Strawberry picking robot with multifunctional picking gripper and circulating collection function

Abstract

The application discloses a strawberry picking robot with a multifunctional picking gripper and a circulating collecting function, which comprises a chassis mechanism and a picking mechanism, the chassis mechanism comprises a vehicle body frame and a circulating collecting mechanism, each group of circulating collecting components of the circulating collecting mechanism comprises a supporting plate, the supporting plate is driven to vertically lift along the vehicle body frame through a lifting mechanism, so that the supporting plate and strawberry baskets on the supporting plate are lifted together, a rolling support mechanism is arranged on the top of the vehicle body frame, and the left and right sides of the uppermost layer of strawberry baskets lifted to a position are rolling supported through the left and right groups of rolling support components of the rolling support mechanism; the picking mechanism comprises at least one group of picking components, each group of picking components comprises a mechanical arm and a multifunctional picking gripper arranged on the mechanical arm, and the multifunctional picking gripper comprises at least two kinds of grippers with different structures. Compared with the prior art, the application has the following advantages: efficient picking in a complex strawberry picking environment is realized, and the circulating collecting function of the strawberries is realized.

Description

Technical Field

[0001] This invention relates to the field of strawberry picking device technology, and in particular to a strawberry picking robot with multifunctional picking grippers and cyclic collection functions. Background Technology

[0002] Strawberries are widely cultivated in most parts of the world, but harvesting is primarily done manually, which is labor-intensive and costly. Furthermore, the strawberry harvesting cycle is short; if not harvested in time, they become overripe and inedible, leading to economic losses for farmers. Therefore, there is an urgent need to improve the automation level of strawberry harvesting, increase efficiency, free up labor, and reduce harvesting costs.

[0003] Strawberry cultivation is divided into ridge cultivation and elevated cultivation. Compared with ridge cultivation, elevated cultivation has significant advantages: elevated cultivation improves space utilization, allows for more strawberry plants to be planted, and increases farmers' income; elevated cultivation can make full use of sunlight, ensuring healthy growth of strawberries; strawberries do not come into contact with the ground, avoiding damage from ground-borne insects and fungi; and it is also more conducive to mechanized harvesting, saving labor costs. The development trend of strawberry cultivation is elevated cultivation, so this research mainly focuses on the intelligent harvesting of strawberries grown on elevated platforms.

[0004] Existing strawberry picking robots designed for elevated cultivation mainly have the following problems:

[0005] First, due to the complex growing environment of strawberries, there may be obstacles such as other strawberries or strawberry leaves blocking the front, bottom, and stem of ripe strawberries, or the stem may be tangled. Existing strawberry picking robots cannot fully meet the complex strawberry picking environment and are prone to problems such as missed picking or mispicking.

[0006] Secondly, some strawberry picking robots currently available have a long picking cycle in order to meet the complex strawberry picking environment;

[0007] Third, most existing strawberry picking robots are only equipped with fixed strawberry collection baskets. Once the strawberry collection baskets are full, they need to be stopped and replaced. Frequent replacement of strawberry baskets is time-consuming and labor-intensive, and reduces work efficiency. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a strawberry picking robot with multifunctional picking grippers and cyclic collection functions, so as to achieve efficient and flexible picking in complex strawberry picking environments and realize the cyclic collection function of strawberries.

[0009] This invention is achieved through the following technical solution:

[0010] A strawberry picking robot with multi-functional picking grippers and cyclic collection functions, including a chassis mechanism and a picking mechanism;

[0011] The chassis mechanism includes a vehicle frame and a circulating collection mechanism mounted on the vehicle frame. The circulating collection mechanism includes two sets of circulating collection components arranged side by side. Each set of circulating collection components includes a tray that is slidably mounted on the vehicle frame. The tray is used to place strawberry baskets. The tray is driven to rise and fall vertically along the vehicle frame by a lifting mechanism, thereby causing the strawberry baskets on the tray to rise and fall together. A rolling support mechanism is provided at the top of the vehicle frame. The rolling support mechanism is located above the circulating collection components on the front side. The rolling support mechanism includes two sets of rolling support components arranged on the left and right sides of the vehicle frame. The left and right sets of rolling support components provide rolling support for the left and right sides of the top strawberry basket that has risen to the position. The top of the vehicle frame has clearance grooves for the strawberry baskets on the two sets of circulating collection components to be exposed.

[0012] The harvesting mechanism includes at least one set of harvesting components mounted on the vehicle frame. Each set of harvesting components includes a robotic arm and a multi-functional harvesting gripper mounted on the robotic arm. The multi-functional harvesting gripper includes at least two grippers with different structures.

[0013] As a preferred embodiment of the aforementioned strawberry picking robot, the multi-functional picking gripper is mounted on the robotic arm via a gripper mounting plate. Among the multi-functional picking grippers, one type of gripper is a first gripper. The first gripper includes a connecting plate fixed to the gripper mounting plate. A first main camera and a suction cup assembly are mounted on the connecting plate. The suction cup assembly includes a suction cup rod and a suction cup located at the head end of the suction cup rod. The end of the suction cup rod is fixed to the connecting plate. A push plate and a picking gripper bracket are slidably mounted on the suction cup rod. The push plate and the picking gripper bracket are elastically connected by a compression spring. The head end of the suction cup rod is provided with a first limiting boss that limits the sliding stroke of the picking gripper bracket.

[0014] A push plate is also slidably mounted on the connecting plate. The end of the push plate is connected to the drive mechanism, and the head end of the push plate is connected to the first picking claw assembly. The first picking claw assembly includes a plurality of first picking claw pieces evenly distributed along the circumference of the suction cup rod. The two ends of the first picking claw pieces along the circumference are respectively provided with cutting edges, and the ends of the first picking claw pieces are provided with claw rods. The middle section of the claw rod of the first picking claw pieces is hinged to the picking claw bracket. The end of the claw rod of the first picking claw pieces is movably connected to the push plate through a connecting rod. The two ends of the connecting rod are respectively hinged to the push plate and the claw rod of the first picking claw pieces. In the initial state, the plurality of first picking claw pieces are in the open state.

[0015] The drive mechanism drives the push plate to move linearly along the suction cup rod, thereby driving the first picking claw assembly mounted on the push plate to move together. When the picking claw bracket moves to the point of abutting against the first limiting boss, it stops moving, while the push plate continues to move and drives the multiple first picking claw pieces of the first picking claw assembly to gradually close. When the multiple first picking claw pieces close, they form a cavity to hold the strawberry, and the cavity completely covers the suction cup.

