A wave-driven biomimetic fruit and vegetable harvesting robot and its working method

Abstract

This invention relates to a wave-driven biomimetic fruit and vegetable harvesting robot and its working method, belonging to the field of agricultural fruit and vegetable harvesting. It includes a snake-shaped biomimetic robotic arm, a lifting device, and a wave-driven device. The robot arm is composed of modular components, allowing for adjustable arm length and strong versatility. Each module has an adjustable rotation angle; the gripper module and angle adjustment module can simultaneously adjust the angle of each module, and the number of angle adjustment modules can be increased as needed, providing high flexibility. Two robotic arms can be set up for simultaneous and independent harvesting, resulting in high efficiency and meeting the needs of complex harvesting environments. Drawing inspiration from the crawling motion of a caterpillar, a novel wave-driven mechanism is designed to adapt to different working environments. The robot is small in size and requires minimal working space, utilizing perforated materials to achieve lightweight design and reduce soil compaction. Driven by a motor, it can directly utilize clean energy sources such as electricity, reducing environmental pollution.

Description

Technical Field

[0001] This invention relates to a wave-driven biomimetic fruit and vegetable harvesting robot and its working method, belonging to the field of agricultural fruit and vegetable harvesting technology. Background Technology

[0002] Currently, my country's agricultural production level is continuously improving, with the planting area and output of fruits and vegetables steadily increasing, both ranking among the top in the world. Vegetables and fruits are important food sources for humans, high in water content, low in energy, high in micronutrients, vitamins, and minerals, and also contain a certain amount of dietary fiber, making them one of the important sources of nutrition for Chinese residents.

[0003] However, fruit and vegetable harvesting in my country still relies heavily on traditional manual methods. This method is not only labor-intensive and costly, but also relatively inefficient. There is an urgent need to accelerate the mechanization of the harvesting process and the development of agricultural robots to reduce reliance on manual labor and improve overall productivity. Patent application number 202310866529.0 discloses a multifunctional fruit and vegetable harvesting robot that is easy to use. It can sort strawberries of different sizes during harvesting and also acts as a buffer during collection to prevent surface damage. Patent application number 202310712100.6 discloses a harvesting robot and system that can be used with suspended tracks and is suitable for narrow, rugged, and other road conditions. The utility model patent with application number 202320950273.7 discloses a multi-functional fruit and vegetable picking robot with replaceable end effector. It uses a SCARA arm as the main structure of the fruit and vegetable picking device and utilizes the large working space, accurate working precision and lightweight and flexible characteristics of the SCARA arm to achieve three-dimensional and precise picking.

[0004] However, existing harvesting robots generally suffer from poor versatility, low flexibility, and low efficiency, making it difficult to meet complex harvesting needs. Harvesting robots are also large, requiring significant workspace, making it difficult to navigate narrow harvesting areas, and they can easily damage crops. Their weight also contributes to soil degradation and negatively impacts crop growth. Furthermore, most existing agricultural machinery is fuel-powered, producing exhaust fumes that pollute the environment. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a wave-driven biomimetic fruit and vegetable harvesting robot and its working method. The robot arm is composed of modular components, allowing for adjustable arm length and strong versatility. Each module has an adjustable rotation angle; the gripper module and angle adjustment module can simultaneously adjust the angle of each module, and the number of angle adjustment modules can be increased as needed, providing high flexibility. Two robotic arms can be used simultaneously and independently for harvesting, resulting in high efficiency and meeting the needs of complex harvesting environments. Inspired by the crawling motion of a caterpillar, a novel wave-driven mechanism is designed to adapt to different working environments. The robot is small in size and requires minimal working space, utilizing perforated materials to achieve lightweight design and reduce soil compaction. Driven by a motor, it can directly utilize clean energy sources such as electricity, reducing environmental pollution.

