Soft and hard integrated breaking type fruit and vegetable picking manipulator and picking robot

Abstract

The present invention relates to the technical field of agricultural machinery and equipment, and provides a soft-hard integrated snap-off type fruit and vegetable picking manipulator and a picking robot, wherein the soft-hard integrated snap-off type fruit and vegetable picking manipulator comprises: a base, a driving member and a flexible picking mechanism; the flexible picking mechanism comprises a rigid member and a flexible body, the interior of the flexible body is formed with an installation space adapted to the rigid member, and the rigid member is arranged in the installation space; the flexible body is arranged on the base, and in the direction away from the base, the thickness of the side wall of the flexible body gradually decreases, and the installation space gradually increases, and a flexible picking opening adapted to the fruits and vegetables is formed on the inner side of the flexible body; wherein the driving member is connected to the base, and the driving member is configured to drive the base to move, and then pick the fruits and vegetables located in the flexible picking opening. The soft-hard integrated snap-off type fruit and vegetable picking manipulator of the present invention can achieve full-envelope grasping of the target fruits and vegetables, and avoids the compression damage caused by local extrusion of the clamping type picking manipulator.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to a soft-hard integrated breaking type fruit and vegetable picking manipulator and a picking robot. Background Art

[0002] Fruits and vegetables are rich in nutrients and are essential for human life. Fruit and vegetable picking is a key link in the agricultural production chain. Existing fruit and vegetable picking operations are mainly completed manually, which has problems such as low efficiency, high cost, and high labor intensity.

[0003] In recent years, fruit and vegetable picking has gradually developed towards mechanical and automated picking. However, most fruits and vegetables grow in complex environments, especially fruits and vegetables with high economic value such as strawberries, blueberries, and tomatoes, which are prone to damage during picking, which places high demands on fruit and vegetable picking. As the end effector of the picking robot, the fruit and vegetable picking manipulator is the core component that directly contacts the target. Reasonable design is not only the key to ensuring picking efficiency and picking quality, but also simplifies the requirements for other subsystems of the picking robot. At present, the most common form is clamping and grasping. Due to the small contact area, clamping and grasping are difficult to stably and gently grasp fruits and vegetables with complex shapes and fragile products. Therefore, designing a picking manipulator that can achieve stable and gentle grasping is of great significance to improving the mechanical automation of fruit and vegetable picking. Summary of the invention

[0004] The present invention provides a soft-hard integrated breaking type fruit and vegetable picking manipulator and a picking robot, which are used to solve the problems of low efficiency, high cost and high labor intensity of manual picking in the prior art.

[0005] The present invention provides a soft-hard integrated breaking type fruit and vegetable picking manipulator, comprising: a base, a driving member and a flexible picking mechanism;

[0006] The flexible picking mechanism comprises a rigid part and a flexible body, an installation space adapted to the rigid part is formed inside the flexible body, and the rigid part is arranged in the installation space; the flexible body is arranged on the base, and the thickness of the side wall of the flexible body gradually decreases in the direction away from the base, and the installation space gradually increases, and a flexible picking opening adapted to fruits and vegetables is formed on the inner side surface of the flexible body; when the flexible body is evacuated, the size of the flexible picking opening gradually decreases in the direction away from the base, and when the flexible body is inflated, the size of the flexible picking opening gradually increases in the direction away from the base;

[0007] Wherein, the driving member is connected to the base, and the driving member is configured to drive the base to move, thereby picking fruits and vegetables located in the flexible picking opening.

[0008] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, the flexible body includes a plurality of flexible cavities, the plurality of flexible cavities are arranged in a circle, the rigid part includes a plurality of rigid rods, each of the flexible cavities is provided with a flexible chamber, and each of the rigid rods is arranged in the corresponding flexible chamber.

[0009] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, in the direction away from the base, the thickness of the side wall of the flexible cavity gradually decreases, the flexible cavity gradually increases, the diameter of the rigid rod gradually increases, and a gap is left between the outer periphery of the rigid rod and the inner wall of the flexible cavity.

