore, the rigid arm includes a first lifting assembly located above the conveying mechanism, mounted on the frame, and tractively connected to the base. This configuration allows the flexible arm to move vertically, expanding its vertical harvesting range.

[0019] Furthermore, a second lifting component is connected to the first lifting component and the base via a transmission connection. This configuration allows the first lifting component to move the flexible arm to a preset height, and then the second lifting component to move the flexible arm within a certain range of the preset height. This achieves both coarse and fine adjustment in the height direction, avoids frequent movement of the first lifting component, and extends its lifespan.

[0020] Furthermore, the rigid arm also includes a translation component, the translation component moving in a direction parallel to the conveying direction;

[0021] The translation component is mounted on the first lifting component and is drivenly connected to the second lifting component; or, the translation component is mounted on the second lifting component and is drivenly connected to the base; or, the translation component is mounted on the frame and is drivenly connected to the first lifting component. With this configuration, the translation component enables the flexible arm to move, expanding the harvesting range of the flexible arm along the conveying direction.

[0022] Furthermore, the rigid arm also includes a swing arm assembly, which includes a first joint and a second joint. The first joint is pivotally connected to the power output end of the second lifting assembly or to the power output end of the translation assembly, and the second joint is pivotally connected to the base. Both the first and second joints are connected to drive motors, wherein the axis of the pivotally connected shaft is parallel to the conveying direction. This configuration allows the flexible arm to move perpendicular to both the height and conveying directions, extending the flexible arm for easier harvesting operations.

[0023] Furthermore, the first lifting assembly includes a first driving assembly, a first guide rail, and a first slider assembly slidably connected to the first guide rail. Both the first driving assembly and the first guide rail are mounted on the frame. The first driving assembly is drively connected to the first slider assembly and is used to drive the first slider assembly to move along the first guide rail.

[0024] The translation component includes a third drive component, a third guide rail, and a third slider component slidably connected to the third guide rail, wherein the third guide rail is mounted on the first slider component; the third drive component is used to drive the third slider component to move along the third guide rail;

[0025] The second lifting assembly includes a second driving assembly, a second guide rail, and a second slider assembly slidably connected to the second guide rail. The second driving assembly and the second guide rail are mounted on the third slider assembly. The second driving assembly is used to drive the second slider assembly to move along the second guide rail.

[0026] The first joint is pivotally connected to the second slider.

[0027] Furthermore, the collecting section is equipped with a storage container, the storage container having an opening at one end facing the conveying assembly; the storage container has multiple parallel, spaced-apart partitions that extend downwards at an angle along the conveying direction. This arrangement enables layered collection of spherical fruits and vegetables, preventing multi-layered damage.

[0028] Furthermore, the partition has four corner points, with the two corner points furthest from the opening at different heights. This arrangement allows spherical fruits and vegetables to move towards the corner points, increasing the container's capacity for storing such items.

[0029] Furthermore, the storage container is a storage box or a storage bag.

[0030] Furthermore, the side panel of the storage box, located away from the conveying assembly, is openable and closable. This side panel is configured such that, when the side panel is in the open position, the spherical fruits and vegetables in the storage box slide into the transfer box. This configuration eliminates the need to replace the storage box, enabling continuous collection of spherical fruits and vegetables and improving collection efficiency.

[0031] Furthermore, the harvesting mechanism also includes an end-effector mechanical claw, which is mounted on the flexible arm and is used to grasp spherical fruits and vegetables to be harvested and guide them into the flexible tube.

[0032] The spherical fruit and vegetable harvesting robot provided by this invention has an end effector mechanical claw on the flexible arm. The end effector mechanical claw follows the movement of the flexible arm, enabling continuous harvesting of spherical fruits and vegetables and guiding them into the flexible tube of the flexible arm. After the fruits and vegetables fall down the flexible tube, the next harvesting action can be performed, which shortens the time for the end effector mechanical claw to place spherical fruits and vegetables and greatly improves the work efficiency of fruit and vegetable harvesting.

[0033] Furthermore, a first support plate is fixedly mounted at one end of the flexible tube, and a second support plate is fixedly mounted at the other end. The first support plate is fixedly connected to the base. The flexible arm also includes a traction member and a passive elastic member. The passive elastic member is a strip-shaped structure, with one end fixedly connected to the first support plate and the other end fixedly connected to the second support plate. The traction member is a long strip-shaped structure that can be bent and deformed. One end passes through the first support plate and is connected to a driving mechanism, while the other end is fixedly connected to the second support plate. The driving mechanism is disposed in the cavity of the base and is configured to drive the passive elastic member to bend and deform through the traction member.

[0034] The spherical fruit and vegetable harvesting robot provided by this invention has two advantages. First, it features a flexible tube with a hollow structure, allowing for adjustable posture and alignment with the spherical fruits and vegetables to be harvested, resulting in high flexibility. It can also serve as a transport channel for the spherical fruits and vegetables, simplifying the structure of the robotic arm, improving its adaptability to unstructured environments, and increasing harvesting efficiency, thus enabling continuous harvesting. Second, by incorporating active traction components and passive elastic components, the flexible arm can be bent, allowing its posture to be adjusted to suit the position of the spherical fruits and vegetables to be harvested.

[0035] Furthermore, the end effector includes a fixed rod, a movable rod, and a return spring. There are multiple fixed rods and multiple movable rods. The fixed rods are arranged at intervals along the circumferential direction of the flexible tube inlet. One end of the fixed rod is fixed to the second support plate, and the other end is hinged to the movable rod. The two ends of the return spring are fixed to the fixed rod and the movable rod, respectively, and always have a tendency to increase the included angle between the movable rod and the fixed rod.

[0036] The spherical fruit and vegetable harvesting robot provided in this embodiment of the invention uses a passively driven end effector, eliminating the need for an active drive structure. This results in a simple structure and low cost.

[0037] Furthermore, there are multiple passive elastic elements, which are spaced apart and coplanar. This arrangement, with multiple passive elastic elements spaced apart and coplanar, results in greater bending stiffness of the flexible arm in the coplanar direction of the passive elastic elements, thereby improving the stability of the flexible arm.

[0038] Furthermore, the number of traction components is one, and the number of passive elastic components is two. The traction component and the passive elastic components are arranged in a triangle, with the traction component located between the two passive elastic components. Due to the stability of the triangular structure, this arrangement improves the structural stability of the flexible arm, simplifies manufacturing, and reduces costs.

[0039] Furthermore, the traction member and the passive elastic member are arranged in an isosceles triangle, with the traction member located at the apex of the isosceles triangle and the two passive elastic members located at the base angles of the isosceles triangle; the distances from the two passive elastic members to the axis of the flexible tube are equal. This arrangement ensures that the supporting force applied to the flexible arm by the passive elastic members is symmetrical, improving the structural stability of the flexible arm; in addition, it enhances the aesthetics of the flexible arm.

[0040] Furthermore, the passive elastic element is one in number, the traction element is one in number, and the passive elastic element and the traction element are spaced apart.

