A fruit and vegetable picking robot

Abstract

This invention provides a fruit and vegetable harvesting robot, belonging to the field of robotics. The robot includes a chassis, a lifting frame, and robotic arms. The lifting frame is connected to the chassis, and two robotic arms are respectively connected to the left and right sides of the lifting frame and slidably connected to it. The robotic arms are used to rotate relative to the lifting frame in a horizontal plane. Each robotic arm is connected to a gripping mechanism, and at least one gripping mechanism is also equipped with a cutting mechanism. The cutting mechanism includes two eccentric wheels and blades. Rotating shafts are located at the edges of the eccentric wheels, and the blades are fitted onto the two rotating shafts. The robot moves to the location of the fruit and vegetables via the chassis, and the robotic arms move along the lifting frame in the Z-axis direction. The robotic arms rotate relative to the lifting frame to the two gripping mechanisms to grasp the fruit and vegetables. The blades rotate cyclically to cut the vines. This invention can replace manual labor for harvesting fruits and vegetables, saving manpower and resources. Furthermore, this invention can be reused multiple times, reducing the cost of fruit and vegetable harvesting.

Description

Technical Field

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

[0002] my country boasts the world's largest planting area for fruits and vegetables, and its output also far surpasses other countries. Currently, the harvesting of fruits and vegetables, such as eggplants, daylilies, and apples, remains primarily manual. Furthermore, with increasing annual yields, harvesting requires even greater investment of manpower, resources, and capital. Harvesting has become the most time-consuming, labor-intensive, and costly stage of the production process, accounting for 33% to 50% of the total labor force used. Manual harvesting is not only wasteful of manpower but also inefficient. Simultaneously, with my country's aging population and shrinking agricultural workforce, harvesting costs are continuously increasing. Summary of the Invention

[0003] The problem this invention aims to solve is how to improve the efficiency of fruit and vegetable harvesting while reducing harvesting costs.

[0004] To address this, the present invention provides a fruit and vegetable harvesting robot, comprising a chassis, a lifting frame, and robotic arms. The chassis is used to move on a working surface. The lifting frame is connected to the chassis. Two robotic arms are respectively connected to the left and right sides of the lifting frame and are slidably connected to the lifting frame. The robotic arms are used to rotate relative to the lifting frame in a horizontal plane. A gripping mechanism is connected to the end of the robotic arm away from the lifting frame. The gripping mechanism is used to grip fruits and vegetables. At least one of the gripping mechanisms is also provided with a cutting mechanism. The cutting mechanism includes two eccentric wheels and a blade. The eccentric wheels are used to rotate in a horizontal plane. A rotating shaft is provided at the edge of the eccentric wheel. The blade is sleeved on the rotating shaft of the two eccentric wheels and is rotatably connected to the rotating shaft.

[0005] Optionally, the fruit and vegetable harvesting robot also includes a fine-tuning mechanism, which includes a first connecting frame and a second connecting frame, both located in a horizontal plane. One end of the first connecting frame is rotatably connected to the gripping mechanism, and the other end is rotatably connected to one end of the second connecting frame. The other end of the second connecting frame is connected to the cutting mechanism.

[0006] Optionally, the fine-tuning mechanism further includes a first pinion and a first large gear, both located in a horizontal plane and meshing with each other. The gripping mechanism is rotatably connected to the robotic arm. The first pinion is rotatably connected to the end of the robotic arm away from the lifting platform. The first large gear is connected to the gripping mechanism. The first connecting frame is connected to the first large gear. The first large gear is coaxially arranged with the rotating shaft of the gripping mechanism.

[0007] Optionally, the robotic arm includes a first arm and a second arm, one end of the first arm is rotatably connected to the lifting frame, and the other end is rotatably connected to the second arm. The gripping mechanism is connected to the end of the second arm away from the first arm, and the width of the first arm is greater than the width of the second arm.

[0008] Optionally, the fruit and vegetable harvesting robot also includes a lifting box and a ball screw. The ball screw includes a ball nut and a screw. The screw is connected to the lifting frame and extends in a vertical direction. The lifting box is connected to the ball nut. The two robotic arms are rotatably connected to the left and right ends of the lifting box, respectively.