[0010] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, a flange is provided on the outer side of each flexible cavity near the base, and the soft-hard integrated breaking type fruit and vegetable picking robot also includes a fixing part, and the flange is fixed to the base through the fixing part.

[0011] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, an air vent is arranged at the bottom of each flexible cavity, the air vent is connected with the flexible cavity, the base is provided with a plurality of first air inlet holes, and the plurality of air vents are connected with the plurality of first air inlet holes in a one-to-one correspondence.

[0012] According to the soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, one end of each flexible cavity away from the base is arranged in an arc shape.

[0013] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, the soft-hard integrated breaking type fruit and vegetable picking robot also includes an air blowing hood installed on the base, and the air blowing hood is arranged around the outer side surface of the flexible body. When the air blowing hood is ventilated, the gas can flow on the outer side surface of the flexible body in a direction away from the base.

[0014] According to the soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, the base is provided with a second air inlet hole, and the second air inlet hole is communicated with the interior of the blowing hood.

[0015] According to a soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention, the driving part includes a rotating motor, the base has a first side and a second side opposite to each other, the flexible picking mechanism is arranged on the first side, and the rotating motor is installed on the second side, wherein under the drive of the rotating motor, the base can drive the flexible picking mechanism to rotate.

[0016] The present invention provides a picking robot, comprising: a mobile platform and the above-mentioned soft-hard integrated breaking type fruit and vegetable picking manipulator, wherein the driving component is installed on the mobile platform.

[0017] The soft-hard integrated snap-off fruit and vegetable picking manipulator and picking robot provided by the present invention can achieve full-envelope grabbing of target fruits and vegetables, avoiding compression damage caused by local squeezing of the clamping picking manipulator, wherein the addition of rigid parts provides sufficient bending rigidity, so that the flexible body has bending picking rigidity. The overall size of the flexible body is small when it is contracted, but the picking opening is large when it is expanded, which can support the flexible picking mechanism to penetrate into the clustered fruits and vegetables and swallow and pick target fruits and vegetables of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 This is one of the structural schematic diagrams of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0020] Figure 2 This is the second structural schematic diagram of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0021] Figure 3 It is a cross-sectional view of the soft-hard integrated breaking type fruit and vegetable picking robot provided by the present invention.

[0022] Figure 4 This is the third structural schematic diagram of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0023] Figure 5 This is one of the schematic diagrams of the working state of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0024] Figure 6 This is the second schematic diagram of the working state of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0025] Figure 7 This is one of the picking schematic diagrams of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0026] Figure 8 This is the second picking schematic diagram of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0027] Fig. 9 This is the third picking schematic diagram of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0028] Fig.10 This is the fourth picking schematic diagram of the soft-hard integrated breaking type fruit and vegetable picking manipulator provided by the present invention.

[0029] Reference numerals:

[0030] 1. Base; 11. First air inlet; 12. Second air inlet; 2. Driving member; 3. Flexible picking mechanism; 31. Flexible body; 311. Flexible cavity; 312. Flange; 313. Flexible picking port; 32. Gap; 321. Rigid rod; 4. Blowing hood; 5. Fixing member; 51. Outer clamping ring; 52. Inner clamping ring; 6. Target fruits and vegetables; 7. Surrounding fruits and vegetables; 8. Blades. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The growing environment of fruits and vegetables is relatively complex, and is in a highly unstructured, uncertain and unknown environment. Although facility agriculture has achieved standardized operations to a certain extent, the natural growth state of crops is random and diverse, and the spatial layout of crop branches and fruits is complex, and their shapes are also complex and diverse. The picking success rate, picking efficiency, and degree of damage to fruits and branches when picking fruits and vegetables are key evaluation indicators. Therefore, when picking, the picking robot should have a high degree of adaptability to the picking objects, have less disturbance and destructiveness to the surrounding environment and fruit and vegetable objects, and be able to better cope with the fragility of the picking objects and the differences in individual shapes.

