A mechanical arm for picking

Abstract

The present invention relates to the field of fruit picking equipment, and specifically to a manipulator for picking, including a picking device and a wire drive; the picking device includes a manipulator housing, a first manipulator claw and a second manipulator claw, the first manipulator claw and the second manipulator claw are arranged opposite to each other and are respectively rotatably connected to the manipulator housing, and a receiving cavity for placing fruit is formed between the first manipulator claw and the second manipulator claw; the wire drive includes a slider, a wire harness seat, and at least two picking clamps; one end of a plurality of picking clamps is connected to the slider and passes through the wire harness seat, and the other end is respectively connected to the first manipulator claw and the second manipulator claw, the slider can move back and forth along the length direction of the picking clamps, and during the movement of the slider, the picking clamps are tightened, overlapped or relaxed to pick or peel the fruit, and at the same time, the first manipulator claw and the second manipulator claw are opened and closed. When the present invention is used to pick fruit, the picking process has a high degree of automation and is not easy to damage the fruit.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking equipment, in particular to a mechanical arm used for picking. Background Art

[0002] Currently, pepper is mainly picked manually, which is labor-intensive and inefficient. In addition, the maturity of pepper on the same pepper plant will be different, and the connection force between the fruit and the stalk will also be different. In most cases, when one or two red fruit grains appear on the pepper spike, it can be picked, but the products processed from mature and immature peppers have different flavors, different qualities, and different economic values. If only the fruit grains on the mature fruit spikes can be picked, leaving the immature fruit spikes and picking them after they mature, the income of pepper growers will be increased. In addition, it can also be picked by traditional machines. During use, pepper picking machines will be mixed with debris, damage the fruit grains, and be contaminated, resulting in reduced quality of pepper; the functions of most fruit and vegetable picking manipulators on the market are limited to clamping and cutting, which cannot meet the function of picking part of the fruit grains of the fruit spikes. At the same time, the pressure applied to the fruit grains must be controlled to avoid damage to the fruit grains, and the structure and control method are more complicated. Summary of the invention

[0003] Based on this, it is necessary to provide a robot for picking to address the problem of high intensity and low efficiency of manual picking.

[0004] The present invention provides a manipulator for picking, comprising: a picking device and a pull-wire drive; the picking device comprises a manipulator housing, a first manipulator claw and a second manipulator claw, the first manipulator claw and the second manipulator claw are arranged opposite to each other and are respectively rotatably connected to the manipulator housing, and a receiving cavity for receiving fruit particles is formed between the first manipulator claw and the second manipulator claw;

[0005] The wire drive includes a slider, a wire tie seat, and at least two picking clamps; one end of a plurality of picking clamps is connected to the slider and passes through the wire tie seat, and the other end is respectively connected to the first robotic claw and the second robotic claw. The slider can move back and forth along the length direction of the picking clamps. During the movement of the slider, the picking clamps are tightened, overlapped or relaxed to pick or peel the fruit particles, while enabling the first robotic claw and the second robotic claw to open and close.

[0006] Preferably, the picking clamp wire includes a first clamp wire and a second clamp wire, one end of the first clamp wire and the second clamp wire are connected to the slider and pass through the wire harness seat, the other end of the first clamp wire is fixed to the first robotic gripper, and the other end of the second clamp wire is fixed to the second robotic gripper.

[0007] Preferably, it includes a first wire clamping block arranged on the sliding block for fixing the first wire clamping block, and a second wire clamping block fixedly arranged at the ends of the first manipulator claw and the second manipulator claw for fixing the second wire clamping block. The picking wire clamping block is extended to the second wire clamping block and the wire bundle seat in sequence for fixation.

[0008] Preferably, the manipulator housing comprises a housing body and a clamping portion provided at an end of the housing body for mounting the first manipulator claw and the second manipulator claw;

[0009] The shell body is provided with a first sliding groove, and the sliding block is slidably connected to the first sliding groove.