[0016] As a preferred embodiment of the aforementioned strawberry picking robot, in the circulating collection mechanism, each set of rolling support components includes at least two roller mechanisms arranged at intervals. Each roller mechanism includes a limiting block, a rotating block, and a tension spring. The limiting block is fixed to the vehicle frame. The top of the outer end of the rotating block is rotatably mounted on the limiting block via a rotating shaft extending forward and backward. Roller 1 is rotatably mounted on the top of the rotating block away from the limiting block. The two ends of the tension spring are respectively connected to the lower end of the rotating block and the limiting block. In its natural state, the elastic force of the tension spring pulls the lower end of the rotating block towards the limiting block, causing the outer end of the rotating block to abut against the limiting block. At this time, roller 1 is in the rolling support position. The top of the strawberry basket has a flange protruding outward. During the upward lifting of the strawberry basket, the flange of the strawberry basket will push the rotating block to flip upward and pass over roller 1, and the flange of the strawberry basket will be rolled and supported by each pair of rollers in the rolling support position.

[0017] As a preferred embodiment of the strawberry picking robot, in each of the circulating collection components, multiple guide sleeves are fixed on the pallet, and multiple guide shafts that cooperate with the multiple guide sleeves are fixed on the vehicle frame. The vertical sliding of the pallet is guided by the cooperation of the multiple guide shafts with the multiple guide sleeves.

[0018] As a preferred embodiment of the aforementioned strawberry picking robot, the two sets of circulating collection components share a single lifting mechanism. This lifting mechanism includes a geared motor, two steering gears, four worm gear lifts, two lead screws (first type), two lead screw nuts (first type), two lead screws (second type), and two lead screw nuts (second type). The two lead screw nuts (first type) are fixed to the left and right sides of the front support plate, and the two lead screw nuts (second type) are fixed to the left and right sides of the rear support plate. The two lead screws (first type) are threaded into the two lead screw nuts (first type), and the two lead screws (second type) are threaded into the two lead screw nuts (second type). The two output ends of the geared motor are coaxially connected to the input ends of the front and rear steering gears. The two output ends of the steering gear on the front side are coaxially connected to the input ends of the two worm gear jacks on the front side, and the two output ends of the steering gear on the rear side are coaxially connected to the input ends of the two worm gear jacks on the rear side. The output ends of the two worm gear jacks on the front side are coaxially connected to the bottom ends of the two lead screws (first type), and the output ends of the two worm gear jacks on the rear side are coaxially connected to the bottom ends of the two lead screws (second type). The threads of the two lead screws (first type) and the two lead screws (second type) have opposite directions. The geared motor drives the two lead screws (first type) and the two lead screws (second type) to rotate simultaneously, thereby driving the two front and rear support plates to move in opposite directions vertically.

[0019] As a preferred embodiment of the aforementioned strawberry picking robot, a top plate is fixed to the top of the vehicle frame, and an obstacle clearance groove is provided on the top plate. The top plate is equipped with a basket pushing mechanism, which includes a basket pushing plate placed in the obstacle clearance groove. The top of the basket pushing plate is fixed to a crossbeam, which spans across the obstacle clearance groove. The left and right ends of the crossbeam are slidably mounted on the top plate and can only slide back and forth along the top plate. A screw nut is fixed on the crossbeam, and the screw nut is threadedly engaged with the screw nut rotatably mounted on the top plate. The screw nut rotatably drives the screw nut rotatably through a servo motor, thereby driving the crossbeam to move back and forth, which in turn drives the basket pushing plate at the bottom of the crossbeam to move back and forth in the obstacle clearance groove, thereby pushing the strawberry basket in the back and forth direction.

[0020] As a preferred embodiment of the aforementioned strawberry picking robot, the tray has multiple support balls in the placement area for placing strawberry baskets. Each support ball is movably mounted on the tray and can roll freely, with its top protruding from the upper surface of the tray. The bottom of the strawberry basket has two sets of positioning components, each including two positioning protrusions (front and rear). The top of the strawberry basket has four positioning holes that mate with the four positioning protrusions. The upper surface of the tray has two positioning grooves, each extending in the front-rear direction. The two sets of positioning components at the bottom of the strawberry basket slide in cooperation with the two positioning grooves on the tray. One end of the positioning groove on the tray is open, and the other end is blind. A knob plunger is located on the opposite side of the blind end of the positioning groove on the tray. The blind end of the positioning groove and the knob plunger limit the front and rear sides of the strawberry basket, respectively.

[0021] As a preferred embodiment of the aforementioned strawberry picking robot, the vehicle frame is equipped with at least one auxiliary camera, the number of which corresponds to the number of picking components. The auxiliary cameras are mounted on the vehicle frame via auxiliary camera brackets. The circulating collection mechanism also includes two roller conveyor assemblies, one of which is located in front of the front circulating collection assembly and serves as the inlet roller conveyor assembly; the other roller conveyor assembly is located behind the rear circulating collection assembly and serves as the outlet roller conveyor assembly. The vehicle frame is equipped with an inlet gate and an outlet gate on its front and rear sides, respectively.

[0022] As a preferred embodiment of the aforementioned strawberry picking robot, the multifunctional picking gripper further includes a second gripper and a third gripper;

[0023] The second gripper includes a second gripper mounting frame fixed on the gripper mounting plate. The second gripper mounting frame is equipped with a second main camera and an electric gripper. The electric gripper includes two gripping fingers that can open and close. Flexible pads are provided on the opposite sides of the two gripping fingers. Each of the two gripping fingers is also equipped with a blade. The two blades are used to cut the strawberry stem, and the two flexible pads are used to hold the strawberry stem.

[0024] The third gripper includes a third gripper mounting frame fixed to the gripper mounting plate. The third gripper mounting frame is equipped with a third main camera, a wide-spacing electric gripper, and a tray. The wide-spacing electric gripper includes two wide-spacing gripping fingers that can open and close. The tray is located below the two wide-spacing gripping fingers. Each of the two wide-spacing gripping fingers is equipped with a second blade. The two second blades are used to cut the stems of multiple strawberries, and the tray is used to automatically collect the cut strawberries.