[0033] like Figure 1 , Figure 2 and Figure 4 As shown, the soft-hard integrated breaking type fruit and vegetable picking manipulator of the embodiment of the present invention comprises: a base 1, a driving member 2 and a flexible picking mechanism 3. The soft-hard integrated breaking type fruit and vegetable picking manipulator can be used for picking fruits and vegetables such as strawberries and tomatoes, which is not specifically limited here.

[0034] Among them, the flexible picking mechanism 3 includes a rigid part and a flexible body 31. The interior of the flexible body 31 is formed with an installation space adapted to the rigid part. The rigid part is arranged in the installation space. For example, the bottom of the rigid part is fixed to the bottom wall of the installation space. There is a gap between the outer periphery of the rigid part and the inner wall of the installation space. The gap can be used to fill gas, and the rigid part can move with the flexible body 31. For example, the rigid part can switch from a vertical state to an inclined state.

[0035] In addition, if Figure 5 and Figure 6 As shown, the flexible body 31 is arranged on the base 1. In the direction away from the base 1, the thickness of the side wall of the flexible body 31 gradually decreases, the installation space gradually increases, and the inner side of the flexible body 31 is formed with a flexible picking port 313 adapted to fruits and vegetables; when the flexible body 31 is evacuated, the size of the flexible picking port 313 gradually decreases in the direction away from the base 1, and when the flexible body 31 is inflated, the size of the flexible picking port 313 gradually increases in the direction away from the base 1. Exemplarily, the flexible body 31 is inflated or evacuated by an external air pump or a manual pump. When inflated, the size of the flexible picking port 313 increases to facilitate the entry of fruits and vegetables; when evacuated, the size of the picking port decreases to achieve the clamping and fixation of fruits and vegetables.

[0036] In addition, the driving member 2 is connected to the base 1 , and the driving member 2 is configured to drive the base 1 to move, thereby picking fruits and vegetables located in the flexible picking opening 313 .

[0037] In practical applications, the rigid part can be a bendable but not easy to break structure to ensure stability and durability during the picking process. The flexible body 31 is made of elastic materials such as silicone or polyurethane, and has good flexibility and sealing. An installation space adapted to the rigid part is provided inside, and an inflation / exhaust interface is designed to adjust the size of the flexible picking opening 313. The inner side of the flexible picking opening 313 is designed according to the shape of the target fruits and vegetables 6. For example, the picking opening for strawberries or tomatoes is designed as a circular or slightly elliptical opening to ensure that the fruits and vegetables can enter smoothly and are not easily damaged.

[0038] It is particularly important to point out that the upper wall thickness of the flexible body 31 is thinner than that of the lower wall thickness and has a larger installation space. This design ensures that after the positive pressure gas is filled, the upper part of the flexible body 31 expands more to squeeze each other to achieve the expansion of the swallowing-type picking opening. Correspondingly, under the negative pressure state of vacuum, the upper part of the picking opening contracts more, providing sufficient contraction force to fully wrap the target fruits and vegetables 6 while ensuring dexterity.

[0039] The following is an explanation of the picking process. Figure 7 , Figure 8 , Fig. 9 and Fig.10 As shown, firstly, the flexible body 31 is evacuated, and the swallowing-type flexible picking opening 313 is contracted to approach the target strawberry. When the flexible picking opening 313 is aligned with the fruit and vegetable, the flexible body 31 is inflated to open the picking opening, and the fruit and vegetable naturally fall into it. Then, the flexible body 31 is quickly evacuated, and the picking opening is quickly contracted to firmly fix the fruit and vegetable. The driving member 2 continues to apply a slight downward force, combined with the elasticity of the flexible body 31, to achieve the breaking-type picking of the fruit and vegetable.