[0009] Optionally, both ends of the lifting box are provided with double bearing supports, and a first shaft is passed through the double bearing supports. The end of the robotic arm away from the gripping mechanism is provided with a first connecting ring, which is sleeved on the first shaft.

[0010] Optionally, the fruit and vegetable harvesting robot also includes a rotary mechanism, which includes a turntable rotatably connected to the upper surface of the chassis, and the lifting frame is connected to the turntable.

[0011] Optionally, the fruit and vegetable picking robot also includes omnidirectional wheels, and at least two wheel mounting brackets are provided on both the left and right sides of the chassis. Wheel bearing supports are provided on both the left and right sides of the wheel mounting brackets, and the omnidirectional wheels are connected between the two opposite wheel bearing supports.

[0012] Optionally, the fruit and vegetable picking robot also includes a recycling bag. The chassis is provided with at least three support columns in the area in front of the lifting frame. The edge of the recycling bag is fitted onto the support columns and supported by the support columns. The recycling bag is used to hold fruits and vegetables.

[0013] Optionally, the gripping mechanism is equipped with a camera.

[0014] Compared with the prior art, the beneficial effects of the fruit and vegetable harvesting robot of the present invention are:

[0015] This invention features a chassis that can move within a working plane, which is the plane containing the conventional X and Y axes. A lifting frame extends along the Z-axis, and robotic arms are slidably connected to both sides of the lifting frame. Taking the chassis's conventional direction of travel as the forward direction (positive X-axis) and the left and right directions as the positive and negative Y-axis directions, the two robotic arms connected to the lifting frame along the Y-axis can slide along the Z-axis to change their position. The robotic arms are also rotatably connected to the lifting frame, allowing them to rotate around the lifting frame in a horizontal plane (the plane containing the X and Y axes) to change the position of their ends. Each robotic arm has a gripping mechanism at its end; the gripping mechanisms of the two robotic arms work together to secure fruits and vegetables. A cutting mechanism is located above at least one gripping mechanism. This cutting mechanism includes two eccentric wheels located in the horizontal plane, with respective edges on the eccentric wheels... The invention features a rotating shaft on which the blade can be mounted. The blade rotates along with two eccentric wheels, causing the blade to rotate in the X and Y axes planes and reciprocate. The blade cuts at the junction of the fruit and vine. The two rotating shafts drive and position the blade, preventing it from rotating on its own and affecting the cutting effect. During operation, the chassis moves to the location of the fruit and vegetables, and the robotic arm moves along the Z-axis of the lifting frame until the gripping mechanism is at the same height as the fruit. The robotic arm then rotates relative to the lifting frame in the X and Y axes planes until the two gripping mechanisms hold the fruit and vegetables. At this point, the cutting structure is activated, and the blade reciprocates, cutting the vines. This cyclical motion ensures the vines are cut, completing the harvesting process. This invention can replace manual labor for harvesting fruits and vegetables, saving manpower and resources. Furthermore, this invention can be reused multiple times, reducing harvesting costs. Attached Figure Description

[0016] Figure 1 This is one of the structural schematic diagrams of the fruit and vegetable harvesting robot described in the embodiments of the present invention;

[0017] Figure 2 This is a second schematic diagram of the structure of the fruit and vegetable harvesting robot described in an embodiment of the present invention;

[0018] Figure 3 for Figure 1 Enlarged image;

[0019] Figure 4 for Figure 1 Enlarged image;

[0020] Figure 5 for Figure 2 Enlarged image;

[0021] Figure 6 for Figure 2 Enlarged image;

[0022] Figure 7 This is one of the structural schematic diagrams of the rotary mechanism described in the embodiments of the present invention;

[0023] Figure 8 This is a second schematic diagram of the rotary mechanism described in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1-Chassis; 11-Square tube; 12-Connector; 13-Support platform; 14-Support column; 2-Lifting frame; 21-Ball screw; 22-Lifting box; 221-Limit bolt; 222-Limit nut; 223-Double bearing support; 3-Mechanical arm; 31-First arm; 311-First connecting ring; 32-Second arm; 4-Grip mechanism; 5-Cutting mechanism; 51-Eccentric wheel; 52-Blade; 53-Rotating shaft; 54-First cutting frame; 55-Second cutting frame; 56-Third cutting frame; 57-Eccentric shaft; 61-First connecting frame; 62-Second connecting frame; 63-First pinion; 64-First large gear; 71-Turntable; 72-Large rotating gear; 73-Small rotating gear; 74-Connecting column; 81-Wheel bearing support; 82-Universal wheel. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0027] It should be noted that in the description of this invention, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0029] Furthermore, although specific embodiments have been described herein, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features herein can be combined in ways not used as described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other embodiments.