[0006] The technical solution of the present invention is as follows:

[0007] A wave-driven biomimetic fruit and vegetable harvesting robot includes a snake-shaped biomimetic robotic arm, a lifting device, and a wave-driven device. The snake-shaped biomimetic robotic arm is equipped with a gripper module for harvesting fruits and vegetables. The lifting device is fixedly installed on the wave-driven device, and the snake-shaped biomimetic robotic arm can move up and down through the lifting device.

[0008] The wave drive device drives the entire robot to move back and forth in a wave-driven manner.

[0009] Preferably, the lifting device includes a mounting plate, a mounting frame, a robotic arm mounting plate, a lead screw, a lifting motor, and a lead screw jack. The mounting plate is fixed to the upper end of the wave drive device, the mounting frame is fixedly mounted on the mounting plate, the lifting motor is fixedly mounted on the upper end of the mounting frame, the output shaft of the lifting motor is connected to the lead screw, the lead screw is rotatably connected to the mounting frame and the mounting plate, and a lead screw jack that cooperates with the lead screw is provided on the lead screw. When the lifting motor rotates, the lead screw rotates, thereby driving the lead screw jack to move up and down on the lead screw. The robotic arm mounting plate is fixedly connected to the lead screw jack, and the robotic arm mounting plate can be detachably mounted with a snake-shaped bionic robotic arm.

[0010] Preferably, the snake-shaped bionic robotic arm includes multiple snake-shaped bionic robotic arm modules, a gripper module, and an angle adjustment module. The multiple snake-shaped bionic robotic arm modules are rotatably connected by pins and are detachable. The gripper module and the angle adjustment module can move back and forth on the multiple snake-shaped bionic robotic arm modules and can realize the individual angle adjustment of each snake-shaped bionic robotic arm module.

[0011] Before starting work, depending on the type of fruits and vegetables to be harvested and the actual working conditions, the length of the serpentine bionic robotic arm can be adjusted by adding or removing modules. The number of angle adjustment modules can be determined according to the working environment to achieve the harvesting of different types of fruits and vegetables.

[0012] Preferably, the serpentine bionic robotic arm module includes a base block with a gear sector at its front end and a rotating gear and a steering screw at its rear end. The rotating gear and the rotating screw are fixedly connected and can rotate on the base block. The bottom ends of the serpentine bionic robotic arm module are provided with racks, and the bottom of the racks has a thin plate that supports the transmission gears of the gripper module and the angle adjustment module, ensuring the position of the gripper module and the angle adjustment module. Between two adjacent serpentine bionic robotic arm modules, a steering mechanism is formed by the gear sector at the front end and the steering screw at the rear end. The steering screw is rotatably connected to the base block of the serpentine bionic robotic arm module, and the base block can rotate around a pivot.

[0013] The gripper module includes a gripper fixing frame, grippers, transmission gear A, steering gear A, transmission shaft A, and a small motor A. The grippers are fixed to the gripper fixing frame and driven by the gripper motor. The small motor A is fixedly installed on the gripper fixing frame and is used to drive the steering gear A and transmission shaft A to rotate. It can rotate around a horizontal axis. The steering gear A can cooperate with the rotating gear of the snake-shaped bionic robotic arm module.

[0014] The transmission gear A is rotatably connected to the gripper fixing frame and can rotate around the vertical axis. The transmission gear A cooperates with the rack at the bottom of the snake-shaped bionic robotic arm module.

[0015] Preferably, the angle adjustment module includes a fixed frame, a transmission gear B, a steering gear B, a transmission shaft B, and a small motor B. The small motor B is fixedly installed on the fixed frame and is used to drive the steering gear B and the transmission shaft B to rotate. It can rotate around a horizontal axis. The steering gear B can cooperate with the rotating gear of the snake-shaped bionic robotic arm module.

[0016] The transmission gear B is rotatably connected to the fixed frame and can rotate around a vertical axis. The transmission gear B cooperates with the rack at the bottom of the snake-shaped bionic robotic arm module.