[0040] In the embodiment of the present invention, the flexible picking mechanism 3 can achieve full-envelope grabbing of the target fruits and vegetables 6, avoiding compression damage caused by local squeezing of the clamping picking manipulator, wherein the addition of the rigid parts provides sufficient bending rigidity, so that the flexible body 31 has the rigidity for bending picking. The overall size of the flexible body 31 is small when it is contracted, but the picking opening is large when it is expanded, which can support the flexible picking mechanism 3 to penetrate into the clustered fruits and vegetables and swallow and pick target fruits and vegetables 6 of different sizes.

[0041] In an optional embodiment, if Figure 1 , Figure 2 and Figure 3 As shown, the flexible body 31 includes a plurality of flexible cavities 311, which are arranged in a circle, and the rigid member includes a plurality of rigid rods 321, each flexible cavity 311 is provided with a flexible chamber, and each rigid rod 321 is arranged in a corresponding flexible chamber.

[0042] Specifically, the flexible body 31 is composed of a plurality of independent flexible cavities 311, which are distributed in a circle around a central point. Each flexible cavity 311 is an independent sealing unit with an independent inflation / exhaust interface so as to individually control its expansion or contraction. The outer wall of each flexible cavity 311 is made of a highly elastic material (such as silicone or polyurethane), and a flexible chamber is formed inside. These flexible chambers expand when inflated and contract when exhausted, thereby changing their shape and size. The front end of each flexible cavity 311 (i.e., the end away from the base 1) together forms an annular flexible picking opening 313. This picking opening expands when inflated to facilitate the entry of fruits and vegetables; it shrinks when exhausted to achieve the clamping of fruits and vegetables. Among them, the shape and size of the flexible picking opening 313 can be adjusted according to the type and size of the target fruits and vegetables 6 to achieve the best picking effect.

[0043] In addition, the rigid member is composed of a plurality of rigid rods 321, each rigid rod 321 corresponding to a flexible cavity 311 in the flexible body 31. One end of each rigid rod 321 is fixed to the bottom wall of the flexible cavity, and the other end is freely suspended or connected to other structures (such as a support frame) so as to maintain its shape and position when the flexible body 31 is deformed.

[0044] In practical applications, the outer diameter of the rigid rod 321 is slightly smaller than the inner diameter of the flexible chamber, and a sufficient gap 32 is left between the rigid rod 321 and the flexible chamber to allow for gas filling.

[0045] It is particularly important to point out that each flexible cavity 311 is individually inflated or evacuated by an external air pump. Depending on the position and size of the target fruits and vegetables 6, the expansion or contraction of some flexible cavities 311 can be selectively controlled to achieve more accurate picking.

[0046] In the embodiment of the present invention, after the flexible picking opening 313 is aligned with the target fruit and vegetable 6, all the flexible cavities 311 are first inflated to expand the picking opening and guide the fruit and vegetable into it. Once the fruit and vegetable are completely wrapped in the picking opening, part or all of the flexible cavities 311 are immediately evacuated. The flexible cavity 311 will shrink and clamp the fruit and vegetable when evacuating air. Subsequently, the driving member 2 can apply a slight downward force to achieve the breaking-type picking of the fruit and vegetable.

[0047] In an optional embodiment, if Figure 3 As shown, in the direction away from the base 1, the thickness of the side wall of the flexible cavity 311 gradually decreases, the flexible cavity gradually increases, the diameter of the rigid rod 321 gradually increases, and a gap 32 is left between the outer periphery of the rigid rod 321 and the inner wall of the flexible cavity.

[0048] It should be noted that the upper wall thickness of each flexible cavity 311 is thinner than the lower wall thickness and the cavity space is larger, so that after the positive pressure gas is filled, the upper part of the single flexible cavity 311 expands more to squeeze each other to achieve the expansion of the swallowing picking mouth. Correspondingly, under the vacuum negative pressure state, the upper part of the single flexible cavity 311 shrinks more, providing sufficient shrinkage force to fully envelop the target fruits and vegetables 6 on the basis of ensuring dexterity. Among them, the rigid rod 321 is placed in an independent cavity of the flexible cavity 311, and its number can be placed according to demand. Its function is to increase the rigidity of the swallowing flexible picking mouth 313 when bending to ensure the separation of fruits and vegetables from the fruit stalk.