[0030] To solve the above problems, such as Figure 1 , Figure 2 and Figure 6 As shown, the present invention provides a fruit and vegetable harvesting robot, including a chassis 1, a lifting frame 2, and robotic arms 3. The chassis 1 is used to move on a working surface. The lifting frame 2 is connected to the chassis 1. Two robotic arms 3 are respectively connected to the left and right sides of the lifting frame 2 and are slidably connected to the lifting frame 2. The robotic arms 3 are used to rotate relative to the lifting frame 2 in a horizontal plane. A gripping mechanism 4 is connected to the end of the robotic arm 3 away from the lifting frame 2. The gripping mechanism 4 is used to grip fruits and vegetables. At least one of the gripping mechanisms 4 is also provided with a cutting mechanism 5. The cutting mechanism 5 includes two eccentric wheels 51 and a blade 52. The eccentric wheels 51 are used to rotate in a horizontal plane. A rotating shaft 53 is provided at the edge of the eccentric wheel 51. The blade 52 is sleeved on the rotating shaft 53 of the two eccentric wheels 51 and is rotatably connected to the rotating shaft 53.

[0031] In this embodiment, a chassis 1 is provided, which can move within a working plane, i.e., the plane containing the conventional X and Y axes. A lifting frame 2 is provided on the chassis 1, extending along the Z-axis. Robotic arms 3 are slidably connected to both sides of the lifting frame 2. Here, the conventional travel direction of the chassis 1 is taken as forward (positive X-axis), and the left and right directions are the positive and negative Y-axis directions. The two robotic arms 3 connected to the sides of the lifting frame 2 along the Y-axis can slide along the lifting frame 2 in the Z-axis direction to change the position of the robotic arms 3 in the Z-axis direction. The robotic arms 3 are also rotatably connected to the lifting frame 2, allowing them to rotate around the lifting frame 2 in the horizontal plane (the plane containing the X and Y axes) to change the position of the ends of the robotic arms 3 in the horizontal plane. A gripping mechanism 4 is provided at the end of each robotic arm 3. The gripping mechanisms 4 of the two robotic arms 3 work together to secure fruits and vegetables. A cutting mechanism 5 is also provided above at least one gripping mechanism 4. The cutting mechanism 5 includes two eccentric wheels 51 located in the horizontal plane, with respective edges on the two eccentric wheels 51... The rotating shaft 53 and the blade 52 can be mounted on the rotating shaft 53 of the two eccentric wheels 51, rotating together with the two rotating shafts 53. When the two eccentric wheels 51 are working, the blade 52 rotates together with the two rotating shafts 53 in the plane containing the X and Y axes, and performs a cyclical reciprocating motion. The blade 52 cuts the connection between the fruit and the vine of the fruit and vegetables. The two rotating shafts 53 drive and position the blade 52, which can prevent the blade 52 from rotating on its own and affecting the cutting effect. During operation, the chassis 1 moves to the position of the fruit and vegetables, and the machine... The robotic arm 3 moves along the Z-axis of the lifting frame 2 until the gripping mechanism 4 is at the same height as the fruit. The robotic arm 3 rotates relative to the lifting frame 2 in the plane containing the X and Y axes until the two gripping mechanisms 4 hold the fruit and vegetables. At this time, the cutting structure works, and the blade 52 rotates repeatedly to cut the fruit and vegetable vines. The repeated movement ensures that the vines will be cut, thus completing the harvesting of the fruit and vegetables. This invention can replace manual labor for harvesting fruit and vegetables, saving manpower and resources. At the same time, this invention can be reused multiple times, reducing the cost of harvesting fruit and vegetables.