[0017] Preferably, the wave drive device includes a motor support frame, a steering wheel, a helical drive shaft, a drive motor, a first support frame, a support frame, an end support frame, and a support frame connecting column. The drive motor is fixedly installed on the motor support frame, the steering wheel is rotatably installed on the motor support frame, one end of the first support frame is fixedly installed on the motor support frame, and the other end is connected to multiple support frames through the support frame connecting column. The support frame connecting column achieves a hinge connection, allowing relative rotational connection. The first support frame and the support frames can both rotate around the axis of the support frame connecting column. The remaining support frames are rotatably connected to each other through the support frame connecting column and can rotate around the axis of the support frame connecting column. One end of the end support frame is rotatably connected through the support frame connecting column and can rotate around the axis of the support frame connecting column. The first support frame, the support frame, and the end support frame form a support frame system.

[0018] The helical drive shaft is fixedly installed on the drive motor and is located inside the connected support frame system, allowing for relative movement.

[0019] Preferably, the number of the snake-shaped bionic robotic arms is two.

[0020] A working method for the aforementioned wave-driven biomimetic fruit and vegetable harvesting robot includes:

[0021] The wave-driven device propels the robot forward or backward as a whole.

[0022] The serpentine bionic robotic arm can move back and forth along the desired location for harvesting agricultural products. This is achieved via a gripper module and an angle adjustment module, reaching the steering screw position. The steering screw, in conjunction with the gripper or angle adjustment module, rotates to adjust the angle, achieving the optimal harvesting angle. The gripper and angle adjustment modules can adjust the angle simultaneously or separately at different positions on the serpentine robotic arm. Furthermore, the serpentine robotic arm can be raised and lowered using a screw jack, adjusting its height to allow for simultaneous harvesting of agricultural products from different trees / plants on either side of the desired location, or from the same tree / plant simultaneously. This results in accurate, flexible, and rapid harvesting, significantly improving harvesting efficiency.

[0023] The harvested agricultural products are placed accurately and stably in the designated location. The harvesting and identification technology can be implemented by referring to existing technologies, such as the intelligent identification method of the fruit and vegetable harvesting robot with publication number CN111783693A.

[0024] Preferably, during operation, the wave-driven device propels the robot forward. The drive motor rotates, causing the helical drive shaft to rotate clockwise or counterclockwise. As the helical drive shaft rotates, the raised sections of the support frame system rise, and the lowered sections lower, creating a wave-like motion, similar to a caterpillar crawling. The support frame system contacts the ground, relying on friction to propel the robot forward or backward. Directional wheels control the direction of movement. This invention allows for precise positioning by controlling the forward and reverse rotation of the drive motor and the directional wheels, ensuring accurate reaching of designated locations.

[0025] Preferably, during operation, the angle adjustment module can move on the snake-shaped bionic robotic arm, moving to the steering screw of each snake-shaped bionic robotic arm module. The steering gear B on the angle adjustment module cooperates with the rotation gear of the snake-shaped bionic robotic arm module, thereby driving the steering screw to rotate. The steering screw cooperates with the gear sector to form a steering device, and through the cooperation of the transmission gear B with the rack at the bottom of the snake-shaped bionic robotic arm module, the individual angle adjustment is realized. By moving to different snake-shaped bionic robotic arm modules, the angle rotation of each snake-shaped bionic robotic arm module is realized.

[0026] Simultaneously, the gripper module can move along the serpentine bionic robotic arm, specifically to the steering screw of each module. The steering gear A on the gripper module engages with the rotation gear of the serpentine bionic robotic arm module, driving the steering screw to rotate. The steering screw, in conjunction with the gear sector, forms a steering mechanism. Furthermore, through the engagement of transmission gear A with the rack at the bottom of the serpentine bionic robotic arm module, individual angle adjustments are achieved. By moving the gripper module to different serpentine bionic robotic arm modules, the angle of each module can be rotated. When the gripper is not in operation, both the gripper module and the angle adjustment module can be adjusted simultaneously. When the gripper is in operation, the angle adjustment module can be used for adjustment if needed. In actual operation, it is not necessary to adjust every module; during operation, it may only be necessary to rotate one or a few modules to achieve the desired angle.