[0041] Furthermore, the flexible arm also includes a third support plate located between the first support plate and the second support plate; there are multiple third support plates, which are arranged in parallel and spaced apart; the traction member passes through multiple third support plates. This arrangement provides support for bending deformation at the middle position of the flexible arm, making the bending deformation of the flexible arm smoother, preventing the traction member from breaking, improving the stability of the flexible arm, and preventing the flexible arm from swaying.

[0042] Furthermore, the first support plate, the third support plate, and the second support plate are arranged in parallel and at equal intervals.

[0043] Furthermore, both the first support plate and the third support plate are provided with guide portions, each guide portion having an opening. Each opening is equipped with a guide assembly, and multiple guide assemblies are spaced apart along the circumferential direction of the opening. Each guide assembly includes a shaft and guide members sleeved on the shaft. The gap formed by the circumferential surfaces of the multiple guide members is used to support the traction member. This configuration, by providing guide portions for supporting the traction member on the first and third support plates, reduces friction between the guide portions and the first and third support plates, thereby improving the lifespan of the traction member.

[0044] Furthermore, the guide element includes a bearing, balls, or rollers.

[0045] Furthermore, the second support plate is provided with a support portion, the support portion having a support hole, and the traction member is fixed to the support hole.

[0046] Furthermore, the first support plate, the second support plate, and the third support plate each have a flat portion and an arc-shaped portion between the flat portions at one end near the flexible tube. The passive elastic element is fixed to the flat portion, and the arc-shaped portion is adapted to the circumferential surface of the flexible tube.

[0047] Furthermore, the flexible arm also includes a first support ring and a second support ring; the first support ring is fixed to the base or the first support plate, and the first support ring mates with the circumferential surface of the flexible tube; the second support ring is fixed to the second support plate, and the second support ring mates with the circumferential surface of the flexible tube.

[0048] Furthermore, the driving mechanism includes a motor, a slide rail, and a sliding assembly slidably connected to the slide rail. The traction member is fixed to the sliding assembly, and the motor is used to drive the sliding assembly to reciprocate along the slide rail.

[0049] Furthermore, the drive mechanism also includes a transmission assembly, which includes a drive wheel, a driven wheel, and a conveyor belt that meshes with both. The drive wheel is driven to the output shaft of the motor, the driven wheel is pivotally connected to the cavity, and the sliding assembly is fixed to the conveyor belt.

[0050] Furthermore, the sliding assembly includes a sliding body, and a first clamping seat and a second clamping seat fixed to the sliding body, wherein the first clamping seat is used to clamp the traction member, and the second clamping seat is used to clamp the conveyor belt.

[0051] Furthermore, the traction component is a traction rope or a traction rod.

[0052] Furthermore, the material of the traction rod includes glass fiber, carbon fiber, spring steel, or shape memory alloy;

[0053] And / or, the cross-sectional shape of the traction rod includes a circle or a square;

[0054] And / or, the flexible tube includes a corrugated tube or a flexible hose;

[0055] And / or, the passive elastic element is a cylindrical strip structure or a sheet-like strip structure;

[0056] And / or, the material of the passive elastic element is glass fiber, carbon fiber, spring steel or shape memory alloy.

[0057] In summary, the spherical fruit and vegetable harvesting robot provided by this invention has at least the following beneficial technical effects:

[0058] (1) The spherical fruit and vegetable picking robot provided by the present invention has a flexible arm including a hollow flexible tube, which can be aligned with the spherical fruit and vegetable to be picked or track the position of the end mechanical claw. It has good flexibility, provides a channel for the transmission of spherical fruit and vegetable, simplifies the structure of the robotic arm, and improves the adaptability of the robotic arm to unstructured environments.

[0059] (2) The spherical fruit and vegetable picking robot provided by the present invention allows the picked spherical fruits and vegetables to slide onto the conveying component through the flexible tube and the elastic tube in sequence, and be conveyed to the collection unit. Compared with the prior art where the picking robot repeatedly goes back and forth between the spherical fruits and vegetables to be picked and the collection unit, the picking, conveying and collecting are carried out simultaneously, which improves the picking efficiency of spherical fruits and vegetables, does not require the participation of workers, reduces the labor intensity of workers, and saves labor costs.

[0060] (3) The spherical fruit and vegetable picking robot provided by the present invention uses visual guidance to carry out picking operations, realizes the automation of picking operations as well as the automation of transmission and collection, improves the efficiency of picking, transmission and collection, does not require the participation of workers, and reduces the labor intensity of workers.

[0061] (4) The spherical fruit and vegetable picking robot provided by the present invention has an adjustable height of the conveying component and a partition in the storage container, which facilitates the layered collection of spherical fruits and vegetables and prevents the spherical fruits and vegetables from being damaged by multiple layers.

[0062] (5) The spherical fruit and vegetable picking robot provided by the present invention has a side panel at the end of the storage box away from the conveying component that can be opened and closed, so that the storage box does not need to be replaced, thereby realizing the continuous collection of spherical fruits and vegetables and improving the collection efficiency of spherical fruits and vegetables.

[0063] (6) The spherical fruit and vegetable picking robot provided by the present invention has an end mechanical claw set on the flexible arm, so that the end mechanical claw follows the movement of the flexible arm, realizes the continuous picking of spherical fruits and vegetables to be picked and guides them into the flexible tube of the flexible arm. After the fruits and vegetables fall along the flexible tube, the next picking action can be carried out, which shortens the time for the end mechanical claw to place spherical fruits and vegetables and greatly improves the work efficiency of fruit and vegetable picking.

[0064] (7) The spherical fruit and vegetable picking robot provided by the present invention has, on the one hand, a flexible tube with a hollow structure, which can be adjusted in posture, so as to be aligned with the spherical fruits and vegetables to be picked, and has good flexibility; and can also serve as a transmission channel for spherical fruits and vegetables, simplifying the structure of the robotic arm, improving the adaptability of the robotic arm to unstructured environments and improving picking efficiency, and realizing continuous picking; on the other hand, by setting active traction components and passive elastic components, the flexible arm can be bent, so that the posture of the flexible arm can be adjusted to adapt to the position of the spherical fruits and vegetables to be picked.

[0065] (8) The spherical fruit and vegetable picking robot provided by the present invention has a passive drive method for the end mechanical claw, which does not require an active drive structure. It has a simple structure and low cost.