[0032] Specifically, the holding mechanism 4 can be an arc-shaped structure. Two arc-shaped structures can hold the fruits and vegetables on both sides to fix them in place. The two arc-shaped structures work together to prevent damage to the surface of the fruits and vegetables, thus avoiding affecting their quality. The cutting mechanism 5 also includes three cutting frames, from bottom to top: a first cutting frame 54, a second cutting frame 55, and a third cutting frame 56. The first cutting frame 54 is connected to the holding mechanism 4. A cutting motor is located between the first cutting frame 54 and the second cutting frame 55. Two eccentric wheels 51 are located between the second cutting frame 55 and the third cutting frame 56. The eccentric wheel 51 is driven by the cutting motor and the eccentric shaft 57 passes downward through the second cutting frame 55. The eccentric shaft 57 is also equipped with a retaining ring, which abuts against the lower surface of the second cutting frame 55 to prevent the eccentric shaft 57 from moving in the Z-axis direction. The cutting motor is connected to the two eccentric shafts 57 by a belt drive. The rotating shaft 53 is connected to the upper surface of the eccentric wheel 51. The blade 52 has two connecting holes for fitting onto the rotating shaft 53. The part of the rotating shaft 53 above the blade 52 can also be fitted with a fixing sleeve to prevent the blade 52 from moving in the Z-axis direction. The three cutting frames are supported by a connecting rod.

[0033] Optionally, such as Figure 1 As shown, the fruit and vegetable picking robot also includes a fine-tuning mechanism, which includes a first connecting frame 61 and a second connecting frame 62, both located in a horizontal plane. One end of the first connecting frame 61 is rotatably connected to the gripping mechanism 4, and the other end is rotatably connected to one end of the second connecting frame 62. The other end of the second connecting frame 62 is connected to the cutting mechanism 5.

[0034] In this embodiment, a first connecting frame 61 is mounted on the holding mechanism 4. One end of the first connecting frame 61 is rotatably connected to the holding mechanism 4, and the other end of the first connecting frame 61 is rotatably connected to the second connecting frame 62. The cutting mechanism is fixed at the end of the second connecting frame 62 away from the first connecting frame 61. Both the first connecting frame 61 and the second connecting frame 62 can rotate in the plane containing the X and Y axes to adjust the position of the cutting mechanism 5 in the plane containing the X and Y axes, so as to facilitate the cutting mechanism 5 to cut the vines.

[0035] Optionally, such as Figure 1 As shown, the fine-tuning mechanism also includes a first pinion 63 and a first gear 64, both located in the horizontal plane and meshing with each other. The gripping mechanism 4 is rotatably connected to the robotic arm 3. The first pinion 63 is rotatably connected to the end of the robotic arm 3 away from the lifting platform. The first gear 64 is connected to the gripping mechanism 4. The first connecting frame 61 is connected to the first gear 64. The first gear 64 is coaxially arranged with the rotating shaft of the gripping mechanism 4.

[0036] In this embodiment, the gripping mechanism 4 is configured to be rotatably connected to the robotic arm 3. The gripping mechanism 4 is connected to the robotic arm 3 via a rotating shaft and can rotate around the rotating shaft in the plane containing the X and Y axes. A first pinion 63 is provided on the robotic arm 3 near the gripping mechanism 4, and a first gear 64 is provided to mesh with the first pinion 63. The first gear 64 is connected to the gripping mechanism 4, and its axis is coaxial with the rotating shaft. The rotation of the first pinion 63 in the horizontal plane can drive the first gear 64 to rotate, thereby causing the gripping mechanism 4 to rotate in the horizontal plane, which facilitates the gripping mechanism 4 to better hold the fruits and vegetables. The first gear 64 provides an installation position for the first connecting frame 61. The first connecting frame 61 is connected to the first gear 64 and can rotate together with the first gear 64 in the horizontal plane, thereby driving the cutting mechanism 5 to rotate together with the gripping mechanism 4. That is, the cutting mechanism 5 can rotate with the rotation of the gripping mechanism 4 without additional adjustment of the position of the cutting mechanism 5, which is convenient for cutting vines.

[0037] Specifically, the first pinion 63 can be driven by a motor.

[0038] Optionally, such as Figure 1 and Figure 2 As shown, the robotic arm 3 includes a first arm 31 and a second arm 32. One end of the first arm 31 is rotatably connected to the lifting frame 2, and the other end is rotatably connected to the second arm 32. The gripping mechanism 4 is connected to the end of the second arm 32 away from the first arm 31. The width of the first arm 31 is greater than the width of the second arm 32.