[0025] As a preferred embodiment of the aforementioned strawberry picking robot, the drive mechanism includes a servo motor, a lead screw, and a lead screw nut. The lead screw is rotatably mounted on the gripper mounting plate. The lead screw nut is threaded onto the lead screw and fixedly connected to the lead screw nut mounting plate. The lead screw nut mounting plate is fixedly connected to the push plate via two guide shafts. The two guide shafts slide in cooperation with two guide sleeves fixed on the connecting plate. Two guide shafts are fixed at the end of the picking gripper bracket. The two guide shafts slide in cooperation with two guide holes on the push plate. The ends of the two guide shafts extend out of the push plate and are provided with a second limiting boss. The axes of the guide shafts, the guide shafts, the lead screw, and the suction cup rod are parallel.

[0026] The present invention has the following advantages over the prior art:

[0027] 1. The strawberry picking robot with multifunctional picking grippers and cyclic collection functions provided by this invention includes a picking mechanism comprising at least one set of picking components. Each set of picking components includes a multifunctional picking gripper with at least two different gripper structures. During picking, different gripper structures can be selected according to different picking environments, thereby meeting the needs of complex strawberry picking environments. At the same time, a cyclic collection mechanism is provided on its chassis mechanism. The cyclic collection mechanism includes two sets of cyclic collection components arranged side by side. Each set of cyclic collection components includes a tray that can be vertically raised and lowered. The tray is driven to rise and fall vertically through the lifting mechanism, thereby driving the strawberry baskets on the tray to rise and fall together. With the help of the rolling support mechanism on the top of the vehicle frame, the strawberry baskets raised to the front can be smoothly pushed to the rear and supported by the rear tray, realizing the cyclic use of strawberry baskets and the cyclic collection function of strawberries. There is no need to frequently change strawberry baskets, saving time and effort and improving the efficiency of strawberry picking.

[0028] 2. The strawberry picking robot with multifunctional picking gripper and cyclic collection function provided by the present invention has a first gripper that combines a suction cup assembly and a first picking claw assembly. The first gripper first uses the suction cup to adhere to the strawberry, and then the drive mechanism drives the push plate to move linearly along the suction cup rod, thereby moving the first picking claw assembly mounted on the push plate together. This causes the multiple first picking claw pieces of the first picking claw assembly to gradually close and wrap around the strawberry adhered to the suction cup. During the closing process, the cutting edges at the ends of the multiple first picking claw pieces cut the strawberry stem. This ingenious structural design makes the suction cup protrude a certain distance relative to the multiple first picking claw pieces in the initial state, which makes it easier to smoothly adhere to the strawberry in complex environments and achieve efficient strawberry picking.

[0029] 3. The strawberry picking robot with multifunctional picking gripper and cyclic collection function provided by the present invention has a cyclic collection mechanism in which each set of rolling support components includes at least two roller mechanisms arranged at intervals. Each roller mechanism includes a rotating block that can be flipped. During the process of lifting the strawberry basket upward, the flange of the strawberry basket will push the rotating block to flip upward and pass over roller one. Roller one will automatically reset under the action of the tension spring and be in the rolling support position when it loses external force. The rollers in the rolling support position provide rolling support for the flange of the uppermost strawberry basket. At the same time, the tray drives the lower strawberry baskets to descend, thereby realizing the automatic separation of the uppermost strawberry basket from the lower strawberry baskets, which is convenient for subsequent pushing operations.

[0030] 4. The strawberry picking robot with multifunctional picking claw and cyclic collection function provided by the present invention has a basket pushing mechanism on the top plate of the vehicle frame. The servo motor drives the lead screw to rotate, and the lead screw drives the crossbeam to move back and forth, thereby driving the basket pushing plate at the bottom of the crossbeam to move back and forth in the clearance groove, thus realizing the automatic pushing of the strawberry basket from front to back.

[0031] 5. The strawberry picking robot with multifunctional picking claw and cyclic collection functions provided by the present invention has two sets of cyclic collection components sharing a lifting mechanism. The overall structure of the lifting mechanism is compact and space-saving. A reduction motor of the lifting mechanism drives two lead screws and two lead screws to rotate simultaneously. Since the threads of the two lead screws are turned in opposite directions, the front and rear trays move in opposite directions vertically. With the coordinated cooperation of the two sets of cyclic collection components, the automatic recycling of strawberry baskets is realized, as well as energy saving and saving installation space and cost.

[0032] 6. The strawberry picking robot with multifunctional picking claw and cyclic collection functions provided by the present invention has multiple supporting balls in the placement area of ​​its pallet, which facilitates the labor-saving movement of the strawberry basket; the upper surface of the pallet has two positioning grooves on the left and right, and the blind end of the positioning groove and the knob plunger respectively limit the front and rear sides of the strawberry basket, ensuring the effective positioning of the strawberry basket on the pallet and preventing it from shaking or even falling off the pallet.

[0033] 7. The strawberry picking robot with multifunctional picking gripper and cyclic collection function provided by the present invention has a second gripper that is electric. The electric gripper has a blade and a flexible pad on each of its two gripping fingers. The two blades cut the strawberry stems and the two flexible pads hold the strawberry stems, enabling rapid picking of strawberries. The third gripper includes a wide-spacing electric gripper and a tray. The blades on the two wide-spacing gripping fingers cut the stems of multiple strawberries and the tray automatically collects the cut strawberries, thus enabling simultaneous picking of multiple strawberries, reducing picking time and improving picking efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the chassis mechanism of the present invention.

[0036] Figure 3 This is a schematic diagram of the internal structure of the chassis mechanism of the present invention.

[0037] Figure 4 This is a schematic diagram of the circulating collection mechanism in the chassis mechanism of the present invention.

[0038] Figure 5 This is a schematic diagram of the circulating collection mechanism of the present invention after removing the two trays.

[0039] Figure 6 This is a structural schematic diagram of the lifting mechanism of the present invention.

[0040] Figure 7 This is a schematic diagram of the basket-pushing mechanism of the present invention.

[0041] Figure 8 This is a schematic diagram of the structure of the front and rear trays of the present invention.

[0042] Figure 9 This is a schematic diagram of the roller mechanism of the present invention.

[0043] Figure 10 This is a schematic diagram of the structure of the multifunctional picking gripper of the present invention.

[0044] Figure 11 This is a schematic diagram of the structure of the first gripper of the present invention.

[0045] Figure 12 This is a partial structural schematic diagram of the first claw of the present invention.

[0046] Figure 13 This is a schematic diagram of the structure of the second claw of the present invention.

[0047] Figure 14 This is a schematic diagram of the structure of the third claw of the present invention.