[0066] (9) The spherical fruit and vegetable picking robot provided by the present invention has multiple passive elastic elements spaced apart and coplanar, which makes the bending stiffness of the flexible arm larger in the coplanar direction of the passive elastic elements, thus improving the stability of the flexible arm. Attached Figure Description

[0067] Figure 1 This is a schematic diagram of the assembly structure of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention;

[0068] Figure 2 This is a partial structural diagram of the conveying mechanism in a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention;

[0069] Figure 3 This is a schematic diagram of the front view structure of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention;

[0070] Figure 4 for Figure 3 A magnified view of the area circled at point A in the middle;

[0071] Figure 5 for Figure 3 A magnified view of the circled area at point B in the middle;

[0072] Figure 6 This is a side view structural diagram of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention;

[0073] Figure 7A schematic diagram of the flexible arm portion of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention. Figure 1 ;

[0074] Figure 8 A schematic diagram of the flexible arm portion of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention. Figure 2 ;

[0075] Figure 9 for Figure 8 A magnified view of the area circled at point C in the middle;

[0076] Figure 10 A schematic diagram of the flexible arm portion of a spherical fruit and vegetable harvesting robot provided in an embodiment of the present invention. Figure 3 ;

[0077] Figure 11 for Figure 10 A magnified view of the circled area at point D in the middle;

[0078] Figure 12 for Figure 11 A magnified view of the area circled at point E in the middle;

[0079] Explanation of reference numerals in the attached figures:

[0080] 1. Frame; 2. Mobile platform; 3. Harvesting mechanism; 4. Vision sensor;

[0081] 10. Base; 101. Cavity;

[0082] 20. Flexible arm; 200. Flexible tube; 201. First support ring; 202. Second support ring; 210. First support plate; 211. Guide part; 213. Guide assembly; 214. Shaft; 215. Guide component; 216. Flat part; 217. Arc-shaped part; 220. Second support plate; 221. Support part; 222. Support hole; 230. Third support plate; 240. Traction component; 250. Passive elastic component; 260. Drive mechanism; 261. Motor; 262. Slide rail; 270. Sliding assembly; 271. Sliding body; 272. First clamping seat; 273. Second clamping seat; 280. Transmission assembly; 281. Driving wheel; 282. Conveyor belt; 283. Driven wheel;

[0083] 30. End effector; 310. Fixed rod; 320. Movable rod;

[0084] 40. Rigid arm; 410. First lifting assembly; 411. First guide rail; 412. First slider assembly; 413. First slider body; 414. First slide table; 415. Electric push rod; 420. Translation assembly; 421. Third guide rail; 422. Third slider assembly; 423. Third slider body; 424. Third slide table; 425. Third motor; 426. Rack; 430. Second lifting assembly; 431. Second guide rail; 432. Second slider assembly; 433. Second slider body; 434. Sliding body; 435. Second motor; 440. Swing arm assembly; 441. First joint; 442. Second joint;

[0085] 50. Conveying mechanism; 510. Conveying housing; 520. Flexible tube; 530. Conveying assembly; 531.

[0086] 532. Support frame; 534. Conveyor belt; 540. Guide plate; 541. Side plate; 542. Sliding track; 550. Flange; 551. Sliding part; 560. Lifting assembly; 561. Slide rail; 562. Slide block;

[0087] 60. Collection section; 610. Storage box; 611. Opening; 612. Partition. Detailed Implementation

[0088] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the following description is provided in conjunction with the accompanying drawings. Figure 1-12 Specific embodiments of the present invention will be described in detail below.

[0089] This invention provides a spherical fruit and vegetable harvesting robot, see attached figure. Figure 1 This type of spherical fruit and vegetable harvesting robot includes: a frame 1, a harvesting mechanism 3, and a conveying mechanism 50; the harvesting mechanism 3 includes a rigid arm 40, a base 10, and a flexible arm 20, one end of the rigid arm 40 is fixed to the frame 1, and the other end is connected to the flexible arm 20 through the base 10; the flexible arm 20 includes a flexible tube 200, one end of which is fixed to the base 10, and the flexible tube 200 is bendable and deformable; the conveying mechanism 50 includes a conveying assembly 530 and a side plate. 540 and 520, and conveying assembly 530 are mounted on frame 1. One end of conveying assembly 530 along the conveying direction is provided with collection part 60, which is used to collect spherical fruits and vegetables. Side plate 540 is located on both sides of conveying assembly 530. Flange 550 is slidably connected to side plate 540 and moves along the conveying direction. One end of elastic tube 520 is fixed to flange 550 and the other end is fixed to base 10. Elastic tube 520 and flexible tube 200 are connected.

[0090] It should be noted that the flexible arm 20 includes a flexible tube 200 with a hollow structure, which can serve as part of the transmission channel for spherical fruits and vegetables. The flexible tube 200 can be bent and deformed. In one embodiment, the end mechanical claw 30 is disposed on the flexible tube 200, and the flexible tube 200 adaptively aligns with the position of the spherical fruits and vegetables to be harvested, cooperating with the end mechanical claw 30 to complete the harvesting of the spherical fruits and vegetables. In another embodiment, the end mechanical claw 30 is separated from the flexible tube 200, and the flexible tube 200 can track the position of the end mechanical claw 30, which facilitates the collection of spherical fruits and vegetables. Both of these methods can improve the harvesting efficiency of spherical fruits and vegetables and achieve continuous harvesting.

[0091] It should be noted that one end of the elastic tube 520 is fixed to the flange 550, and the flange 550 is slidably connected to the side plate 540 of the conveying assembly 530. The other end of the elastic tube 520 is fixed to the base 10. The elastic tube 520 and the flexible tube 200 are connected. The flexible tube 200 can move with the movement of the base 10. The harvested spherical fruits and vegetables pass through the flexible tube 200 and the elastic tube 520 in sequence, slide down to the conveying assembly 530 and are conveyed to the collection section 60. This realizes the synchronous operation of harvesting, conveying and collecting, which improves the harvesting efficiency. In this process, no worker participation is required, which reduces the labor intensity of workers and saves labor costs.

[0092] It should be noted that the side plates 540 are located on both sides of the conveying assembly 530, perpendicular to the conveying direction, to prevent spherical fruits and vegetables from slipping off.

[0093] The spherical fruit and vegetable harvesting robot provided in this embodiment of the invention has two main features. First, the flexible arm 20 includes a hollow flexible tube 200, which can be aligned with the spherical fruit and vegetable to be harvested or track the position of the end effector 30. This provides good flexibility, facilitates the transport of spherical fruit and vegetable, simplifies the structure of the robotic arm, and enhances its adaptability to unstructured environments. Second, the harvested spherical fruit and vegetable slides sequentially through the flexible tube 200 and the elastic tube 520 onto the conveying assembly 530 and is then transported to the collection unit 60. Compared with the prior art where harvesting robots repeatedly travel back and forth between the spherical fruit and vegetable to be harvested and the collection unit 60, this robot achieves simultaneous harvesting, conveying, and collection, improving the harvesting efficiency of spherical fruit and vegetable. It eliminates the need for worker intervention, reduces the labor intensity of workers, and saves labor costs.

[0094] See appendix Figure 1 In this embodiment of the invention, the harvesting robot also includes a mobile platform 2, on which the frame 1 is mounted. This configuration expands the harvesting robot's working space.

[0095] It should be noted that the bottom of the mobile platform 2 is equipped with a walking component. The form of the walking component is not limited and can be set according to the actual working environment. It can be wheeled or tracked, etc.