[0010] Preferably, it also includes a rotating shaft and a torsion spring, the first manipulator claw is rotatably connected to the manipulator housing via the rotating shaft, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is limited to the manipulator housing, and the other end of the torsion spring is limited to the first manipulator claw.

[0011] Preferably, the wire drive also includes a power drive, a drive screw and a screw sleeve. The power drive is arranged in the manipulator housing, and the output end of the power drive is connected to the drive screw, and the screw sleeve is threadedly connected to the drive screw.

[0012] Preferably, the power drive includes a motor, a screw and a bearing seat, the screw is fastened to connect the motor housing of the motor and the manipulator housing, the bearing seat is connected to the manipulator housing, and the drive screw is rotatably connected to the bearing seat.

[0013] Preferably, a brush is installed at the front end below the first mechanical gripper and / or the second mechanical gripper, and a collection tube is installed at the rear end below the first mechanical gripper and / or the second mechanical gripper;

[0014] The first robotic claw and the second robotic claw are hollow inside. When the first robotic claw and the second robotic claw overlap, they form a sealed accommodating cavity together with the brush and the collecting tube for collecting picked fruit particles.

[0015] Preferably, the collecting pipe is a telescopic sleeve.

[0016] Preferably, it also includes a camera and a spherical hinge, and the camera is connected to the robot housing through the spherical hinge.

[0017] Preferably, the picked fruit particles are peppers.

[0018] The robot for picking of the present invention comprises a picking device and a wire drive; wherein the picking clamp wire can be pulled to loosen or clamp the fruit grains during the process of opening or closing the first robot claw and the second robot claw of the picking device. The wire drive comprises a slider, a wire tie seat and two picking clamp wires. The slider moves back and forth along the length direction of the picking clamp wires, and the picking clamp wires are relaxed to clamp the pepper fruit grains during the process of the slider moving closer to the robot claw, and the picking clamp wires are tightened and overlapped during the process of the slider moving away from the robot claw, and then dragged and clamped to cut the pepper fruit grains so that they are peeled off and collected in the accommodating cavity. At this time, when the first robot claw and the second robot claw are opened, the two picking clamp wires are relaxed; when the first robot claw and the second robot claw are closed, the two picking clamp wires are tightened, and the picking clamp wires are clamped to cut the pepper fruit grains by dragging the slider so that they are peeled off and collected in the accommodating cavity, and the process of picking pepper fruit grains has a high degree of automation.

[0019] The picking manipulator of the present invention controls the picking clamps of the first manipulator claw and the second manipulator claw to accurately clamp the stalk of the pepper ear. Then, the first manipulator claw and the second manipulator claw are pulled back, and the picking clamps on the first manipulator claw and the second manipulator claw can peel off the fruit grains on the ear. The picking clamps are made of a relatively soft material with a certain toughness, and will not exert a rigid force when contacting the fruit grains. Compared with the rigid scissors structure commonly used in the prior art, it is not easy to damage the fruit grains when contacting the fruit grains. The picking clamps with a certain elasticity are used to peel off the fruit grains at the ear. Since the connection force between the mature pepper fruit grains and the stalks is weak, while the connection force between the immature pepper fruit grains and the stalks is strong, during the peeling process, the mature fruit grains are easy to be peeled off, while the immature fruit grains will still be retained on the stalks to be picked after they are mature, which can increase the income of pepper growers. The interiors of the first robotic claw and the second robotic claw are hollowed out, and together they can form a containing cavity for collecting pepper grains. When the first robotic claw and the second robotic claw are closed, the containing cavity is a nearly closed space, and the pepper grains collected therein are not easy to fall, thereby improving the picking and collection rate of the grains and reducing the loss of the grains by falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of a first manipulator claw and a second manipulator claw of a manipulator for picking fruits being opened according to an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the closing of a first manipulator claw and a second manipulator claw of a manipulator for picking according to an embodiment of the present invention;

[0022] Figure 3 A top view of a manipulator for picking according to an embodiment of the present invention;

[0023] Figure 4 for Figure 3 Section view at AA.