[0048] Figure 15 This is a schematic diagram of the structure of the strawberry basket of the present invention.

[0049] Numbered in the diagram: 1. Chassis mechanism; 2. Harvesting mechanism; 3. Body frame; 4. Base plate; 5. Steering wheel assembly; 6. Inlet roller conveyor assembly; 7. Outlet roller conveyor assembly; 8. Inlet door; 9. Outlet door; 10. Front support plate; 11. Rear support plate; 12. Guide sleeve one; 13. Guide shaft one; 14. Strawberry basket; 15. Support ball; 16. Positioning protrusion; 17. Positioning hole; 18. Positioning groove; 19. Knob plunger; 20. Clearance groove; 21. Limit block; 22. Rotating block; 23. Tension spring; 24. Rotating shaft; 25. Flange; 26. Roller one; 27. Gear motor; 28. Steering gear; 29. ​​Worm gear lifter; 30. Lead screw one; 31. Lead screw nut one; 32. Lead screw two; 33. Lead screw nut two; 34. Top plate; 35. Push basket plate; 36. Crossbeam; 37. Lead screw nut three; 38. Lead screw three; 39. Servo motor one; 40. Auxiliary 41 Camera; 42 Robotic arm; 43 Multifunctional picking gripper; 44 Gripper mounting plate; 45 First gripper; 46 Connecting plate; 47 First main camera; 48 Suction cup rod; 49 Suction cup; 50 Picking gripper bracket; 51 First limiting boss; 52 Push plate; 53 First picking gripper piece; 54 Blade edge; 55 Gripper rod; 56 Hinge shaft; 57 Connecting rod; 58 Servo motor II; 59 Lead screw IV; 60 Lead screw nut IV; 61 Lead screw nut IV mounting plate; 62 Guide shaft II; 63 Guide shaft III; 64 Second gripper; 65 Second gripper mounting bracket; 66 Electric gripper; 67 Gripper finger; 68 Flexible pad; 69 Blade I; 70 Second main camera; 71 Third gripper; 72 Third gripper mounting bracket; 73 Third main camera; 74 Wide-pitch electric gripper; 75 Tray; 76 Wide-pitch gripper finger; 77 Blade II. Detailed Implementation

[0050] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0051] See Figures 1 to 15 This embodiment discloses a strawberry picking robot with multifunctional picking gripper and cyclic collection functions, including a chassis mechanism 1 and a picking mechanism 2.

[0052] The chassis mechanism 1 includes a body frame 3 and a circulation collection mechanism mounted on the body frame 3. The body frame 3 includes a bottom plate 4 at the bottom, a top plate 34 at the top, and four side plates between the top plate 34 and the bottom plate 4. The bottom of the body frame 3 is provided with four sets of steerable steering wheel assemblies 5. The circulation collection mechanism includes two sets of circulation collection components arranged side by side. The circulation collection mechanism also includes two roller conveyor assemblies. One roller conveyor assembly is located in front of the front circulation collection assembly and serves as the inlet roller conveyor assembly 6. The other roller conveyor assembly is located behind the rear circulation collection assembly and serves as the outlet roller conveyor assembly 7. The front and rear side plates of the body frame 3 are respectively provided with an inlet door 8 and an outlet door 9.

[0053] Each set of circulating collection components includes a tray that is slidably mounted on the vehicle frame 3. The front tray is designated as the front tray 10 and the rear tray as the rear tray 11. In each set of circulating collection components, multiple guide sleeves 12 are fixed on the tray. Multiple guide shafts 13 that cooperate with the multiple guide sleeves 12 are fixedly provided on the vehicle frame 3. The vertical sliding of the tray is guided by the cooperation of the multiple guide shafts 13 with the multiple guide sleeves 12. The tray is used to place strawberry baskets 14. The area on the tray for placing strawberry baskets 14 is provided with multiple support balls 15. Each support ball 15 is movably mounted on the tray and can roll freely. The top of the support ball 15 protrudes from the upper surface of the tray. The bottom of the strawberry basket 14 is provided with two sets of positioning components, each set of positioning components including two positioning protrusions 16. The top of the strawberry basket 14 is provided with four positioning holes 17 that cooperate with the four positioning protrusions 16, which facilitates the stacking and positioning of two strawberry baskets 14. The upper surface of the tray is provided with two positioning grooves 18, each extending in the front-back direction. The two sets of positioning components at the bottom of the strawberry basket 14 slide and cooperate with the two positioning grooves 18 on the tray. One end of the positioning groove 18 on the tray is an open end and the other end is a blind end. A knob plunger 19 is provided on the tray opposite the blind end of the positioning groove 18. The blind end of the positioning groove 18 and the knob plunger 19 limit the front and back sides of the strawberry basket 14 respectively.

[0054] The lifting mechanism drives the pallet to rise and fall vertically along the vehicle frame 3, thereby raising and lowering the strawberry baskets 14 on the pallet together. The top of the vehicle frame 3 is equipped with a rolling support mechanism, which is located above the front circulating collection component. The rolling support mechanism includes two sets of rolling support components on the left and right sides of the vehicle frame 3. The two sets of rolling support components provide rolling support for the left and right sides of the uppermost strawberry basket 14 that has risen to the position. The top of the vehicle frame 3 has clearance slots 20 for the strawberry baskets 14 on the two sets of circulating collection components to be exposed.

[0055] In the circulating collection mechanism, each set of rolling support components includes at least two roller mechanisms arranged at intervals. Each roller mechanism includes a limiting block 21, a rotating block 22, and a tension spring 23. The limiting block 21 is fixed to the vehicle frame 3. The top of the outer end of the rotating block 22 is rotatably mounted on the limiting block 21 via a rotating shaft 24 extending along the front and rear. Roller 26 is rotatably mounted on the top of the rotating block 22 on the side away from the limiting block 21. The two ends of the tension spring 23 are respectively connected to the lower end of the rotating block 22 and the limiting block 21. In its natural state... The lower end of the rotating block 22 is pulled towards the limiting block 21 by the elastic force of the tension spring 23, so that the outer end of the rotating block 22 abuts against the limiting block 21. At this time, the roller 26 is in the rolling support position. The top of the strawberry basket 14 is provided with a ring of outwardly protruding flanges 25. During the upward lifting of the strawberry basket 14, the flanges 25 of the strawberry basket 14 will push the rotating block 22 to flip upward and pass over the rollers 26. The flanges 25 of the strawberry basket 14 are rolled and supported by the rollers 26 in the rolling support position.