[0096] In this embodiment of the invention, the harvesting robot further includes a controller, which is configured to control at least one of the following: controlling the movement of the mobile platform 2, controlling the action of the harvesting mechanism 3, and controlling the action of the conveying mechanism 50.

[0097] See appendix Figure 1 In this embodiment of the invention, the harvesting robot also includes a vision sensor 4, which is electrically connected to the controller. The vision sensor 4 is used to acquire images of the spherical fruits and vegetables to be harvested. The controller is also configured to: receive images of the spherical fruits and vegetables to be harvested; determine the position of the spherical fruits and vegetables to be harvested; control the harvesting mechanism 3 to harvest the spherical fruits and vegetables to be harvested; and control the conveying component 530 to complete the conveying and collection of the harvested spherical fruits and vegetables.

[0098] Preferably, see appendix. Figure 1 The harvesting robot includes a controller and a vision sensor 4. The vision sensor 4 is electrically connected to the controller and is used to acquire images of the spherical fruits and vegetables to be harvested. The controller is configured to perform at least one of the following: control the movement of the mobile platform; receive images of the spherical fruits and vegetables to be harvested; determine the position of the spherical fruits and vegetables to be harvested; control the harvesting mechanism 3 to harvest the spherical fruits and vegetables, i.e., control the rigid arm 40 and the flexible arm 20 to harvest the spherical fruits and vegetables; and control the conveying assembly 530 to complete the conveying and collection of the harvested spherical fruits and vegetables. This configuration, using vision guidance for harvesting, automates the harvesting operation as well as the conveying and collection processes, improving harvesting, conveying, and collection efficiency, eliminating the need for human intervention, and reducing the labor intensity of workers.

[0099] See appendix Figure 1 In this embodiment of the invention, the conveying mechanism 50 further includes a conveying housing 510 fixed to the base 10, a flexible tube 200 fixed to one end of the conveying housing 510, an elastic tube 520 fixed to the other end of the conveying housing 510, the inner wall of the conveying housing 510 is an arc-shaped structure, and both the flexible tube 200 and the elastic tube 520 are connected to the conveying housing 510.

[0100] See appendix Figure 2 In this embodiment of the invention, the flange 550 is provided with a sliding part 551, and the side plate 540 is provided with a sliding track 541, with the sliding part 551 slidably connected to the sliding track 541.

[0101] It should be noted that the cross-sectional shape of the sliding track 541 can be rectangular, triangular, dovetail-shaped, or cylindrical, and the sliding part 551 is adapted to the cross-sectional shape of the sliding track 541. In one specific embodiment of the present invention, the sliding part 551 is a hollow sliding column, and the sliding track 541 is a cylindrical sliding rod, with the hollow sliding column slidably connected to the cylindrical sliding rod.

[0102] It should be noted that the position of the sliding track 541 is not limited; it can be located on the top surface of the side plate 540 or on the side of the side plate 540.

[0103] See appendix Figure 2 In this embodiment of the invention, the conveying assembly 530 includes a support 531, a driving pulley, a driven pulley, and a conveyor belt 532. The support 531 is connected to the frame 1. The driving pulley and the driven pulley are both pivotally connected to the support 531 and are both drive-connected to the conveyor belt 532. The driving pulley is drive-connected to the drive assembly.

[0104] It should be noted that the drive assembly includes a transmission motor, and the motor shaft is driven to the drive pulley.

[0105] See appendix Figure 2 In this embodiment of the invention, the conveying assembly 530 further includes a guide plate 534. The guide plate 534 is disposed above the conveyor belt 532, adhering to or close to the two side edges of the conveyor belt 532 and near the collecting part 60. The opening of the guide plate 534 decreases in size along the conveying direction of the conveyor belt 532. This arrangement allows the guide part 211 to guide and limit the collection of spherical fruits and vegetables, preventing them from slipping off the conveyor belt 532 and enabling continuous collection of individual fruits, facilitating quantity counting.

[0106] See appendix Figure 1 In this embodiment of the invention, the conveying mechanism 50 further includes a lifting component 560, which is mounted on the frame 1 and is drively connected to the conveying component 530. This configuration allows the height of the conveying component 530 to be adjusted, facilitating the layered collection of spherical fruits and vegetables.

[0107] Specifically, the lifting component 560 is driven to the bracket 1.

[0108] See appendix Figure 3 In this embodiment of the invention, the lifting component 560 includes a lifting drive component, a slide rail 561, and a slide block 562 slidably connected to the slide rail 561. Both the lifting drive component and the slide rail 561 are mounted on the frame 1. The lifting drive component is used to drive the slide block 562 to move along the slide rail 561, and the bracket 531 is fixedly connected to the slide block 562.

[0109] See appendix Figure 3 In this embodiment of the invention, the lifting drive assembly includes a lifting motor and a lifting screw. The lifting motor is mounted on the frame 1, and the lifting screw is mounted on the slide rail 561. The motor shaft of the lifting motor is driven to the lifting screw, and the lifting screw is driven to the slide block 562, driving the slide block 562 to move along the slide rail 561.

[0110] See appendix Figure 3In this embodiment of the invention, specifically, there are two slide rails 561 installed at intervals on the frame 1, and two slide blocks 562 are slidably connected to the slide rails 561 respectively.

[0111] See appendix Figure 1 and Figure 3 In this embodiment of the invention, the rigid arm 40 includes a first lifting assembly 410, which is located above the lifting assembly 560. The first lifting assembly 410 is mounted on the frame 1 and is tractively connected to the base 10. This configuration enables the flexible arm 20 to move vertically, expanding the harvesting range of the flexible arm 20 in the vertical direction.

[0112] See appendix Figure 3 In this embodiment of the invention, a second lifting component 430 is connected between the first lifting component 410 and the base 10. This configuration allows the first lifting component 410 to move the flexible arm 20 to a preset height, and then the second lifting component 430 to move the flexible arm 20 within a certain range of the preset height. This achieves both coarse and fine adjustment in the height direction, avoids frequent movement of the first lifting component 410, and extends its lifespan.

[0113] See appendix Figure 1 and Figure 3 In this embodiment of the invention, the rigid arm 40 further includes a translation component 420, the translation component 420 moving in a direction parallel to the conveying direction. In one embodiment, the translation component 420 is mounted on the first lifting component 410 and is drivenly connected to the second lifting component 430. In another embodiment, the translation component 420 is mounted on the second lifting component 430 and is drivenly connected to the base 10. In other embodiments, the translation component 420 is mounted on the frame 1 and is drivenly connected to the first lifting component 410. With this configuration, the translation component 420 enables the translation of the flexible arm 20, expanding the harvesting range of the flexible arm 20 along the conveying direction.