[0027] For any details not covered in this invention, please refer to the prior art.

[0028] The beneficial effects of this invention are as follows:

[0029] This invention employs modular components to assemble a snake-shaped bionic robotic arm. By adding or removing snake-shaped bionic robotic arm modules, the length of the robotic arm can be adjusted to adapt to different harvesting objects, demonstrating strong versatility. Each snake-shaped bionic robotic arm module has an adjustable rotation angle. The gripper module and angle adjustment module can simultaneously adjust the angle of each module, and the number of angle adjustment modules can be increased as needed. The height of the robotic arm can be controlled via a lifting device, providing high flexibility. Two robotic arms can be set up for simultaneous and independent harvesting, improving agricultural operation efficiency and meeting the needs of complex harvesting environments. Inspired by the crawling motion of a caterpillar, a novel wave-driven mechanism is designed, adaptable to different operating environments (paddy fields, dry land, hills, facility agriculture, etc.). Its small size allows it to work in a confined space, reducing damage to agricultural products. The use of perforated materials achieves lightweighting, reducing soil compaction and minimizing damage to the crop growth environment. Driven by a motor, it utilizes clean energy sources such as electricity, reducing environmental pollution. This invention can complete fruit and vegetable harvesting operations simultaneously, reducing manual labor intensity and production costs, and is of great significance for achieving mechanized harvesting. Attached Figure Description

[0030] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0031] Figure 1 This is a schematic diagram of the overall structure of a wave-driven biomimetic fruit and vegetable harvesting robot.

[0032] Figure 2 A schematic diagram of a snake-shaped bionic robotic arm;

[0033] Figure 3 A schematic diagram of the snake-shaped bionic robotic arm module structure;

[0034] Figure 4 This is a schematic diagram of the gripper module structure;

[0035] Figure 5 This is a schematic diagram of the angle adjustment module structure;

[0036] Figure 6 This is a schematic diagram of the wave drive device.

[0037] In the diagram, 1-mounting plate, 2-mounting frame, 3-robotic arm mounting plate, 4-screw jack, 5-screw, 6-lifting motor, 7-rack, 8-thin plate, 9-steering screw, 10-rotating gear, 11-base block, 12-gear sector, 13-gripper, 14-small motor A, 15-gripper fixing frame, 16-transmission gear A, 17-transmission shaft A, 18-steering gear A, 19-fixing frame, 20-motor support frame, 21-direction wheel, 22-first section support frame, 23-drive motor, 24-support frame connecting column, 25-end support frame, 26-support frame, 27-screw drive shaft, 28-transmission gear B, 29-steering gear B, 30-transmission shaft B, 31-small motor B. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. However, this is not the only description; all aspects not described in detail herein are based on conventional techniques in the art.

[0039] Example 1

[0040] A wave-driven biomimetic fruit and vegetable harvesting robot, such as Figure 1 As shown, it includes a snake-shaped bionic robotic arm, a lifting device, and a wave-driven device. The snake-shaped bionic robotic arm is equipped with a gripper module, and the gripper module is equipped with grippers 13 for picking fruits and vegetables. The lifting device is fixedly installed on the wave-driven device, and the snake-shaped bionic robotic arm can move up and down through the lifting device.

[0041] The wave drive device drives the entire robot to move back and forth using a wave-driven method.