[0056] The two sets of circulating collection components share a single lifting mechanism, which includes a geared motor 27, two steering gears 28, four worm gear lifts 29, two lead screws 30, two lead screw nuts 31, two lead screws 32, and two lead screw nuts 33. The two lead screw nuts 31 are fixed to the left and right sides of the front support plate, and the two lead screw nuts 33 are fixed to the left and right sides of the rear support plate. The two lead screws 30 are threaded into the two lead screw nuts 31, and the two lead screws 32 are threaded into the two lead screw nuts 33. The two output ends of the geared motor 27 are coaxially connected to the input ends of the front and rear steering gears 28. The steering gear located on the front... The two output ends of the steering gear 28 are coaxially connected to the input ends of the two worm gear jacks 29 located on the front side, and the two output ends of the steering gear 28 located on the rear side are coaxially connected to the input ends of the two worm gear jacks 29 located on the rear side. The output ends of the two worm gear jacks 29 located on the front side are coaxially connected to the bottom ends of the two lead screws 30, and the output ends of the two worm gear jacks 29 located on the rear side are coaxially connected to the bottom ends of the two lead screws 32. The threads of the two lead screws 30 and the two lead screws 32 have opposite directions of rotation. The geared motor 27 drives the two lead screws 30 and the two lead screws 32 to rotate simultaneously, thereby driving the two front and rear support plates to move in opposite directions vertically.

[0057] A top plate 34 is fixed to the top of the vehicle frame 3. A clearance groove 20 is opened on the top plate 34. A basket pushing mechanism is provided on the top plate 34. The basket pushing mechanism includes a basket pushing plate 35 placed in the clearance groove 20. The top of the basket pushing plate 35 is fixed on a crossbeam 36. The crossbeam 36 is arranged across the clearance groove 20. The left and right ends of the crossbeam 36 are slidably installed on the top plate 34 and can only slide back and forth along the top plate 34. A screw nut 37 is fixed on the crossbeam 36. The screw nut 37 is threadedly engaged with a screw 38 rotatably installed on the top plate 34. The screw 38 is driven to rotate by a servo motor 39, thereby driving the crossbeam 36 to move back and forth, and then driving the basket pushing plate 35 at the bottom of the crossbeam 36 to move back and forth in the clearance groove 20, thereby pushing the strawberry basket 14 in the front and back direction.

[0058] The harvesting mechanism 2 includes at least one set of harvesting components mounted on the vehicle frame 3; in this embodiment, two sets of harvesting components are included. At least one auxiliary camera 40 is mounted on the vehicle frame 3, the number of which corresponds to the number of harvesting components. The auxiliary cameras 40 are mounted on the vehicle frame 3 via auxiliary camera 40 brackets. Each set of harvesting components includes a robotic arm 41 and a multi-functional harvesting gripper 42 mounted on the robotic arm 41. The multi-functional harvesting gripper 42 includes at least two different gripper structures. The multi-functional harvesting gripper 42 is mounted on the robotic arm 41 via a gripper mounting plate 43.

[0059] In the multi-functional harvesting gripper 42, one type of gripper is a first gripper 44. The first gripper 44 includes a connecting plate 45 fixed on the gripper mounting plate 43. A first main camera 46 and a suction cup assembly are mounted on the connecting plate 45. The suction cup assembly includes a suction cup rod 47 and a suction cup 48 disposed at the head end of the suction cup rod 47. The end of the suction cup rod 47 is fixed on the connecting plate 45. A push plate 52 and a harvesting gripper bracket 50 are slidably mounted on the suction cup rod 47. The push plate 52 and the harvesting gripper bracket 50 are elastically connected by a compression spring 49. The head end of the suction cup rod 47 is provided with a first limiting boss 51 to limit the sliding stroke of the harvesting gripper bracket 50. A push plate 52 is also slidably mounted on the connecting plate 45. The end of the push plate 52 is connected to the drive mechanism, and the head of the push plate 52 is connected to the first picking claw assembly. The first picking claw assembly includes a plurality of first picking claw pieces 53 evenly distributed along the circumference of the suction cup rod 47. The two ends of the first picking claw pieces 53 along the circumference are respectively provided with cutting edges 54. The end of the first picking claw pieces 53 is provided with claw rods 55. The middle section of the claw rods 55 of the first picking claw pieces 53 is hinged to the picking claw bracket 50 through a hinge shaft 56. The end of the claw rods 55 of the first picking claw pieces 53 is movably connected to the push plate 52 through a connecting rod 57. The two ends of the connecting rod 57 are respectively hinged to the push plate 52 and the claw rods 55 of the first picking claw pieces 53. In the initial state, the plurality of first picking claw pieces 53 are in an open state. The drive mechanism drives the push plate 52 to move linearly along the suction cup rod 47, thereby driving the first picking claw assembly mounted on the push plate 52 to move together. When the picking claw bracket 50 moves to abut against the first limiting boss 51, it stops moving, while the push plate 52 continues to move and drives the multiple first picking claw pieces 53 of the first picking claw assembly to gradually close. When the multiple first picking claw pieces 53 close, they form a cavity to accommodate strawberries, and the cavity completely covers the suction cup 48.

[0060] The drive mechanism includes a servo motor 58, a lead screw 59, and a lead screw nut 60. The lead screw 59 is rotatably mounted on the gripper mounting plate 43. The lead screw nut 60 is threaded onto the lead screw 59 and fixedly connected to the lead screw nut mounting plate 61. The lead screw nut mounting plate 61 is fixedly connected to the push plate 52 via two guide shafts 62. The two guide shafts 62 are slidably engaged with two guide sleeves 2 fixed on the connecting plate 45. Two guide shafts 63 are fixed at the end of the picking claw bracket 50. The two guide shafts 63 are slidably engaged with two guide holes on the push plate 52. The two guide holes are distributed along the diagonal of the push plate 52, and the ends of the two guide shafts are provided with a second limiting boss after passing through the push plate 52. The axes of the guide shafts 62, 63, 59, and suction rod 47 are parallel. During operation, servo motor 2 58 drives lead screw 4 59 to rotate. Under the threaded engagement of lead screw 4 59 and lead screw nut 4 60, lead screw nut 4 60, along with its fixed mounting plate 61, two guide shafts 2 62, and push plate 52, move linearly together. Since compression spring 49 is initially in a compressed state and there is no obstruction at the head of picking claw bracket 50, the relative positions of picking claw bracket 50, multiple first picking claw pieces 53, multiple connecting rods 57, compression spring 49, and push plate 52 do not change in the initial stage and will move together with push plate 52; until the head of picking claw bracket 50 moves to contact the first limiting boss 51 at the head of suction cup rod 47, Due to the obstruction of the first limiting boss 51, the picking claw support 50 cannot continue to move, while the servo motor 58 continues to work, driving the push plate 52 to continue moving. The compression spring 49 is compressed, and guided by the two guide shafts 63, the push plate 52 moves towards the direction closer to the picking claw support 50. The push plate 52 drives multiple connecting rods 57 and multiple first picking claw pieces 53 to move, so that the multiple first picking claw pieces 53 rotate around their respective hinge shafts 56, realizing the gradual closing of the multiple first picking claw pieces 53, closing into a spherical receiving cavity. The cutting edge 54 at the end of the multiple first picking claw pieces 53 cuts the strawberry stem, and the cut strawberry is wrapped in the receiving cavity, completing the picking.