[0114] See appendix Figure 1 and Figure 3 In this embodiment of the invention, the rigid arm 40 further includes a swing arm assembly 440, which includes a first joint 441 and a second joint 442. Both the first joint 441 and the second joint 442 are connected to a drive motor, wherein the axis of the pivotally connected rotating shaft is parallel to the conveying direction. In one embodiment, the first joint 441 is pivotally connected to the power output end of the second lifting assembly 430, and the second joint 442 is pivotally connected to the base 10. In another embodiment, the first joint 441 is pivotally connected to the power output end of the translation assembly 420. This configuration enables the flexible arm 20 to move along directions perpendicular to both the height and the conveying direction, allowing the flexible arm 20 to extend for easier harvesting operations.

[0115] See appendix Figure 3 and Figure 4 and Figure 5 In this embodiment of the invention, the first lifting assembly 410, the translation assembly 420, and the second lifting assembly 430 are connected sequentially. Specifically, the first lifting assembly 410 includes a first driving assembly, a first guide rail 411, and a first slider assembly 412 slidably connected to the first guide rail 411. Both the first driving assembly and the first guide rail 411 are mounted on the frame 1. The first driving assembly is drively connected to the first slider assembly 412 and is used to drive the first slider assembly 412 to move along the first guide rail 411. The translation assembly 420 includes a third driving assembly, a third guide rail 421, and a sliding assembly 430. A third slider assembly 422 is connected to a third guide rail 421, which is mounted on a first slider assembly 412. A third drive assembly is used to drive the third slider assembly 422 to move along the third guide rail 421. A second lifting assembly 430 includes a second drive assembly, a second guide rail 431, and a second slider assembly slidably connected to the second guide rail 431. The second drive assembly and the second guide rail 431 are mounted on the third slider assembly 422. The second drive assembly is used to drive the second slider assembly to move along the second guide rail 431. A first joint 441 is pivotally connected to the second slider assembly.

[0116] See appendix Figure 5 In this embodiment of the invention, the first slider assembly 412 includes a first slider body 413 and a first slide table 414 fixed to the first slider body 413. The first slider body 413 is slidably connected to the first guide rail 411, and the electric push rod 415 is drivenly connected to the slide table.

[0117] See appendix Figure 5 In one embodiment, the first driving assembly may include an electric push rod 415, one end of which is mounted on the frame 1, and the other end is driven to the first slider assembly 412, driving the first slider assembly 412 to move along the first guide rail 411. Specifically, the electric push rod 415 is driven to the first slide table 414.

[0118] See appendix Figure 5 Preferably, there are two first guide rails 411 installed at intervals on the frame 1, two first slider assemblies 412 slidably connected to the first guide rails 411 respectively, and two electric push rods 415 connected to both ends of the first slide table 414 respectively.

[0119] In another embodiment, the first driving assembly may further include a first motor and a first lead screw. The first motor is mounted on the frame 1, and the first lead screw is mounted on the first guide rail 411. The motor shaft of the first motor is driven to the first lead screw, and the first lead screw is driven to the first slider assembly 412. The first motor drives the first lead screw to move the first slider assembly 412 along the first guide rail 411. Specifically, the first lead screw is driven to the first slider body 413, and the first slider body 413 drives the first slide table 414 to move along the first guide rail 411.

[0120] See appendix Figure 4 In one embodiment of the present invention, the third driving component includes a third motor 425, a gear, and a rack 426 meshing with the gear. The third motor 425 is mounted on the third slider assembly 422. The rack 426 is parallel to the third guide rail 421 and mounted on the first slide table 414. The motor shaft of the third motor 425 is driven to the gear, and the gear is driven to the rack 426. The third motor 425 drives the gear to move along the rack 426, thereby moving the third slider assembly 422 along the third guide rail 421. Specifically, the third slider assembly 422 includes a third slider body and a third slide table fixed to the third slider body. The third motor 425 is mounted on the third slide table.

[0121] In another embodiment, the third drive assembly includes a third motor 425 and a third lead screw. The third motor 425 is mounted on the first slide table 414, and the third lead screw is mounted on the third guide rail 421. The motor shaft of the third motor 425 is driven to the third lead screw, and the third lead screw is driven to the third slider assembly 422. The third motor 425 drives the third lead screw to move the third slider assembly 422 along the third guide rail 421.

[0122] See appendix Figure 4 In this embodiment of the invention, the second driving component includes a second motor 435 and a second lead screw. The second motor 435 is mounted on a third slider assembly 422, and the second lead screw is mounted on a second guide rail 431. The motor shaft of the second motor 435 is driven to the second lead screw, and the second lead screw is driven to the second slider assembly. The second motor 435 drives the second lead screw to move the second slider assembly along the second guide rail 431.

[0123] See appendix Figure 4 Specifically, the second slider assembly includes a second slider body 433 and a slider body 434 fixed to the second slider body 433. A lead screw is connected to the second slider body 433, and the second slider body 433 drives the slider body 434 to move along the second guide rail 431.

[0124] See appendix Figure 1 and Figure 4 In this embodiment of the invention, the first joint 441 is pivotally connected to the sliding body 434.

[0125] See appendix Figure 4 In this embodiment of the invention, the vision sensor 4 is mounted on the second sliding assembly, specifically, the vision sensor 4 is mounted on the sliding body 434.

[0126] See appendix Figure 3 In this embodiment of the invention, there are multiple second lifting components 430, which are slidably connected to the translation component 420; there are multiple swing arm components 440, and the first joints 441 of the multiple swing arm components 440 are pivotally connected to the power output end of the second lifting component 430; there are multiple bases 10 and flexible arms 20, and the multiple bases 10 are pivotally connected to the second joints 442 of the multiple swing arm components 440, and the multiple flexible arms 20 are fixed on the bases 10. The number of second lifting components 430, the number of swing arm components 440, the number of bases 10 and the number of flexible arms 20 are the same.

[0127] See appendix Figure 1 and Figure 3 Preferably, there are two of each of the second lifting assembly 430, the swing arm assembly 440, the base 10, and the flexible arm 20, and the inlet ends of the flexible tubes 200 of the two flexible arms 20 face opposite directions. This arrangement facilitates the two flexible arms 20 to pick spherical fruits and vegetables located on both sides of the mobile platform 2.

[0128] It should be noted that the inlet ends of the flexible tubes 200 of the two flexible arms 20 are in opposite directions, meaning that the inlet ends of the flexible tubes 200 of the two flexible arms 20 face the two sides of the mobile platform 2 respectively.

[0129] See appendix Figure 1 In this embodiment of the invention, the collecting unit 60 is provided with a storage container, and the end of the storage container facing the conveying assembly 530 has an opening 611; the storage container has a plurality of parallel spaced partitions 612, and the partitions 612 extend downward at an angle along the conveying direction. This arrangement enables layered collection of spherical fruits and vegetables, preventing multi-layered damage to spherical fruits and vegetables.

[0130] In this embodiment of the invention, the partition 612 has four corner points, and the two corner points furthest from the opening 611 are at different heights. This arrangement allows spherical fruits and vegetables to move towards the corner points, increasing the capacity of the storage container for such fruits and vegetables.