[0039] In this embodiment, the robotic arm 3 is divided into a first arm 31 and a second arm 32 that are rotatably connected. The length of the first arm 31 is greater than the length of the second arm 32. The first arm 31 is rotatably connected to the lifting frame 2, and the second arm 32 is connected to the gripping mechanism 4. The two rotating arms work together to more flexibly change the position of the gripping mechanism 4 in the horizontal plane. The width of the first arm 31 is greater than that of the second arm 32, which can better provide support and withstand greater pressure at the front end of the second arm 32, thereby improving the stability of the overall mechanism.

[0040] Specifically, the first arm 31 and the second arm 32 are both telescopic arms, which can be used together to change the position of the gripping mechanism 4 in the horizontal plane more flexibly; a second shaft can be provided at the rotation connection of the first arm 31 and the second arm 32, and a bushing and two bearings are sleeved on the circumference of the second shaft. The two bearings correspond to the first arm 31 and the second arm 32 respectively to assist the rotation, and the two bearings make the rotation smoother.

[0041] Optionally, such as Figure 1 and Figure 3As shown, the fruit and vegetable picking robot also includes a lifting box 22 and a ball screw 21. The ball screw 21 includes a ball nut and a screw. The screw is connected to the lifting frame 2 and extends in the vertical direction. The lifting box 22 is connected to the ball nut. The two robotic arms 3 are rotatably connected to the left and right ends of the lifting box 22, respectively.

[0042] In this embodiment, a ball screw 21 is installed on the lifting frame 2. The screw extends along the Z-axis. A lifting box 22 is fitted around the ball nut of the ball screw 21. A through hole is opened on the lifting box 22 for the screw to pass through. Two robotic arms 3 are respectively connected to the two sides of the lifting box 22 along the Y-axis. When the ball screw 21 works, it can drive the lifting box 22 to move in the Z-axis direction, thereby driving the robotic arms 3 to move in the Z-axis direction, and thus adjusting the position of the gripping mechanism 4 in the Z-axis direction.

[0043] Specifically, the lifting box 22 is composed of four connecting plates, one above the other and one in front of the other. The upper and lower connecting plates have grooves, and the upper and lower connecting plates have key structures extending from the top and bottom. The key structures are inserted into the grooves to connect the lifting box 22. The upper and lower edges of the upper and lower connecting plates also have connecting bolt grooves and nut grooves. The limit nut 222 is inserted into the nut groove, and the limit bolt 221 passes through the upper and lower connecting plates, the bolt grooves, and the limit nut 222 to fix the upper and lower connecting plates together. The lifting box 22 composed of the four connecting plates runs through the Y-axis and can be detached, which facilitates the installation of the robotic arm 3 and the ball screw 21. The upper, lower, left, and right connecting plates are all made of carbon fiber material. Carbon fiber has the characteristics of being lightweight and having high hardness, which makes the lifting box 22 structurally stable.

[0044] Optionally, such as Figure 2 and Figure 5 As shown, both ends of the lifting box 22 are provided with double bearing supports 223, and a first shaft is passed through the double bearing supports 223. The end of the robotic arm 3 away from the gripping mechanism 4 is provided with a first connecting ring 311, which is sleeved on the first shaft.

[0045] In this embodiment, by providing double bearing supports 223 and a first shaft on both sides of the lifting box 22 along the Y-axis, the first shaft passes through the double bearing supports 223, and the end of the robotic arm 3 away from the gripping mechanism 4 is provided with a first connecting ring 311. The first connecting ring 311 is sleeved on the first shaft and located between the upper and lower bearings of the double bearing supports 223. The double bearing supports 223 can hold and position the first shaft, prevent the first connecting ring 311 from sinking, and improve the structural stability.

[0046] Specifically, the lower end of the first shaft is connected to a synchronous pulley and a motor, and the motor drives the first shaft to rotate through the synchronous pulley. The upper end of the first shaft is also connected to an absolute encoder, which can cancel out the interference caused by external factors such as inertia and human error to the motor, improve control accuracy, and enable the robotic arm 3 to rotate precisely.