[0042] The lifting device includes a mounting plate 1, a mounting frame 2, a robotic arm mounting plate 3, a lead screw 5, a lifting motor 6, and a lead screw jack 4. The mounting plate 1 is fixed to the upper end of the wave drive device. The mounting frame 2 is fixedly mounted on the mounting plate 1. The lifting motor 6 is fixedly mounted on the upper end of the mounting frame 2. The output shaft of the lifting motor 6 is connected to the lead screw 5. The lead screw 5 is rotatably connected to the mounting frame and the mounting plate. The lead screw jack 4 is provided on the lead screw 5 to cooperate with the lead screw 5. When the lifting motor 6 rotates, the lead screw 5 rotates, thereby driving the lead screw jack 4 to move up and down on the lead screw 5. The robotic arm mounting plate 3 is fixedly connected to the lead screw jack 4. A snake-shaped bionic robotic arm can be detachably mounted on the robotic arm mounting plate 3.

[0043] Example 2

[0044] A wave-driven biomimetic fruit and vegetable harvesting robot, as described in Example 1, except that... Figure 2 The snake-shaped bionic robotic arm includes multiple snake-shaped bionic robotic arm modules, a gripper module, and an angle adjustment module. The multiple snake-shaped bionic robotic arm modules are rotatably connected by pins and are detachable. The gripper module and the angle adjustment module can move back and forth on the multiple snake-shaped bionic robotic arm modules and can realize the individual angle adjustment of each snake-shaped bionic robotic arm module.

[0045] Before starting work, depending on the type of fruits and vegetables to be harvested and the actual working conditions, the length of the serpentine bionic robotic arm can be adjusted by adding or removing modules. The number of angle adjustment modules can be determined according to the working environment to achieve the harvesting of different types of fruits and vegetables.

[0046] Two serpentine bionic robotic arms are included. Each serpentine bionic robotic arm module includes a base block 11, with a gear sector 12 at its front end and a rotating gear 10 and a steering screw 9 at its rear end. The rotating gear 10 and the rotating screw 9 are fixedly connected and can rotate on the base block. At both ends of the bottom of the serpentine bionic robotic arm module, there are racks 7. The bottom of the racks 7 has a thin plate 8, which supports the transmission gears of the gripper module and the angle adjustment module, ensuring the position of the gripper module and the angle adjustment module. Between two adjacent serpentine bionic robotic arm modules, a steering mechanism is formed by the gear sector 12 at the front end and the steering screw 9 at the rear end. The steering screw is rotatably connected to the base block of the serpentine bionic robotic arm module, and the base block can rotate around the pin.

[0047] like Figure 4As shown, the gripper module includes a gripper fixing frame 15, a gripper 13, a transmission gear A 16, a steering gear A 18, a transmission shaft A17, and a small motor A14. The gripper 13 is fixed to the gripper fixing frame 15 and is driven by the gripper motor. The small motor A14 is fixedly mounted on the gripper fixing frame 15 and is used to drive the steering gear A18 and the transmission shaft A17 to rotate. It can rotate around a horizontal axis. The steering gear A18 can cooperate with the rotating gear 10 of the snake-shaped bionic robotic arm module.

[0048] The transmission gear A16 is rotatably connected to the gripper fixing frame and can rotate around the vertical axis. The transmission gear A16 cooperates with the rack 7 at the bottom of the snake-shaped bionic robotic arm module.

[0049] like Figure 5 As shown, the angle adjustment module includes a fixed frame 19, a transmission gear B 28, a steering gear B 29, a transmission shaft B30, and a small motor B 31. The small motor B 31 is fixedly mounted on the fixed frame 19 and is used to drive the steering gear B29 and the transmission shaft B 30 to rotate. It can rotate around a horizontal axis. The steering gear B 28 can cooperate with the rotating gear 10 of the snake-shaped bionic robotic arm module.

[0050] The transmission gear B 28 is rotatably connected to the fixed frame 19 and can rotate around the vertical axis. The transmission gear B 28 cooperates with the rack 7 at the bottom of the snake-shaped bionic robotic arm module.