[0131] See appendix Figure 1 In this embodiment of the invention, the storage container is a storage box 610 or a storage bag.

[0132] In this embodiment of the invention, the side panel of the storage box 610 at the end furthest from the conveying assembly 530 is openable and closable. The side panel is configured such that, when the side panel is in the open position, the spherical fruits and vegetables in the storage box 610 slide into the transfer box. This configuration eliminates the need to replace the storage box 610, enabling continuous collection of spherical fruits and vegetables and improving collection efficiency.

[0133] It should be noted that the side panel has a sealing position and an opening position. In one scenario, when the side panel is in the sealing position, the storage box 610 collects spherical fruits and vegetables; when the side panel is in the opening position, the storage box 610 transfers spherical fruits and vegetables. In other scenarios, a transfer box is set on one side of the storage box 610, and the side panel remains in the opening position, allowing spherical fruits and vegetables to continuously slide from the storage box 610 into the transfer box.

[0134] See appendix Figure 1 and Figure 6 In this embodiment of the invention, the picking mechanism 3 also includes an end mechanical claw 30, which is installed on the flexible arm 20. The end mechanical claw 30 is used to grab the spherical fruits and vegetables to be picked and guide them into the flexible tube 200.

[0135] The spherical fruit and vegetable harvesting robot provided in this embodiment of the invention has an end effector mechanical claw 30 on the flexible arm 20. The end effector mechanical claw 30 follows the movement of the flexible arm 20, enabling continuous harvesting of spherical fruits and vegetables and guiding them into the flexible tube 200 of the flexible arm 20. After the fruits and vegetables fall along the flexible tube 200, the next harvesting action can be performed, which shortens the time for the end effector mechanical claw 30 to place the spherical fruits and vegetables and greatly improves the work efficiency of fruit and vegetable harvesting.

[0136] See appendix Figure 8 In this embodiment of the invention, a first support plate 210 is fixed at one end of the flexible tube 200, and a second support plate 220 is fixed at the other end. The first support plate 210 is fixed to the base 10. The flexible arm 20 also includes a traction member 240 and a passive elastic member 250. The passive elastic member 250 is a strip structure, with one end fixed to the first support plate 210 and the other end fixed to the second support plate 220. The traction member 240 is a long strip structure that can be bent and deformed. One end passes through the first support plate 210 and is connected to a driving mechanism 260. The other end is fixed to the second support plate 220. The driving mechanism 260 is disposed in the cavity 101 of the base 10.

[0137] It should be noted that the flexible arm 20 includes a flexible tube 200 with a hollow structure, which can serve as part of the transport channel for spherical fruits and vegetables. The flexible arm 20 is flexible and deformable, adaptively aligning with the position of the spherical fruits and vegetables to be harvested, and working in conjunction with the end effector 30 to complete the harvesting of the spherical fruits and vegetables, improving work efficiency and enabling continuous harvesting.

[0138] It should be noted that the flexible arm 20 is equipped with a traction member 240 and a passive elastic member 250. The traction member 240 is transmissively connected to the drive mechanism 260 to provide power for the bending deformation of the flexible arm 20. Under the combined action of the active drive of the traction member 240 and the passive bending of the passive elastic member 250, the bending of the flexible arm 20 is achieved.

[0139] The spherical fruit and vegetable harvesting robot provided in this embodiment of the invention has two main advantages. First, the flexible tube 200 with a hollow structure has an adjustable posture, allowing it to be aligned with the spherical fruits and vegetables to be harvested, thus offering good flexibility. It can also serve as a transmission channel for the spherical fruits and vegetables, simplifying the structure of the robotic arm, improving its adaptability to unstructured environments, and increasing harvesting efficiency, enabling continuous harvesting. Second, by setting an active traction component 240 and a passive elastic component 250, the flexible arm 20 can be bent, making its posture adjustable to adapt to the position of the spherical fruits and vegetables to be harvested.

[0140] See appendix Figure 7 In this embodiment of the invention, the end effector 30 includes a fixed rod 310, a movable rod 320, and a return spring. There are multiple fixed rods 310 and movable rods 320. The fixed rods 310 are arranged at intervals along the circumferential direction of the inlet of the flexible tube 200. One end of the fixed rod 310 is fixed to the second support plate 220, and the other end is hinged to the movable rod 320. The two ends of the return spring are fixed to the fixed rod 310 and the movable rod 320 respectively, and always tend to make the included angle between the movable rod 320 and the fixed rod 310.

[0141] It should be noted that if the fruit or vegetable to be harvested has not yet come into contact with the end mechanical claw 30, the movable rod 320 blocks the entrance end of the flexible tube 200; if the spherical fruit or vegetable to be harvested comes into contact with the end mechanical claw 30, the spherical fruit or vegetable to be harvested will push the movable rod 320 to rotate toward the inside of the flexible tube 200, and the movable rod 320 will open the entrance end of the flexible tube 200. When the spherical fruit or vegetable to be harvested enters the flexible tube 200, the movable rod 320 will return to the position of blocking the entrance end of the flexible tube 200 under the action of the return spring, restricting the spherical fruit or vegetable from leaving the flexible tube 200. Under the pulling action of the flexible robotic arm, the spherical fruit or vegetable will be harvested.

[0142] The spherical fruit and vegetable harvesting robot provided in this embodiment of the invention has a passively driven end effector 30, which eliminates the need for an active drive structure, resulting in a simple structure and low cost.

[0143] See appendix Figure 8 In this embodiment of the invention, there are multiple passive elastic elements 250, which are spaced apart and coplanar.

[0144] It should be noted that the number of passive elastic elements 250 can be two, three, or more. These passive elastic elements 250 are spaced apart and coplanar, meaning they have the same radius of curvature, thus enabling the flexible arm 20 to bend. The spaced-apart and coplanar arrangement of the multiple passive elastic elements 250 results in greater bending stiffness of the flexible arm 20 in the coplanar direction of the passive elastic elements 250, thereby improving the stability of the flexible arm 20.

[0145] See appendix Figure 8 In this embodiment of the invention, there is one traction member 240 and two passive elastic members 250. The traction member 240 and the passive elastic members 250 are arranged in a triangle, with the traction member 240 located between the two passive elastic members 250. Because the triangular structure has stability, this arrangement improves the structural stability of the flexible arm 20, simplifies manufacturing, and reduces cost.

[0146] See appendix Figure 8 In this embodiment of the invention, the traction member 240 and the passive elastic member 250 are arranged in an isosceles triangle, with the traction member 240 located at the apex of the isosceles triangle and the two passive elastic members 250 located at the base angles of the isosceles triangle; the distances from the two passive elastic members 250 to the axis of the flexible tube 200 are equal. This arrangement ensures that the supporting force applied to the flexible arm 20 by the passive elastic members 250 is symmetrical, improving the structural stability of the flexible arm 20; furthermore, it enhances the aesthetics of the flexible arm 20.

[0147] In this embodiment of the invention, there is one passive elastic element 250 and one traction element 240, and the passive elastic element 250 and the traction element 240 are arranged at intervals.