[0024] The numbers in the figure are explained as follows:

[0025] 1. First manipulator claw; 2. Second manipulator claw; 3. Accommodating cavity; 4. Sliding block; 5. Wire harness seat; 6. Picking wire clamp; 8. Manipulator housing; 9. Torsion spring; 10. Picking device; 11. Brush; 12. Collecting tube; 13. Motor; 14. Motor housing; 15. Screw; 16. Ball hinge; 17. Screw sleeve; 18. Bearing seat; 19. Driving screw rod; 20. Wire drive; 30. Power drive; 40. Camera; 61. First wire clamp; 62. Second wire clamp; 71. First wire clamp block; 72. Second wire clamp block; 81. Housing body; 82. Clamping part; 83. First slide groove. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of this application.

[0027] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0030] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0031] Reference Figure 1 and Figure 2 The present invention provides a manipulator for picking, comprising: a picking device 10 and a wire drive 20; the picking device 10 comprises a manipulator housing 8, a first manipulator claw 1 and a second manipulator claw 2, the first manipulator claw 1 and the second manipulator claw 2 are arranged opposite to each other and are respectively rotatably connected to the manipulator housing 8, and a receiving cavity 3 for receiving fruit particles is formed between the first manipulator claw 1 and the second manipulator claw 2;

[0032] The wire drive 20 includes a slider 4 that moves back and forth along the length direction of the picking clamp wire, a wire tie seat 5 arranged on the slider 4, and at least two picking clamp wires 6; one end of a plurality of picking clamp wires 6 is connected to the slider 4 and passes through the wire tie seat 5, and the other end is respectively connected to the first manipulator claw 1 and the second manipulator claw 2; the slider 4 can move back and forth along the length direction of the picking clamp wire, and the picking clamp wire 6 is tightened, overlapped or relaxed during the movement of the slider 4 to pick or peel the fruit particles, while enabling the first manipulator claw 1 and the second manipulator claw 2 to open and close.

[0033] The fruit grains to be picked are pepper. Pepper fruit grains are a tropical spice crop used for seasoning. Pepper is picked in small particles and in large quantities. Currently, it is mainly picked manually, which is inefficient. Most fruit sparsers have no way to control the pressure applied to the fruit grains to avoid damage to the fruit grains. The present invention can also be applied to the harvesting of other crops. Its picking principle is not only applicable to the picking of pepper. It only needs to improve the size and structural appearance, and can also be used for picking string-shaped crops such as tobacco leaves, mulberry leaves, wolfberries, and grapes. This embodiment provides a manipulator for picking pepper fruit grains, which includes a picking device 10 and a pull-wire drive 20. Among them, the picking device 10 includes two first manipulator claws 1 and a second manipulator claw 2 arranged opposite to each other. It can be understood that the two manipulator claws can be opened or closed by a driving device (power drive 30). The two manipulator claws are opened to accommodate the pepper ears in the accommodating cavity 3 to pick the pepper. After closing, the first manipulator claw 1 and the second manipulator claw 2 are dragged to move to peel off the fruit grains and collect them in the accommodating cavity 3.

[0034] In this embodiment, the wire drive 20 includes a slider 4, a wire harness seat 5 and two picking clamp wires 6. Among them, one end of the wire harness seat 5 is connected to the first manipulator claw 1 through a fastener, and the other end is connected to the second manipulator claw 2 through a fastener. One end of the picking clamp wire 6 is connected to the slider 4, passes through the wire harness seat 5 and is guided to the ends of the first manipulator claw 1 and the second manipulator claw 2 at the other end. The slider 4 moves back and forth along the length direction of the picking clamp wire. The picking clamp wire 6 is relaxed to clamp the pepper kernels during the movement of the slider 4 toward the manipulator claw. The picking clamp wire 6 is tightened and overlapped during the movement of the slider 4 away from the manipulator claw, and then drags and clamps the pepper kernels to peel off and collect them in the accommodating cavity 3. At this time, the first manipulator claw 1 and the second manipulator claw 2 are opened, and the two picking clamp wires 6 are relaxed; the first manipulator claw 1 and the second manipulator claw 2 are closed, and the two picking clamp wires 6 are tightened. The picking clamp wire 6 is dragged by the slider 4 to clamp the pepper kernels to peel off and collect them in the accommodating cavity 3.