[0061] The multi-functional picking claw 42 also includes a second claw 64 and a third claw 71.

[0062] The second gripper 64 includes a second gripper mounting frame 65 fixed on the gripper mounting plate 43. The second gripper mounting frame 65 is equipped with a second main camera 70 and an electric gripper 66. The electric gripper 66 includes two gripping fingers 67 that can open and close. Flexible pads 68 are provided on opposite sides of the two gripping fingers 67. The flexible pads 68 can be made of rubber. Blades 69 are also provided on the two gripping fingers 67. The two blades 69 are used to cut the strawberry stems, and the two flexible pads 68 are used to hold the strawberry stems.

[0063] The third gripper 71 includes a third gripper mounting frame 72 fixed on the gripper mounting plate 43. The third gripper mounting frame 72 is equipped with a third main camera 73, a wide-pitch electric gripper 74, and a tray 75. The wide-pitch electric gripper 74 includes two wide-pitch fingers 76 that can open and close. The tray 75 is located below the two wide-pitch fingers 76. Each of the two wide-pitch fingers 76 is equipped with a second blade 77. The two second blades 77 cut the stems of multiple strawberries, and the tray 75 automatically collects the cut strawberries. The auxiliary camera 40 and the three main cameras are all binocular cameras.

[0064] The working process of the strawberry picking robot provided in this embodiment is as follows:

[0065] During operation, first open the inlet door 8 on the front side panel of the vehicle frame 3, rotate the knob plunger 19 on the front support plate 10, and push the multiple vertically stacked strawberry baskets 14 onto the front support plate 10 along the inlet end roller conveyor assembly 6. Rotate the knob plunger 19 on the front support plate 10 again to position the strawberry baskets 14, and close the inlet door 8. The lifting mechanism starts to operate, starting the reduction motor 27. The power of the reduction motor 27 is transmitted to the two lead screws 30 and 32 via the two steering gears 28 and four worm gear lifts 29. The two lead screws 30 and 32 rotate simultaneously, driving the front support plate 10 and the strawberry baskets 14 placed on it to rise vertically, while the rear support plate 11 descends vertically. During the upward movement of the strawberry baskets 14 on the front support plate 10, when the top flange 25 of the uppermost strawberry basket 14 contacts the roller 26, it will push the rotating block 22 upward, causing the rotating block 22 to flip upward until the top flange 25 of the uppermost strawberry basket 14 passes the roller 26. At this time, the rotating block 22 will flip downward and reset under the tension of the tension spring 23. At this time, the roller 26 is in the rolling support position. The rollers 26 in the rolling support position provide rolling support for the top flange 25 of the uppermost strawberry basket 14. At this time, the uppermost strawberry basket 14 is in the pushing position. Then the reduction motor 27 reverses, driving the front support plate 10 and the remaining strawberry baskets 14 on it to descend together until the rear support plate 11 rises to the preset basket receiving position, thus realizing the automatic separation of the uppermost strawberry basket 14 from the lower strawberry basket 14.

[0066] Then, the basket pushing mechanism is activated, starting the servo motor 39, which drives the crossbeam 36 and the basket pushing plate 35 at its bottom to move from front to back. The basket pushing plate 35 pushes the strawberry basket 14 in the pushing position to the rear support plate 11, and the rear support plate 11 in the receiving position supports the strawberry basket 14.

[0067] Then, the strawberry picking operation can begin. First, the auxiliary camera 40 takes a picture to determine if the strawberries are ripe. If there are no ripe strawberries in the picture area, the robot continues to move forward and take more pictures to determine ripeness. If there are ripe strawberries in the picture area, the robot then determines if there are any obstacles at the fruit stem, and thus determines which gripper to use for picking. If there are obstacles, the first gripper 44 is used for picking. If there are no obstacles, the robot then determines if there are multiple ripe strawberries that meet the picking width. If both conditions are met, the third gripper 71 is used for picking; otherwise, the second gripper 64 is used for picking.

[0068] When the first gripper 44 is used for picking, the robotic arm 41 moves the first gripper 44 to the camera position, where the first main camera 46 takes a picture to determine the picking position coordinates. Then, the robotic arm 41 moves the first gripper 44 to the picking position, where the suction cup 48 picks up the strawberry. The robotic arm 41 then moves the first gripper 44 to an unobstructed area. At this time, the second servo motor 58 starts working, first moving the multiple first picking claws 53, which are in the open state, along the suction cup rod 47 in a straight line until they reach the periphery of the suction cup 48. Then, the multiple first picking claws 53 gradually close, and the cutting edges 54 at the ends of the multiple first picking claws 53 cut the strawberry stems. The cut strawberries are wrapped in the receiving cavity, thus completing the picking. Then, the robotic arm 41 drives the first gripper 44 to move above the strawberry basket 14 on the rear support plate 11. The servo motor 58 reverses, and multiple first picking claws 53 open. The push plate 52 and related components move in the opposite direction along the suction cup rod 47 to reset and return to the initial state. Then, the suction cup 48 cuts off the air supply and puts the strawberries into the strawberry basket 14 on the rear support plate 11.

[0069] When the second gripper 64 is used for picking, the robotic arm 41 moves the second gripper 64 to the imaging position, where the second main camera 70 takes a picture to determine the picking location coordinates. Then, the second gripper 64 moves to the picking position, the electric gripper 66 operates, causing the two gripping fingers 67 to clamp the fruit, the two blades 69 cut the fruit stem, and at the same time, the two flexible pads 68 hold the fruit stem in place, completing the picking. Then, the robotic arm 41 moves the second gripper 64 to above the strawberry basket 14 on the rear support plate 11, releases the two gripping fingers 67, and places the strawberries into the strawberry basket 14.