[0148] See appendix Figure 8 and Figure 10 In this embodiment of the invention, the flexible arm 20 further includes a third support plate 230 located between the first support plate 210 and the second support plate 220; there are multiple third support plates 230, which are arranged in parallel and spaced apart; the traction member 240 passes through the multiple third support plates 230. This arrangement makes the bending deformation of the flexible arm 20 more uniform, which is beneficial to improving the accuracy of the kinematic model.

[0149] In this embodiment of the invention, the first support plate 210, the third support plate 230, and the second support plate 220 are arranged in parallel and at equal intervals.

[0150] See appendix Figure 9In this embodiment of the invention, both the first support plate 210 and the third support plate 230 are provided with guide portions 211. Each guide portion 211 has an opening, and a guide assembly 213 is provided within the opening. Multiple guide assemblies 213 are spaced apart along the circumferential direction of the opening. Each guide assembly 213 includes a shaft 214 and guide members 215 sleeved on the shaft 214. The gap formed by the circumferential surfaces of the multiple guide members 215 is used to support the traction member 240. This arrangement, by providing guide portions 211 for supporting the traction member 240 on the first support plate 210 and the third support plate 230, reduces friction between the guide portions 211 and the first and third support plates 210 and 230, thereby improving the lifespan of the traction member 240.

[0151] In this embodiment of the invention, the guide member 215 includes a bearing, a ball, or a roller.

[0152] See appendix Figure 9 In this embodiment of the invention, the second support plate 220 is provided with a support portion 221, the support portion 221 has a support hole 222, and the traction member 240 is fixedly connected to the support hole 222.

[0153] See appendix Figure 9 In this embodiment of the invention, the first support plate 210, the second support plate 220 and the third support plate 230 each have a flat portion 216 and an arc-shaped portion 217 between the flat portions 216 at one end near the flexible tube 200. The passive elastic member 250 is fixed to the flat portion 216 and the arc-shaped portion 217 is adapted to the circumferential surface of the flexible tube 200.

[0154] In this embodiment of the invention, the passive elastic element 250 can be a cylindrical strip structure or a sheet strip structure.

[0155] Preferably, the passive elastic element 250 is a sheet-like strip structure, which has good bending performance in the bending direction of the flexible arm 20, and has a large bending stiffness in the width direction of the passive elastic element 250. Therefore, the flexible arm 20 has good stability, that is, it is only easy to deform in the bending direction of the flexible arm 20.

[0156] In this embodiment of the invention, the passive elastic element 250 is made of glass fiber, carbon fiber, spring steel, or shape memory alloy.

[0157] It should be noted that shape memory alloys include nickel-titanium alloys, copper-zinc alloys, copper-aluminum-nickel alloys, copper-molybdenum-nickel alloys, copper-gold-zinc alloys, etc.

[0158] See appendix Figure 8In this embodiment of the invention, the flexible arm 20 further includes a first support ring 201 and a second support ring 202; the first support ring 201 is fixed to the base 10 or the first support plate 210, and the first support ring 201 cooperates with the circumferential surface of the flexible tube 200; the second support ring 202 is fixed to the second support plate 220, and the second support ring 202 cooperates with the circumferential surface of the flexible tube 200.

[0159] See appendix Figure 11 In this embodiment of the invention, the drive mechanism 260 includes a motor 261, a slide rail 262, and a sliding component 270 slidably connected to the slide rail 262. The traction member 240 is fixedly connected to the sliding component 270. The motor 261 is used to drive the sliding component 270 to reciprocate along the slide rail 262.

[0160] See appendix Figure 11 In this embodiment of the invention, the drive mechanism 260 further includes a transmission assembly 280, which includes a drive wheel 281, a driven wheel 283, and a conveyor belt 282 that meshes with both. The drive wheel 281 is driven to the output shaft of the motor 261, the driven wheel 283 is pivotally connected to the cavity 101, and the sliding assembly 270 is fixed to the conveyor belt 282.

[0161] See appendix Figure 12 In this embodiment of the invention, the sliding assembly 270 includes a sliding body 271, and a first clamping seat 272 and a second clamping seat 273 fixed to the sliding body 271. The first clamping seat 272 is used to clamp the traction member 240, and the second clamping seat 273 is used to clamp the conveyor belt 282.

[0162] In this embodiment of the invention, the traction component 240 is a traction rope or a traction rod.

[0163] In this embodiment of the invention, the material of the traction rod includes glass fiber, carbon fiber, spring steel, or shape memory alloy.

[0164] It should be noted that shape memory alloys include nickel-titanium alloys, copper-zinc alloys, copper-aluminum-nickel alloys, copper-molybdenum-nickel alloys, copper-gold-zinc alloys, etc.

[0165] In this embodiment of the invention, the cross-sectional shape of the traction member 240 includes a circle or a square.

[0166] In this embodiment of the invention, the flexible tube 200 includes a corrugated tube or a flexible tube.

[0167] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A spherical fruit and vegetable harvesting robot, characterized in that, include: Rack (1); The harvesting mechanism (3) includes a rigid arm (40), a base (10), and a flexible arm (20). One end of the rigid arm (40) is fixed to the frame (1), and the other end is connected to the flexible arm (20) through the base (10). The flexible arm (20) includes a flexible tube (200), one end of which is fixed to the base (10), and the flexible tube (200) is capable of bending and deformation. The conveying mechanism (50) includes a conveying component (530), a side plate (540), and an elastic tube (520). The conveying component (530) is mounted on the frame (1). One end of the conveying component (530) along the conveying direction is provided with a collection part (60), which is used to collect spherical fruits and vegetables. The side plate (540) is located on both sides of the conveying component (530). The side plate (540) is slidably connected to a flange (550), which moves along the conveying direction. One end of the elastic tube (520) is fixed to the flange (550), and the other end is fixed to the base (10). The elastic tube (520) and the flexible tube (200) are connected.

2. The spherical fruit and vegetable harvesting robot according to claim 1, characterized in that, The harvesting robot also includes a mobile platform (2), on which the frame (1) is mounted; And / or, the conveying mechanism (50) further includes a conveying housing (510) fixed to the base (10), the flexible tube (200) fixed to one end of the conveying housing (510), the elastic tube (520) fixed to the other end of the conveying housing (510), the inner wall of the conveying housing (510) is an arc surface structure, and both the flexible tube (200) and the elastic tube (520) are in communication with the conveying housing (510); And / or, the conveying mechanism (50) further includes a lifting assembly (560) mounted on the frame (1) and drivenly connected to the conveying assembly (530). And / or, the conveying assembly (530) includes a support (531), a driving pulley, a driven pulley and a conveyor belt (532), the support (531) is connected to the frame (1), the driving pulley and the driven pulley are both pivotally connected to the support (531), and the driving pulley is drivenly connected to the drive assembly; And / or, the flange (550) is provided with a sliding part (551), the side plate (540) is provided with a sliding rail (541), and the sliding part (551) is slidably connected to the sliding rail (541). And / or, the collecting part (60) is provided with a storage container, the storage container having an opening (611) at one end facing the conveying assembly (530); the storage container has a plurality of parallel spaced partitions (612) and the partitions (612) extend downward at an angle along the conveying direction.