[0051] Example 3

[0052] A wave-driven biomimetic fruit and vegetable harvesting robot, as described in Example 2, except that... Figure 6 As shown, the wave drive device includes a motor support frame 20, a directional wheel 21, a helical drive shaft 27, a drive motor 23, a first-section support frame 22, a support frame 26, an end support frame 25, and a support frame connecting column 24. The drive motor 23 is fixedly installed on the motor support frame 20, and the directional wheel 21 is rotatably installed on the motor support frame 20. One end of the first-section support frame 22 is fixedly installed on the motor support frame 20, and the other end is connected to multiple support frames through the support frame connecting column 24. The support frame connecting column enables a hinged connection, allowing relative rotational connection. The first-section support frame and the support frames can rotate around the axis of the support frame connecting column. The remaining support frames are rotatably connected to each other through the support frame connecting column 24 and can rotate around the axis of the support frame connecting column. One end of the end support frame is rotatably connected through the support frame connecting column 24 and can rotate around the axis of the support frame connecting column. The first-section support frame 22, the support frame 26, and the end support frame 25 form a support frame system.

[0053] The screw drive shaft 27 is fixedly installed on the drive motor. The screw drive shaft is located inside the connected support frame system and can move relative to it.

[0054] Example 4

[0055] A working method for a wave-driven biomimetic fruit and vegetable harvesting robot includes:

[0056] The wave-driven device propels the robot forward or backward as a whole.

[0057] The serpentine bionic robotic arm can move back and forth along the desired location for harvesting agricultural products. This is achieved via a gripper module and an angle adjustment module, reaching the steering screw position. The steering screw, in conjunction with the gripper or angle adjustment module, rotates to adjust the angle, achieving the optimal harvesting angle. The gripper and angle adjustment modules can adjust the angle simultaneously or separately at different positions on the serpentine robotic arm. Furthermore, the serpentine robotic arm can be raised and lowered using a screw jack, adjusting its height to allow for simultaneous harvesting of agricultural products from different trees / plants on either side of the desired location, or from the same tree / plant simultaneously. This results in accurate, flexible, and rapid harvesting, significantly improving harvesting efficiency.

[0058] The harvested agricultural products are placed accurately and stably in the designated location. The harvesting and identification technology can be implemented by referring to existing technologies, such as the intelligent identification method of the fruit and vegetable harvesting robot with publication number CN111783693A.

[0059] Specifically, during operation, the wave-driven device propels the robot forward. The drive motor 23 rotates, causing the helical drive shaft 27 to rotate clockwise or counterclockwise. As the helical drive shaft 27 rotates, the raised sections of the support frame system rise, and the lowered sections lower, creating a wave-like motion, similar to a caterpillar crawling. The support frame system contacts the ground, relying on friction to propel the robot forward or backward. The directional wheels control the direction of movement. This invention allows for precise positioning by controlling the forward or backward movement of the drive motor and controlling the direction of movement via the directional wheels.

[0060] The angle adjustment module can move on the snake-shaped bionic robotic arm and move to the steering screw of each snake-shaped bionic robotic arm module. The steering gear B 29 on the angle adjustment module cooperates with the rotation gear 10 of the snake-shaped bionic robotic arm module, thereby driving the steering screw 9 to rotate. The steering screw 9 cooperates with the gear sector 12 to form a steering device, and through the transmission gear B 28, it cooperates with the rack 7 at the bottom of the snake-shaped bionic robotic arm module to realize the adjustment of a single angle. By moving to different snake-shaped bionic robotic arm modules, the angle rotation of each snake-shaped bionic robotic arm module can be realized.

[0061] Simultaneously, the gripper module can move on the serpentine bionic robotic arm, moving to the steering screw of each serpentine bionic robotic arm module. The steering gear A18 on the gripper module engages with the rotation gear 10 of the serpentine bionic robotic arm module, thereby driving the steering screw 9 to rotate. The steering screw 9 engages with the gear sector 12 to form a steering mechanism, and through the transmission gear A16, engages with the rack 7 at the bottom of the serpentine bionic robotic arm module to achieve individual angle adjustment. By moving to different serpentine bionic robotic arm modules, the angle of each serpentine bionic robotic arm module can be rotated. When the gripper is not working, the gripper module and the angle adjustment module can be adjusted simultaneously. When the gripper is working, if angle adjustment is required, the angle adjustment module can be adjusted. In actual operation, it is not necessary to adjust every module. During operation, it may only be necessary to rotate one or a few modules to achieve the required angle.