[0047] Optionally, such as Figure 2 , Figure 7 and Figure 8 As shown, the fruit and vegetable picking robot also includes a rotary mechanism, which includes a rotary table 71. The rotary table 71 is rotatably connected to the upper surface of the chassis 1, and the lifting frame 2 is connected to the rotary table 71.

[0048] In this embodiment, a turntable 71 is set on the chassis 1. The turntable 71 can rotate on its own axis, that is, it rotates around the Z-axis. The lifting frame 2 is connected to the turntable 71. The lifting frame 2 can rotate around the Z-axis with the turntable 71, which makes it easier to change the position of the gripping mechanism 4.

[0049] Specifically, a support platform 13 is provided at the rear end of the chassis 1, i.e., the end facing the negative X-axis direction. The support platform 13 is mounted on the chassis 1, and the rotary table 71 is rotatably connected to the support platform 13. The space between the support platform 13 and the chassis 1 can be used to arrange structures such as power sources. A large rotary gear 72 is concentrically connected to the rotary table 71, and a small rotary gear 73 that meshes with the large rotary gear 72 is provided on the support platform 13. A motor is provided to drive the small rotary gear 73 to rotate, thereby driving the large rotary gear 72 to drive the rotary table 71 and the lifting frame 2 to rotate. The rotary table 71 and the large rotary gear 72 can be connected by a connecting column 74. The connecting column 74 extends vertically and its length can be changed to adjust the overall height of the robot.

[0050] Optionally, such as Figure 1 and Figure 4 As shown, the fruit and vegetable picking robot also includes omnidirectional wheels 82. At least two wheel mounting frames are provided on both the left and right sides of the chassis 1. Wheel bearing supports 81 are provided on both the left and right sides of the wheel mounting frames. The omnidirectional wheels 82 are connected between the two opposite wheel bearing supports 81.

[0051] In this embodiment, corresponding wheel mounting brackets are respectively set on both sides of the chassis 1 along the Y-axis direction, with at least two wheel mounting brackets on each side. Wheel bearing supports 81 are provided on both sides of each wheel mounting bracket along the Y-axis direction. The universal wheel 82 is installed between two adjacent wheel bearing supports 81. The wheel bearing supports 81 on both sides of the universal wheel 82 provide support for the universal wheel 82, avoiding the easy collapse phenomenon caused by the tire being subjected to force on one side in the traditional chassis 1 design, improving the overall structural stability of the chassis 1, improving the load-bearing capacity of the chassis 1, and allowing the chassis 1 to move arbitrarily in the horizontal plane.

[0052] Specifically, the chassis 1 is composed of multiple aluminum square tubes 11 connected together. The joints of the aluminum square tubes 11 are fixed by carbon fiber connectors 12. Carbon fiber has the characteristics of being lightweight and having high rigidity, which can significantly increase stability and improve load capacity while reducing the weight of the chassis 1; the casters 82 are Mecanum wheels.

[0053] Optionally, such as Figure 1 and Figure 2 As shown, the fruit and vegetable picking robot also includes a recycling bag. The chassis 1 is provided with at least three support columns 14 in the area in front of the lifting frame 2. The edge of the recycling bag is fitted onto the support columns 14 and supported by the support columns 14. The recycling bag is used to hold fruits and vegetables.

[0054] In this embodiment, at least three support columns 14, for example four, are set on the part of the chassis 1 located in front of the lifting frame 2, that is, facing the positive direction of the X-axis. The four support columns 14 are located at the four corners of the rectangle. A recycling bag can be set on the four support columns 14. The way of setting the bag can be similar to the way garbage bags are put in daily life. The support columns 14 support the recycling bag. When the recycling bag is opened, the vines of fruits and vegetables are cut by the cutting mechanism 5. After the gripping mechanism 4 is released, they can fall into the recycling bag, which is convenient for collecting fruits and vegetables.

[0055] Optionally, the gripping mechanism 4 is equipped with a camera.

[0056] In this embodiment, by setting a camera on the holding mechanism 4, the camera can identify fruits and vegetables, making it easier to locate them. It can also further identify whether the surface of the fruits and vegetables is intact and whether they are damaged, thus distinguishing between good and bad fruits and vegetables, making it easier to pick fruits and vegetables of different qualities separately.