3. The spherical fruit and vegetable harvesting robot according to claim 2, characterized in that, The harvesting robot includes a controller and a vision sensor (4), the vision sensor (4) being electrically connected to the controller for acquiring images of spherical fruits and vegetables to be harvested; the controller is configured to perform at least one of the following: controlling the movement of the mobile platform; receiving images of the spherical fruits and vegetables to be harvested; determining the position of the spherical fruits and vegetables to be harvested; controlling the harvesting mechanism (3) to harvest the spherical fruits and vegetables to be harvested; and controlling the conveying component (530) to complete the conveying and collection of the harvested spherical fruits and vegetables.

4. The spherical fruit and vegetable harvesting robot according to claim 1, characterized in that, The rigid arm (40) includes a first lifting assembly (410), which is located above the conveying mechanism (50), is mounted on the frame (1), and is tractively connected to the base (10).

5. The spherical fruit and vegetable harvesting robot according to claim 4, characterized in that, A second lifting assembly (430) is connected between the first lifting assembly (410) and the base (10).

6. The spherical fruit and vegetable harvesting robot according to claim 5, characterized in that, The rigid arm (40) further includes a translation component (420), the translation component (420) moving in a direction parallel to the conveying direction; The translation component (420) is mounted on the first lifting component (410) and is driven to the second lifting component (430); or, the translation component (420) is mounted on the second lifting component (430) and is driven to the base (10); or, the translation component (420) is mounted on the frame (1) and is driven to the first lifting component (410).

7. The spherical fruit and vegetable harvesting robot according to claim 6, characterized in that, The rigid arm (40) further includes a swing arm assembly (440), which includes a first joint (441) and a second joint (442). The first joint (441) is pivotally connected to the power output end of the second lifting assembly (430) or to the power output end of the translation assembly (420), and the second joint (442) is pivotally connected to the base (10). Both the first joint (441) and the second joint (442) are connected to a drive motor, wherein the axis of the pivotally connected rotating shaft is parallel to the transmission direction.

8. The spherical fruit and vegetable harvesting robot according to claim 2, characterized in that, The conveying assembly (530) further includes a guide plate (534), which is disposed above the conveyor belt (532), close to or near the two sides of the conveyor belt (532), and close to the collecting part (60). The opening of the guide plate (534) along the conveying direction of the conveyor belt (532) decreases from large to small. The partition (612) has four corner points, and the two corner points away from the opening (611) are at different heights; And / or, the storage container is a storage box (610) or a storage bag, and the side panel of the storage box (610) at the end away from the conveying assembly (530) is openable and closable, and the side panel is configured such that: if the side panel is in the open position, the spherical fruits and vegetables in the storage box (610) slide into the transfer box.

9. The spherical fruit and vegetable harvesting robot according to any one of claims 1-8, characterized in that, The picking mechanism (3) also includes an end mechanical claw (30), which is installed on the flexible arm (20). The end mechanical claw (30) is used to grab the spherical fruits and vegetables to be picked and guide them into the flexible tube (200).

10. The spherical fruit and vegetable harvesting robot according to claim 9, characterized in that, One end of the flexible tube (200) is fixed with a first support plate (210), and the other end is fixed with a second support plate (220). The first support plate (210) is fixed to the base (10). The flexible arm (20) also includes a traction member (240) and a passive elastic member (250). The passive elastic member (250) is a strip structure, with one end fixed to the first support plate (210) and the other end fixed to the second support plate (220). The traction member (240) is a long strip structure that can be bent and deformed. One end passes through the first support plate (210) and is connected to a drive mechanism (260). The other end is fixed to the second support plate (220). The drive mechanism (260) is located in the cavity (101) of the base (10). The drive mechanism (260) is configured to drive the passive elastic member (250) to bend and deform through the traction member (240).

11. The spherical fruit and vegetable harvesting robot according to claim 10, characterized in that, The end effector (30) includes a fixed rod (310), a movable rod (320), and a return spring. There are multiple fixed rods (310) and multiple movable rods (320). The fixed rods (310) are arranged at intervals along the circumferential direction of the inlet of the flexible tube (200). One end of the fixed rod (310) is fixed to the second support plate (220), and the other end is hinged to the movable rod (320). The two ends of the return spring are fixed to the fixed rod (310) and the movable rod (320) respectively, and always have a tendency to increase the included angle between the movable rod (320) and the fixed rod (310).

12. The spherical fruit and vegetable harvesting robot according to claim 10, characterized in that, The number of passive elastic elements (250) is multiple, and the multiple passive elastic elements (250) are spaced apart and coplanar.

13. The spherical fruit and vegetable harvesting robot according to claim 12, characterized in that, The number of the traction member (240) is 1, and the number of the passive elastic member (250) is 2. The traction member (240) and the two passive elastic members (250) are arranged in a triangle, with the traction member (240) located between the two passive elastic members (250).

14. The spherical fruit and vegetable harvesting robot according to claim 10, characterized in that, The passive elastic element (250) is one in number, the traction element (240) is one in number, and the passive elastic element (250) and the traction element (240) are arranged at intervals.

15. The spherical fruit and vegetable harvesting robot according to claim 10, characterized in that, The flexible arm (20) further includes a third support plate (230) located between the first support plate (210) and the second support plate (220); there are multiple third support plates (230) arranged in parallel at intervals; the traction member (240) passes through multiple third support plates (230). And / or, the flexible arm (20) further includes a first support ring (201) and a second support ring (202); the first support ring (201) is fixed to the base (10) or the first support plate (210), and the first support ring (201) engages with the circumferential surface of the flexible tube (200); the second support ring (202) is fixed to the second support plate (220), and the second support ring (202) engages with the circumferential surface of the flexible tube (200).

16. The spherical fruit and vegetable harvesting robot according to claim 15, characterized in that, Both the first support plate (210) and the third support plate (230) are provided with guide portions (211). Each guide portion (211) has an opening, and the opening is provided with a guide assembly (213). The guide assembly (213) has multiple members and is spaced apart along the circumferential direction of the opening. Each guide assembly (213) includes a shaft (214) and a guide member (215) sleeved on the shaft (214). The gap formed by the circumferential surfaces of the multiple guide members (215) is used to support the traction member (240). And / or, the second support plate (220) is provided with a support portion (221), the support portion (221) having a support hole (222), and the traction member (240) is fixed to the support hole (222). And / or, the first support plate (210), the second support plate (220) and the third support plate (230) each have a flat portion (216) and an arcuate portion (217) between the flat portions (216) at one end near the flexible tube (200), the passive elastic member (250) is fixed to the flat portion (216), and the arcuate portion (217) is adapted to the circumferential surface of the flexible tube (200).

Images