[0035] The picking manipulator of the present invention controls the picking clamp wire 6 of the first manipulator claw 1 and the second manipulator claw 2 to accurately clamp the fruit stem of the pepper ear. Then, the first manipulator claw 1 and the second manipulator claw 2 are pulled back, and the picking clamp wire 6 on the first manipulator claw 1 and the second manipulator claw 2 can peel the fruit grains on the fruit ear. The first manipulator claw 1 and the second manipulator claw 2 are hollowed out inside, and together they can form a certain internal space (i.e., the accommodating cavity 3) for collecting pepper grains. As a further improvement of the above technical solution, the picking clamp wire 6 includes a first clamp wire 61 and a second clamp wire 62, both of which pass through the wire harness seat 5, and the end of the first clamp wire 61 is fixed to the first manipulator claw 1, and the end of the second clamp wire 62 is fixed to the second manipulator claw 2.

[0036] Specifically, the starting ends of the first clamping wire 61 and the second clamping wire 62 are connected to the slider 4, pass through the cable holder 5 in the middle, and the ends are fixed to the first robot gripper 1 and the second robot gripper 2 respectively.

[0037] In this embodiment, the robot arm used for picking also includes a first wire clamping block 71 arranged on the slider 4 for fixing the first wire clamping block 71, and a second wire clamping block 72 fixedly arranged at the end of the first robot claw 1 and the second robot claw 2 for fixing the second wire clamping block 62. The picking wire clamp 6 extends through the first wire clamping block 71 and the wire harness seat 5 in sequence to the second wire clamping block 72 for fixing.

[0038] It can be understood that the first clamping block 71 fixes the first clamping wire 61 to the slider 4, and the second clamping block 72 fixes the second clamping wire 62 to the ends of the first manipulator claw 1 and the second manipulator claw 2 to prevent sliding during the picking process.

[0039] In this embodiment, the manipulator housing 8 includes a housing body 81 and a clamping portion 82 disposed at the end of the housing body 81 for mounting the first manipulator claw 1 and the second manipulator claw 2;

[0040] The housing body 81 is provided with a first sliding groove 83 , and the slider 4 is slidably connected to the first sliding groove 83 .

[0041] Specifically, the first manipulator claw 1 and the second manipulator claw 2 are detachably mounted on the housing body 81 through the clamping portion 82, and the first manipulator claw 1 and the second manipulator claw 2 of different sizes are selected according to the size of the fruit or vegetable to be picked. Optionally, the clamping portion 82 is a U-shaped steel plate, and the first manipulator claw 1 and the second manipulator claw 2 are snapped into the groove of the U-shaped steel plate. The wire harness seat 5 of the above embodiment is installed on the upper end surface of the U-shaped steel plate of the clamping portion 82, and is used to guide the picking clamp wire 6.

[0042] The housing body 81 is further provided with a first slide groove 83, the bottom of the slider 4 is connected to the driving screw 19, the top protrudes through the first slide groove 83, and the protruding part is fixedly connected to the starting end of the picking clamp line 6. The slider 4 moves along the first slide groove 83 during the movement of the driving screw 19 to tighten or loosen the picking clamp line 6.

[0043] Specifically, the manipulator for picking also includes a rotating shaft and a torsion spring 9. The first manipulator claw 1 is rotatably connected to the manipulator housing 8 via the rotating shaft. The torsion spring 9 is sleeved on the rotating shaft. One end of the torsion spring 9 is limited to the manipulator housing 8, and the other end of the torsion spring 9 is limited to the first manipulator claw 1. When the picking clamp line is tightened to close the first manipulator claw 1, the first manipulator claw 1 squeezes the torsion spring 9. When the picking clamp line is loosened, the first manipulator claw 1 is opened under the elastic force provided by the torsion spring 9. Similarly, the setting structure of the second manipulator claw 2 is a mirror image of the setting structure of the first manipulator claw 1.