[0057] Specifically, it also includes a controller, which is electrically connected to the camera, chassis 1, robotic arm 3, and cutting structure to enable the robot to work automatically.

[0058] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A fruit and vegetable harvesting robot, characterized in that, The system includes a chassis (1), a lifting frame (2), and a robotic arm (3). The chassis (1) is used to move on the working surface. The lifting frame (2) is connected to the chassis (1). The two robotic arms (3) are respectively connected to the left and right sides of the lifting frame (2) and are slidably connected to the lifting frame (2). The robotic arms (3) are used to rotate relative to the lifting frame (2) in the horizontal plane. The end of the robotic arm (3) away from the lifting frame (2) is connected to a gripping mechanism (4). The gripping mechanism (4) is used to grip fruits and vegetables. At least one of the gripping mechanisms (4) is also provided with a cutting mechanism (5). The cutting mechanism (5) includes two eccentric wheels (51) and a blade (52). The eccentric wheels (51) are used to rotate in the horizontal plane. The edge of the eccentric wheels (51) is provided with a rotating shaft (53). The blade (52) is sleeved on the rotating shaft (53) of the two eccentric wheels (51) and is rotatably connected to the rotating shaft (53). It also includes a fine-tuning mechanism, which includes a first connecting frame (61) and a second connecting frame (62) both located in the horizontal plane. One end of the first connecting frame (61) is rotatably connected to the gripping mechanism (4), and the other end is rotatably connected to one end of the second connecting frame (62). The other end of the second connecting frame (62) is connected to the cutting mechanism (5).

2. The fruit and vegetable harvesting robot according to claim 1, characterized in that, The fine-tuning mechanism also includes a first pinion (63) and a first gear (64) that are both located in the horizontal plane and mesh with each other. The gripping mechanism (4) is rotatably connected to the robotic arm (3). The first pinion (63) is rotatably connected to the end of the robotic arm (3) away from the lifting frame. The first gear (64) is connected to the gripping mechanism (4). The first connecting frame (61) is connected to the first gear (64). The first gear (64) is coaxially arranged with the rotating shaft of the gripping mechanism (4).

3. The fruit and vegetable harvesting robot according to claim 1, characterized in that, The robotic arm (3) includes a first arm (31) and a second arm (32). One end of the first arm (31) is rotatably connected to the lifting frame (2), and the other end is rotatably connected to the second arm (32). The gripping mechanism (4) is connected to the end of the second arm (32) away from the first arm (31). The width of the first arm (31) is greater than the width of the second arm (32).

4. The fruit and vegetable harvesting robot according to claim 1, characterized in that, It also includes a lifting box (22) and a ball screw (21). The ball screw (21) includes a ball nut and a screw. The screw is connected to the lifting frame (2) and extends in the vertical direction. The lifting box (22) is connected to the ball nut. The two robotic arms (3) are rotatably connected to the left and right ends of the lifting box (22).

5. The fruit and vegetable harvesting robot according to claim 4, characterized in that, The lifting box (22) is provided with double bearing supports (223) at both ends. A first shaft is passed through the double bearing supports (223). A first connecting ring (311) is provided at the end of the robotic arm (3) away from the gripping mechanism (4). The first connecting ring (311) is sleeved on the first shaft.

6. The fruit and vegetable harvesting robot according to claim 1, characterized in that, It also includes a rotary mechanism, which includes a rotary table (71) rotatably connected to the upper surface of the chassis (1), and the lifting frame (2) is connected to the rotary table (71).

7. The fruit and vegetable harvesting robot according to claim 1, characterized in that, It also includes casters (82), and at least two wheel mounting brackets are provided on both the left and right sides of the chassis (1). Wheel bearing supports (81) are provided on both the left and right sides of the wheel mounting brackets, and the casters (82) are connected between the two opposite wheel bearing supports (81).

8. The fruit and vegetable harvesting robot according to claim 1, characterized in that, It also includes a recycling bag. The chassis (1) is provided with at least three support columns (14) in the area in front of the lifting frame (2). The edge of the recycling bag is fitted onto the support columns (14) and supported by the support columns (14). The recycling bag is used to hold fruits and vegetables.

9. The fruit and vegetable harvesting robot according to claim 1, characterized in that, The gripping mechanism (4) is equipped with a camera.

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