[0049] Exemplarily, the flexible body 31 is composed of twelve independent flexible cavities 311 that converge inward, that is, the flexible cavity 311 is tilted in the initial state, so as to ensure the convergence of the swallowing-type flexible picking mouth 313 in the normal state, reduce the overall size to improve the dexterity when picking clustered fruits and vegetables.

[0050] In an optional embodiment, if Figure 3 As shown, a flange 312 is provided on the outer side of each flexible cavity 311 near the base 1 , and the soft-hard integrated breaking type fruit and vegetable picking robot also includes a fixing member 5 , and the flange 312 is fixed to the base 1 through the fixing member 5 .

[0051] It should be noted that the fixing member 5 includes an outer pressure ring 51 and an inner pressure ring 52. The inner pressure ring 52 is pressed against the inner flange 312 of each flexible cavity 311, and the outer pressure ring 51 is pressed against the outer flange 312 of each flexible cavity 311. Exemplarily, the inner pressure ring 52, the inner flange 312 and the base 1 are fixedly connected in sequence by bolts to avoid leakage of gas inside the flexible cavity 311 during inflation and deflation.

[0052] In an optional embodiment, a vent hole is provided at the bottom of each flexible cavity 311 , the vent hole is connected to the flexible cavity, and the base 1 is provided with a plurality of first air inlet holes 11 , and the plurality of vent holes are connected to the plurality of first air inlet holes 11 in a one-to-one correspondence.

[0053] It is particularly important to point out that when a vent hole is provided at the bottom of the flexible cavity 311 , the bottom of the rigid rod 321 can extend to the inside of the first air inlet hole 11 . At this time, it is necessary to ensure that the rigid rod 321 does not block the opening of the first air inlet hole 11 .

[0054] In an optional embodiment, one end of each flexible cavity 311 away from the base 1 is arranged in an arc shape.

[0055] Specifically, the end of each flexible cavity 311 away from the base 1 (i.e., the front end or the picking end) is arc-shaped. The arc-shaped design not only conforms to the natural shape of most fruits and vegetables, such as round or oval fruits, but also provides a more uniform and softer contact force during the picking process, reducing damage to fruits and vegetables.

[0056] The radius of curvature of the arc is determined according to the average size of the target fruit and vegetable 6. For smaller fruits and vegetables (such as strawberries), the radius of curvature can be smaller; while for larger fruits and vegetables (such as tomatoes or apples), the radius of curvature should be increased accordingly. The length of the arc also needs to be adjusted according to the overall size of the picking opening and the size of the fruit and vegetable. The arc length should be long enough to ensure that the fruit and vegetable can be completely wrapped, but it should not be too long to avoid unnecessary material waste and weight increase. The arc height is the vertical distance from the lowest point to the highest point of the arc. This height should be slightly larger than the maximum diameter of the fruit and vegetable to ensure that the fruit and vegetable can enter smoothly and be clamped.

[0057] In addition, the arc portion of the flexible cavity 311 is made of highly elastic and wear-resistant materials, such as silicone or high-grade polyurethane. These materials not only have good flexibility, but also can maintain stable shape and performance during long-term use. The arc portion of the flexible cavity 311 can be manufactured by methods such as injection molding or vacuum casting. These processes can ensure the accuracy and consistency of the arc portion while improving production efficiency.

[0058] In an optional embodiment, if Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the soft-hard integrated breaking type fruit and vegetable picking robot also includes a blowing hood 4 installed on the base 1, and the blowing hood 4 is arranged around the outer side of the flexible body 31. When the blowing hood 4 is ventilated, the gas can flow on the outer side of the flexible body 31 in a direction away from the base 1.