[0044] Reference Figure 3 and Figure 4 The present embodiment further includes a power drive 30, a driving screw rod 19 and a screw sleeve 17. The power drive 30 is arranged in the manipulator housing 8. The output end of the power drive 30 is connected to the driving screw rod 19, and the screw sleeve 17 is threadedly connected to the driving screw rod 19; the screw sleeve 17 is screwed on the driving screw rod 19, and the slider 4 is sleeved on the screw sleeve 17; the slider 4 cooperates with the first slide groove 83 to make a reciprocating motion in the direction of the driving screw rod 19; there is a screw hole on the slider 4 for installing the first clamping block 71.

[0045] The present embodiment further includes a power drive 30, which includes a motor 13, a motor housing 14, a screw 15 and a bearing seat 18. The screw 15 fastens the motor housing 14 of the motor 13 and the manipulator housing 8, the bearing seat 18 is connected to the manipulator housing 8, and the driving screw 19 is rotatably connected to the bearing seat 18. Furthermore, a long rod can be connected to one end of the motor housing 14 to achieve the picking of pepper kernels at a higher position.

[0046] A brush 11 is installed at the front end below the first robotic claw 1 and / or the second robotic claw 2, and a collecting tube 12 is installed at the rear end below the first robotic claw 1 and / or the second robotic claw 2; the interiors of the first robotic claw 1 and the second robotic claw 2 are hollow, and when the first robotic claw 1 and the second robotic claw 2 overlap, they form a sealed accommodating cavity 3 together with the brush 11 and the collecting tube 12 for collecting picked fruit particles.

[0047] The collecting tube 12 is a telescopic sleeve, the length of which can be adjusted as the manipulator moves.

[0048] Specifically, a brush 11 is installed at the front end below the first manipulator claw 1 or the second manipulator claw 2, and a collection tube 12 is installed at the rear end below the first manipulator claw 1 or the second manipulator claw 2;

[0049] In this embodiment, a brush 11 is installed at the front end below the first mechanical claw 1 and the second mechanical claw 2, and a collection tube 12 is installed at the rear end below the first mechanical claw 1 and the second mechanical claw 2. The brush 11, the collection tube 12 and the hollow interior of the first mechanical claw 1 and the second mechanical claw 2 together form a sealed accommodating cavity 3. After the pepper kernels are cut by the picking clamp wire 6, they fall into the accommodating cavity 3 and are collected.

[0050] Above the pepper clamping part of the accommodating cavity 3 is a picking clamp line 6, and below is a brush 11. The function of the brush 11 is to clamp the pepper ears by using the hairs on the brush 11 to adapt to the outer contour of the ears, so as to seal the internal space, so that the peeled pepper grains will not fall out of the first mechanical claw 1 and the second mechanical claw 2, and will roll down the slope into the collection tube 12 below.

[0051] Specifically, the robot arm for picking also includes a camera 40 and a spherical hinge 16. The camera 40 is connected to the robot arm housing 8 through the spherical hinge 16. The camera 40 is installed on the frame of the motor housing 14 and can rotate in multiple directions through the spherical hinge 16.

[0052] The camera 40 monitors the current picking conditions in real time, and realizes multi-angle and multi-directional rotation shooting through the spherical hinge 16.

[0053] The present invention can be assisted by the machine vision of the camera 40, so that the pepper can be picked by a manipulator, and the pepper grains can be peeled off during the picking process, so as to avoid the mixing of foreign matter, damage to the grains and contamination during the subsequent processing using the machine threshing process. Selectively peeling off the grains of mature fruit ears can also improve the quality of the final pepper product. The maturity of peppers on the same pepper plant will also be different, and the connection force between the grains and the fruit stalks will also be different. In most cases, when one or two red grains appear on the pepper ear, it can be picked, but the products processed from mature and unripe peppers are different in flavor, quality, and economic value. If only the grains on the mature fruit ears can be picked, leaving the unripe fruit ears, and picking them after maturity will increase the income of pepper growers.