[0062] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A wave-driven biomimetic fruit and vegetable harvesting robot, characterized in that, The device includes a snake-shaped bionic robotic arm, a lifting device, and a wave-driven device. The snake-shaped bionic robotic arm is equipped with a gripper module for picking fruits and vegetables. The lifting device is fixedly installed on the wave-driven device, and the snake-shaped bionic robotic arm can move up and down through the lifting device. The wave drive device drives the entire robot to move back and forth in a wave-driven manner; The snake-shaped bionic robotic arm includes multiple snake-shaped bionic robotic arm modules, a gripper module, and an angle adjustment module. The multiple snake-shaped bionic robotic arm modules are rotatably connected by pins. The gripper module and the angle adjustment module can move back and forth on the multiple snake-shaped bionic robotic arm modules and can realize the individual angle adjustment of each snake-shaped bionic robotic arm module. The snake-shaped bionic robotic arm module includes a base block with a toothed sector at the front end and a rotating gear and a steering screw at the rear end. The rotating gear and the rotating screw are fixedly connected and can rotate on the base block. The bottom ends of the snake-shaped bionic robotic arm module are provided with racks, and the bottom of the racks is provided with a thin plate. Adjacent snake-shaped bionic robotic arm modules are connected by the toothed sector at the front end and the steering screw at the rear end to form a steering mechanism. The gripper module includes a gripper fixing frame, grippers, transmission gear A, steering gear A, transmission shaft A, and a small motor A. The grippers are fixed to the gripper fixing frame and driven by the gripper motor. The small motor A is fixedly installed on the gripper fixing frame and is used to drive the steering gear A and transmission shaft A to rotate. It can rotate around a horizontal axis. The steering gear A can cooperate with the rotating gear of the snake-shaped bionic robotic arm module. The transmission gear A is rotatably connected to the gripper fixing frame and can rotate around the vertical axis. The transmission gear A cooperates with the rack at the bottom of the snake-shaped bionic robotic arm module.

2. The wave-driven biomimetic fruit and vegetable harvesting robot according to claim 1, characterized in that, The lifting device includes a mounting plate, a mounting frame, a robotic arm mounting plate, a lead screw, a lifting motor, and a lead screw jack. The mounting plate is fixed to the upper end of the wave drive device, the mounting frame is fixedly mounted on the mounting plate, the lifting motor is fixedly mounted on the upper end of the mounting frame, and the output shaft of the lifting motor is connected to the lead screw. The lead screw is rotatably connected to the mounting frame and the mounting plate. A lead screw jack that cooperates with the lead screw is provided on the lead screw. When the lifting motor rotates, the lead screw rotates, thereby driving the lead screw jack to move up and down on the lead screw. The robotic arm mounting plate is fixedly connected to the lead screw jack, and the robotic arm mounting plate can be detachably mounted with a snake-shaped bionic robotic arm.

3. The wave-driven biomimetic fruit and vegetable harvesting robot according to claim 2, characterized in that, The angle adjustment module includes a fixed frame, a transmission gear B, a steering gear B, a transmission shaft B, and a small motor B. The small motor B is fixedly installed on the fixed frame and is used to drive the steering gear B and the transmission shaft B to rotate. It can rotate around a horizontal axis. The steering gear B can cooperate with the rotating gear of the snake-shaped bionic robotic arm module. The transmission gear B is rotatably connected to the fixed frame and can rotate around a vertical axis. The transmission gear B cooperates with the rack at the bottom of the snake-shaped bionic robotic arm module.