[0059] It should be noted that the function of the blowing hood 4 is to change the outflow direction of the gas so that the gas is evenly sprayed outward along the outer surface of the flexible body 31, which can blow away obstacles such as fruit and vegetable leaves 8, making it easier for the flexible picking mouth 313 to swallow the target without being hindered by surrounding obstacles; it also prevents the picking hand from sticking to the surrounding obstacles when swallowing the target, thereby causing the position of the target that may be connected to the obstacle fruit stalk to change.

[0060] In an optional embodiment, the base 1 is provided with a second air inlet hole 12 , and the second air inlet hole 12 is communicated with the interior of the blowing hood 4 .

[0061] It should be noted that the blowing hood 4 may be provided with blowing holes, which face the outer side of the flexible body 31, so that the gas blown out of the blowing hood 4 can be uniformly ejected outward along the outer side of the flexible body 31, thereby blowing away obstacles such as fruit and vegetable leaves 8. The blowing hood 4 can be inflated by an external air pump or a manual pump.

[0062] In an optional embodiment, if Figure 1 and Figure 4 As shown, the driving member 2 includes a rotating motor, the base 1 has a first side and a second side opposite to each other, the flexible picking mechanism 3 is arranged on the first side, and the rotating motor is installed on the second side, wherein, driven by the rotating motor, the base 1 can drive the flexible picking mechanism 3 to rotate.

[0063] It should be noted that the swallowing-type flexible picking opening 313 shrinks and approaches the target fruit and vegetable 6, and then the first air inlet 11 is filled with positive pressure gas to expand the flexible picking opening 313 to swallow the target fruit and vegetable 6, and then the negative pressure is switched, and the flexible picking opening 313 shrinks to fully envelop the target fruit and vegetable 6, and finally bends under the action of the rotating motor to separate the target fruit and vegetable 6 from the fruit stalk. During this period, the second air inlet 12 is always filled with high-pressure gas and sprayed through the gap 32 between the blowing hood 4 and the outside of the flexible body 31 to blow away obstacles such as surrounding fruits and vegetables 7 and leaves 8 around the target fruit and vegetable 6.

[0064] The soft-hard integrated breaking type fruit and vegetable picking manipulator of the embodiment of the present invention, the swallowing type flexible picking port 313 is cast with flexible material, and is in flexible contact when in contact with the target fruit and vegetable 6. The fully enveloping contact mode and flexible material ensure that the target fruit and vegetable 6 is not damaged. The rigid part is placed inside the flexible body 31, which strengthens the bending rigidity of the flexible body 31, which is sufficient to support the flexible body 31 to provide sufficient bending force to separate the fruit and vegetable and the fruit handle. The opening size of the flexible picking port 313 can be changed by controlling the gas pressure. The body size is small and very flexible when the pressure is negative. The opening size is related to the pressure when the pressure is positive, and the enveloping grabbing of fruits and vegetables of different sizes can be achieved. By adjusting the appropriate gas pressure, it can be achieved that the obstacles such as the blades 8 are blown away without affecting the picking of the target fruit and vegetable 6. At the same time, the high-pressure gas uniformly ejected from the outside of the swallowing type picking port can prevent the flexible picking mechanism 3 from adhering to obstacles such as the surrounding fruit and vegetable 7 and the target fruit and vegetable 6 from adhering to obstacles such as the surrounding fruit and vegetable 7, thereby improving the swallowing success rate of the flexible picking port 313.

[0065] In addition, an embodiment of the present invention further provides a picking robot, comprising: a mobile platform and the above-mentioned soft-hard integrated breaking type fruit and vegetable picking manipulator, wherein the driving component 2 is installed on the mobile platform.