[0070] When the third gripper 71 is used for picking, the robotic arm 41 moves the third gripper 71 to the camera position, where the third main camera 73 takes a picture to determine the picking location coordinates. Then, the third gripper 71 moves to the picking position, and the wide-pitch electric gripper 74 operates, driving the two wide-pitch fingers 76 to clamp the strawberries. The two blades 77 cut the stems of multiple strawberries, and the strawberries fall into the tray 75, completing the picking. Then, the robotic arm 41 moves the third gripper 71 to above the strawberry basket 14 on the rear support plate 11, and rotates the robotic arm 41 to allow the strawberries to fall from the front opening of the tray 75 into the strawberry basket 14.

[0071] When the strawberry basket 14 on the rear support plate 11 is full of strawberries, the recycling mechanism continues to operate, lifting the second empty strawberry basket 14 on the front support plate 10 and pushing it to the right. The second empty strawberry basket 14 is supported by the strawberry basket already filled on the rear support plate 11, and the picking continues. This cycle repeats, and the result of each cycle is that the rear support plate 11 descends by the height of one strawberry basket 14, and the front support plate 10 rises by the height of one strawberry basket 14.

[0072] The strawberry picking robot stops picking when all the strawberry baskets 14 are full. It opens the exit door 9 of the vehicle frame 3, rotates the knob plunger 19 on the rear pallet 11, and pulls the stacked strawberry baskets 14 out along the exit end roller conveyor assembly 7 to the strawberry basket 14 transport vehicle. It then rotates the knob plunger 19 on the rear pallet 11 again and closes the exit door 9.

[0073] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A strawberry picking robot with multifunctional picking gripper and cyclic collection functions, comprising a chassis mechanism (1) and a picking mechanism (2), characterized in that: The chassis mechanism (1) includes a vehicle frame (3) and a circulating collection mechanism set on the vehicle frame (3). The circulating collection mechanism includes two sets of circulating collection components arranged side by side. Each set of circulating collection components includes a tray that is slidably installed on the vehicle frame (3). The tray is used to place strawberry baskets (14). The tray is driven to rise and fall vertically along the vehicle frame (3) by a lifting mechanism, thereby driving the strawberry baskets (14) on the tray to rise and fall together. The top of the vehicle frame (3) is provided with a rolling support mechanism. The rolling support mechanism is located above the circulating collection components on the front side. The rolling support mechanism includes two sets of rolling support components set on the left and right sides of the vehicle frame (3). The left and right sets of rolling support components provide rolling support for the uppermost strawberry basket (14) that has risen to the position. The top of the vehicle frame (3) has a clearance groove (20) for the strawberry baskets (14) on the two sets of circulating collection components to be exposed. The picking mechanism (2) includes at least one set of picking components mounted on the vehicle frame (3). Each set of picking components includes a robotic arm (41) and a multi-functional picking gripper (42) mounted on the robotic arm (41). The multi-functional picking gripper (42) includes at least two grippers with different structures. In the described circulating collection mechanism, each set of rolling support components includes at least two roller mechanisms arranged at intervals. Each roller mechanism includes a limiting block (21), a rotating block (22), and a tension spring (23). The limiting block (21) is fixed on the vehicle frame (3). The top of the outer end of the rotating block (22) is rotatably mounted on the limiting block (21) via a rotating shaft (24) extending along the front and rear. Roller 1 (26) is rotatably mounted on the top of the rotating block (22) away from the limiting block (21). The two ends of the tension spring (23) are respectively connected to the lower end of the rotating block (22) and the limiting block (21). In its natural state, By stretching the spring force of the spring (23), the lower end of the rotating block (22) is pulled towards the limit block (21), so that the outer end of the rotating block (22) abuts against the limit block (21). At this time, the first roller (26) is in the rolling support position. The top of the strawberry basket (14) is provided with a ring of outward protruding flanges (25). During the upward lifting of the strawberry basket (14), the flanges (25) of the strawberry basket (14) will push the rotating block (22) to flip upward and pass over the first roller (26), and the flanges (25) of the strawberry basket (14) will be rolled and supported by the first rollers (26) in the rolling support position. The tray has a placement area for the strawberry basket (14) with multiple support balls (15). Each support ball (15) is movably mounted on the tray and can roll freely. The top of the support ball (15) protrudes from the upper surface of the tray. The bottom of the strawberry basket (14) has two sets of positioning components, each set including two positioning protrusions (16) at the front and back. The top of the strawberry basket (14) has four positioning holes (17) that cooperate with the four positioning protrusions (16). The upper surface of the tray has two left and right openings. Positioning grooves (18) are extended in the front-to-back direction. The left and right positioning components at the bottom of the strawberry basket (14) slide and cooperate with the left and right positioning grooves (18) on the tray respectively. One end of the positioning groove (18) on the tray is an open end and the other end is a blind end. A knob plunger (19) is provided on the tray opposite the blind end of the positioning groove (18). The blind end of the positioning groove (18) and the knob plunger (19) limit the front and back sides of the strawberry basket (14) respectively.

2. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 1, characterized in that: The multi-functional picking gripper (42) is mounted on the robotic arm (41) via a gripper mounting plate (43). In the multi-functional picking gripper (42), one type of gripper is a first gripper (44). The first gripper (44) includes a connecting plate (45) fixed on the gripper mounting plate (43). A first main camera (46) and a suction cup assembly are mounted on the connecting plate (45). The suction cup assembly includes a suction cup rod (47) and a suction cup (48) set at the head end of the suction cup rod (47). The end of the suction cup rod (47) is fixed on the connecting plate (45). A push plate (52) and a picking gripper bracket (50) are slidably mounted on the suction cup rod (47). The push plate (52) and the picking gripper bracket (50) are elastically connected by a compression spring (49). The head end of the suction cup rod (47) is provided with a first limiting boss (51) to limit the sliding stroke of the picking gripper bracket (50). A push plate (52) is also slidably installed on the connecting plate (45). The end of the push plate (52) is connected to the drive mechanism. The first picking claw assembly is connected to the first end of the push plate (52). The first picking claw assembly includes multiple first picking claw pieces (53) evenly distributed along the circumference of the suction cup rod (47). The two ends of the first picking claw pieces (53) along the circumference are respectively provided with cutting edges (54). The end of the first picking claw pieces (53) is provided with claw rods (55). The middle section of the claw rods (55) of the first picking claw pieces (53) is hinged to the picking claw bracket (50). The end of the claw rods (55) of the first picking claw pieces (53) is movably connected to the push plate (52) through the connecting rod (57). The two ends of the connecting rod (57) are respectively hinged to the push plate (52) and the claw rods (55) of the first picking claw pieces (53). In the initial state, the multiple first picking claw pieces (53) are in the open state. The drive mechanism drives the push plate (52) to move linearly along the suction cup rod (47), thereby driving the first picking claw assembly mounted on the push plate (52) to move together. When the picking claw bracket (50) moves to abut against the first limiting boss (51), it stops moving, while the push plate (52) continues to move and drives the multiple first picking claw pieces (53) of the first picking claw assembly to gradually close. When the multiple first picking claw pieces (53) close, they form a cavity to accommodate strawberries, and the cavity completely covers the suction cup (48).

3. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 1, characterized in that: In each of the circulating collection components, multiple guide sleeves (12) are fixed on the pallet, and multiple guide shafts (13) that cooperate with the multiple guide sleeves (12) are fixed on the vehicle frame (3). The vertical sliding of the pallet is guided by the cooperation of the multiple guide shafts (13) and the multiple guide sleeves (12).

4. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 3, characterized in that: The two sets of circulating collection components share a lifting mechanism, which includes a geared motor (27), two steering gears (28), four worm gear lifts (29), two lead screws (30), two lead screw nuts (31), two lead screws (32), and two lead screw nuts (33). The two lead screw nuts (31) are fixed on the left and right sides of the front support plate, and the two lead screw nuts (33) are fixed on the left and right sides of the rear support plate. The two lead screws (30) are threaded into the two lead screw nuts (31), and the two lead screws (32) are threaded into the two lead screw nuts (33). The two output ends of the geared motor (27) are coaxially connected to the input ends of the front and rear steering gears (28). The two output ends of the steering gear (28) are coaxially connected to the input ends of the two worm gear jacks (29) located on the front side. The two output ends of the steering gear (28) located on the rear side are coaxially connected to the input ends of the two worm gear jacks (29) located on the rear side. The output ends of the two worm gear jacks (29) located on the front side are coaxially connected to the bottom ends of the two lead screws (30). The output ends of the two worm gear jacks (29) located on the rear side are coaxially connected to the bottom ends of the two lead screws (32). The threads of the two lead screws (30) and the two lead screws (32) have opposite directions. The two lead screws (30) and the two lead screws (32) are rotated simultaneously by the geared motor (27), thereby driving the two front and rear support plates to move in opposite directions vertically.

5. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 1, characterized in that: The top of the vehicle frame (3) is fixed with a top plate (34), and a clearance groove (20) is opened on the top plate (34). The top plate (34) is provided with a basket pushing mechanism, which includes a basket pushing plate (35) placed in the clearance groove (20). The top of the basket pushing plate (35) is fixed on a crossbeam (36). The crossbeam (36) is set across the clearance groove (20). The left and right ends of the crossbeam (36) are slidably installed on the top plate (34) and can only slide back and forth along the top plate (34). A screw nut three (37) is fixed on the crossbeam (36). The screw nut three (37) is threadedly engaged with the screw three (38) rotatably installed on the top plate (34). The screw three (38) is driven to rotate by a servo motor one (39), thereby driving the crossbeam (36) to move back and forth, and then driving the basket pushing plate (35) at the bottom of the crossbeam (36) to move back and forth in the clearance groove (20), thereby pushing the strawberry basket (14) in the front and back direction.

6. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 1, characterized in that: At least one auxiliary camera (40) is provided on the vehicle frame (3). The number of auxiliary cameras (40) corresponds to the number of picking components. The auxiliary cameras (40) are mounted on the vehicle frame (3) through the auxiliary camera (40) bracket. The circulating collection mechanism also includes two roller conveyor components. One roller conveyor component is located in front of the circulating collection component on the front side and serves as the inlet roller conveyor component (6). The other roller conveyor component is located behind the circulating collection component on the rear side and serves as the outlet roller conveyor component (7). The vehicle frame (3) is provided with an inlet door (8) and an outlet door (9) on the front and rear sides, respectively.

7. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 2, characterized in that: The multi-functional picking claw (42) also includes a second claw (64) and a third claw (71). The second gripper (64) includes a second gripper mounting frame (65) fixed on the gripper mounting plate (43). The second gripper mounting frame (65) is equipped with a second main camera (70) and an electric gripper (66). The electric gripper (66) includes two gripping fingers (67) that can open and close. Flexible pads (68) are provided on opposite sides of the two gripping fingers (67). Blade 1 (69) is also provided on the two gripping fingers (67). The strawberry stem is cut by the two blades 1 (69), and the strawberry stem is clamped by the two flexible pads (68). The third gripper (71) includes a third gripper mounting frame (72) fixed on the gripper mounting plate (43). The third gripper mounting frame (72) is equipped with a third main camera (73), a wide-pitch electric gripper (74), and a tray (75). The wide-pitch electric gripper (74) includes two wide-pitch gripping fingers (76) that can open and close. The tray (75) is located below the two wide-pitch gripping fingers (76). The two wide-pitch gripping fingers (76) are each equipped with a second blade (77). The two second blades (77) are used to cut multiple strawberry stems, and the tray (75) is used to automatically collect the cut strawberries.

8. The strawberry picking robot with multifunctional picking gripper and cyclic collection function as described in claim 2, characterized in that: The drive mechanism includes a servo motor (58), a lead screw (59), and a lead screw nut (60). The lead screw (59) is rotatably mounted on the gripper mounting plate (43). The lead screw nut (60) is threaded onto the lead screw (59) and fixedly connected to the lead screw nut mounting plate (61). The lead screw nut mounting plate (61) is fixedly connected to the push plate (52) through two guide shafts (62). The two guide shafts (62) slide in cooperation with two guide sleeves (2) fixed on the connecting plate (45). The end of the picking claw bracket (50) is fixed with two guide shafts (63). The two guide shafts (63) slide in cooperation with two guide holes on the push plate (52). The ends of the two guide shafts pass through the push plate (52) and are provided with a second limiting boss. The axes of the guide shafts (62), guide shafts (63), lead screw (59), and suction cup rod (47) are parallel.

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