4. The wave-driven biomimetic fruit and vegetable harvesting robot according to claim 3, characterized in that, The wave drive device includes a motor support frame, a steering wheel, a helical transmission shaft, a drive motor, a first support frame, a support frame, an end support frame, and a support frame connecting column. The drive motor is fixedly mounted on the motor support frame, and the steering wheel is rotatably mounted on the motor support frame. One end of the first support frame is fixedly mounted on the motor support frame, and the other end is connected to multiple support frames through the support frame connecting column. Both the first support frame and the support frames can rotate around the axis of the support frame connecting column. The remaining support frames are rotatably connected to each other through the support frame connecting column and can rotate around the axis of the support frame connecting column. One end of the end support frame is rotatably connected through the support frame connecting column and can rotate around the axis of the support frame connecting column. The first support frame, the support frame, and the end support frame form a support frame system. The helical drive shaft is fixedly installed on the drive motor and is located inside the connected support frame system, allowing for relative movement.

5. The wave-driven biomimetic fruit and vegetable harvesting robot according to claim 4, characterized in that, The number of snake-shaped bionic robotic arms is two.

6. A working method for the wave-driven biomimetic fruit and vegetable harvesting robot as described in claim 5, characterized in that, include: The wave-driven device propels the robot forward or backward as a whole. The serpentine bionic robotic arm moves back and forth along the desired location for harvesting agricultural products, using a gripper module and an angle adjustment module. Upon reaching the steering screw, the screw rotates in conjunction with either the gripper or angle adjustment module, adjusting the angle to achieve the optimal harvesting angle. The gripper and angle adjustment modules can adjust the angle simultaneously or separately at different positions on the serpentine robotic arm. The height of the serpentine robotic arm is adjusted by a screw jack, moving the screw up and down to achieve height adjustment. This allows for simultaneous harvesting of agricultural products from different trees / plants on either side of the desired location, or harvesting from the same tree / plant simultaneously, resulting in accurate, flexible, and rapid harvesting and improved efficiency.

7. The working method of the wave-driven biomimetic fruit and vegetable harvesting robot according to claim 6, characterized in that, During operation, the wave drive device propels the robot forward. The drive motor rotates the helical drive shaft clockwise or counterclockwise. As the helical drive shaft rotates, the support frame system rises in some areas and lowers in others. The entire support frame system forms a wave shape as the helical drive shaft rotates. The support frame system contacts the ground and relies on friction with the ground to move the robot forward or backward. The direction wheel controls the direction of movement.

8. The working method of the wave-driven biomimetic fruit and vegetable harvesting robot according to claim 7, characterized in that, During operation, the angle adjustment module can move on the snake-shaped bionic robotic arm, moving to the steering screw of each snake-shaped bionic robotic arm module. The steering gear B on the angle adjustment module cooperates with the rotation gear of the snake-shaped bionic robotic arm module, thereby driving the steering screw to rotate. The steering screw cooperates with the gear sector to form a steering device, and through the transmission gear B, it cooperates with the rack at the bottom of the snake-shaped bionic robotic arm module to realize the adjustment of a single angle. By moving to different snake-shaped bionic robotic arm modules, the angle rotation of each snake-shaped bionic robotic arm module can be realized. Simultaneously, the gripper module can move on the serpentine bionic robotic arm, moving to the steering screw of each serpentine bionic robotic arm module. The steering gear A on the gripper module engages with the rotation gear of the serpentine bionic robotic arm module, thereby driving the steering screw to rotate. The steering screw and the gear sector engage to form a steering mechanism, and through the engagement of the transmission gear A with the rack at the bottom of the serpentine bionic robotic arm module, individual angle adjustment is achieved. By moving to different serpentine bionic robotic arm modules, the angle rotation of each serpentine bionic robotic arm module is achieved. When the gripper is not working, the gripper module and the angle adjustment module adjust simultaneously; when the gripper is working, if angle adjustment is required, the angle adjustment module performs the adjustment.

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