[0066] The mobile platform may include a bottom traveling mechanism, a lifting mechanism and a navigation device. The lifting mechanism is fixedly connected to the top plane of the bottom traveling mechanism, and the navigation device is fixedly connected to the front end of the bottom traveling mechanism. The bottom traveling mechanism is a guide rail traveling mechanism, and the wheels of the traveling mechanism are in close contact with the guide rails laid on the aisle, so that the picking robot can run smoothly on the guide rails. The function of the lifting mechanism is to adjust the height of the driving member 2 by lifting and lowering to achieve picking at different heights.

[0067] Specifically, since the picking robot includes the soft and hard integrated breaking type fruit and vegetable picking manipulator as described above, and the specific structure of the soft and hard integrated breaking type fruit and vegetable picking manipulator refers to the above embodiment, the picking robot shown in this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the above technical solutions, which will not be repeated here one by one.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A soft-hard integrated breaking type fruit and vegetable picking robot, characterized in that: include: A base, a driving member and a flexible picking mechanism; The flexible picking mechanism comprises a rigid part and a flexible body, an installation space adapted to the rigid part is formed inside the flexible body, and the rigid part is arranged in the installation space; the flexible body is arranged on the base, and the thickness of the side wall of the flexible body gradually decreases in the direction away from the base, and the installation space gradually increases, and a flexible picking opening adapted to fruits and vegetables is formed on the inner side surface of the flexible body; when the flexible body is evacuated, the size of the flexible picking opening gradually decreases in the direction away from the base, and when the flexible body is inflated, the size of the flexible picking opening gradually increases in the direction away from the base; Wherein, the driving member is connected to the base, and the driving member is configured to drive the base to move, thereby picking fruits and vegetables located in the flexible picking opening; The flexible body includes a plurality of independent flexible cavities, the plurality of flexible cavities are arranged in a circle around a central point, each of the flexible cavities is an independent sealing unit, and has an independent inflation and exhaust interface; the rigid member includes a plurality of rigid rods, each rigid rod corresponds to one of the flexible cavities in the flexible body, each of the flexible cavities is provided with a flexible chamber, each of the rigid rods is arranged in the corresponding flexible chamber, one end of each of the rigid rods is fixed to the bottom wall of the flexible chamber, and the other end is freely suspended or connected to a support frame; In the direction away from the base, the thickness of the side wall of the flexible cavity gradually decreases, the flexible chamber gradually increases, the diameter of the rigid rod gradually increases, and a gap is left between the outer periphery of the rigid rod and the inner wall of the flexible chamber.

2. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 1 is characterized in that: A flange is arranged on the outer side of each flexible cavity near the base, and the soft-hard integrated breaking type fruit and vegetable picking robot also includes a fixing part, and the flange is fixed to the base through the fixing part.

3. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 1, characterized in that: A vent hole is provided at the bottom of each flexible cavity, and the vent hole is communicated with the flexible chamber. The base is provided with a plurality of first air inlet holes, and the plurality of vent holes are communicated with the plurality of first air inlet holes in a one-to-one correspondence.

4. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 1, characterized in that: One end of each flexible cavity away from the base is arranged in an arc shape.

5. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 1, characterized in that: The soft-hard integrated breaking type fruit and vegetable picking robot also includes an air blowing hood installed on the base, and the air blowing hood is arranged around the outer side surface of the flexible body. When the air blowing hood is ventilated, the gas can flow on the outer side surface of the flexible body in a direction away from the base.

6. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 5, characterized in that: The base is provided with a second air inlet hole, and the second air inlet hole is communicated with the interior of the blowing hood.

7. The soft-hard integrated breaking type fruit and vegetable picking robot according to claim 1, characterized in that: The driving member includes a rotating motor, the base has a first side and a second side opposite to each other, the flexible picking mechanism is arranged on the first side, and the rotating motor is installed on the second side, wherein under the drive of the rotating motor, the base can drive the flexible picking mechanism to rotate.

8. A picking robot, characterized in that: include: A mobile platform and the soft-hard integrated breaking type fruit and vegetable picking robot as described in any one of claims 1 to 7, wherein the driving component is installed on the mobile platform.

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