[0054] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A manipulator for picking, characterized in that: include: A picking device and a pull-wire drive; the picking device comprises a manipulator housing, a first manipulator claw and a second manipulator claw, the first manipulator claw and the second manipulator claw are arranged opposite to each other and are rotatably connected to the manipulator housing respectively, and a receiving cavity for receiving fruit particles is formed between the first manipulator claw and the second manipulator claw; The wire drive comprises a slider, a wire harness seat, and at least two picking clamp wires; one end of a plurality of picking clamp wires is connected to the slider and passes through the wire harness seat, and the other end is respectively connected to the first manipulator claw and the second manipulator claw; the slider can move back and forth along the length direction of the picking clamp wires; during the movement of the slider, the picking clamp wires are tightened, overlapped or relaxed to pick or peel the fruit particles, and at the same time, the first manipulator claw and the second manipulator claw are opened and closed; The picking clamp wire includes a first clamp wire and a second clamp wire, one end of each of the first clamp wire and the second clamp wire is connected to the slider and passes through the wire harness seat, the other end of the first clamp wire is fixed to the first manipulator claw, and the other end of the second clamp wire is fixed to the second manipulator claw; A brush is installed at the front end below the first mechanical claw and / or the second mechanical claw, and a collection tube is installed at the rear end below the first mechanical claw and / or the second mechanical claw; the first mechanical claw and the second mechanical claw are hollow inside, and when the first mechanical claw and the second mechanical claw overlap, they form a sealed accommodating cavity together with the brush and the collection tube for collecting picked fruit particles; The picking clamps clamp the fruit stalks of the fruit ears, and the first mechanical claw and the second mechanical claw are pulled back, and the picking clamps on the first mechanical claw and the second mechanical claw can peel the fruit grains on the fruit ears.

2. The robot for picking according to claim 1, characterized in that: It also includes a first wire clamp block arranged on the sliding block for fixing one end of the picking clamp, and a second wire clamp block fixedly arranged at the ends of the first and second manipulator claws for fixing the other end of the picking clamp. The picking clamp is extended to the second wire clamp block through the first wire clamp block and the wire bundle seat in sequence.

3. The robot for picking according to claim 2, characterized in that: The manipulator housing comprises a housing body and a clamping portion disposed at an end of the housing body for mounting the first manipulator claw and the second manipulator claw; The shell body is provided with a first sliding groove, and the sliding block is slidably connected to the first sliding groove.

4. The robot for picking according to claim 3, characterized in that: It also includes a rotating shaft and a torsion spring. The first manipulator claw is rotatably connected to the manipulator housing via the rotating shaft. The torsion spring is sleeved on the rotating shaft. One end of the torsion spring is limited to the manipulator housing, and the other end of the torsion spring is limited to the first manipulator claw.

5. The robot for picking according to claim 3, characterized in that: The wire drive also includes a power drive, a drive screw and a screw sleeve. The power drive is arranged in the housing of the manipulator. The output end of the power drive is connected to the drive screw, and the screw sleeve is threadedly connected to the drive screw.

6. The robot for picking according to claim 5, characterized in that: The power drive includes a motor, a screw and a bearing seat, the screw is fastened to connect the motor housing of the motor and the manipulator housing, the bearing seat is connected to the manipulator housing, and the driving screw is rotatably connected to the bearing seat.

7. The robot for picking according to claim 1, characterized in that: The collecting pipe is a telescopic sleeve.

8. The manipulator for picking according to any one of claims 1 to 3, characterized in that: It also includes a camera and a spherical hinge, and the camera is connected to the robot housing through the spherical hinge.

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