Fruit and vegetable picking robot hand and picking robot

Abstract

The present application relates to the field of agricultural picking, in particular to a fruit and vegetable picking mechanical hand and a picking robot thereof, a picking steering engine drives the rotation of a rotating shaft piece, the rotating shaft piece is fixedly provided with a lower pushing lever piece and an upper pushing lever piece; the lower pushing lever piece synchronously acts with a clamping structure; a delay slot is arranged on a shearing structure, the upper pushing lever piece can swing by a certain angle in the delay slot; therefore, the shearing structure always delays the action relative to the clamping structure, that is, the clamping structure first clamps the fruit and vegetable stem, and then the shearing structure cuts off the fruit and vegetable stem from the plant; the purpose of controlling the clamping structure and the shearing structure of the picking robot by one steering engine is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural picking, in particular to a fruit and vegetable picking mechanical hand and a picking robot. BACKGROUND

[0002] The picking robot can automatically identify the position of the fruit and vegetable through vision and pick the fruit and vegetable.

[0003] The existing picking robot comprises a visual identification module, a control module, a mechanical arm, and a picking mechanical hand. The visual identification module identifies the position coordinates of the fruit and vegetable through image recognition technology. The control module obtains the coordinate information and sends instructions to control the mechanical arm and the mechanical hand to cooperate with each other, and finally the picking mechanical hand completes the picking of the target fruit and vegetable.

[0004] Specifically, the picking mechanical hand comprises a clamping structure and a shearing structure. After the clamping structure clamps the fruit and vegetable stem, the shearing structure cuts and separates the fruit and vegetable stem from the plant, and then the clamping structure harvests a single fruit and vegetable. However, the clamping structure and the shearing structure each need a separate steering engine to drive.

[0005] The present application aims to simplify the structure of the above-mentioned picking mechanical hand, reduce the steering engines of the picking mechanical hand, and thus reduce the cost. SUMMARY

[0006] The present application provides a fruit and vegetable picking mechanical hand and a picking robot, and the technical problem to be solved is how to use one steering engine to control the clamping structure and the shearing structure of the picking robot.

[0007] In order to achieve the above-mentioned application purpose, the technical scheme adopted by the present application is as follows:

[0008] In a first aspect, the fruit and vegetable picking mechanical hand comprises a mounting frame, a picking steering engine, a clamping structure, and a shearing structure.

[0009] The mounting frame is fixedly arranged;

[0010] The picking steering engine is fixedly installed on the mounting frame;

[0011] The rotating shaft is fixedly connected to the output end of the rotating shaft of the picking steering engine. The rotating shaft is fixedly provided with a lower driving rod and an upper driving rod.

[0012] The clamping structure comprises a rotating disc, a pull rod, a main swing arm, and a driven swing arm. The rotating disc, the main swing arm, and the driven swing arm are all rotatably arranged on the mounting frame. The contact surfaces of the main swing arm and the driven swing arm are gear surfaces. The two ends of the pull rod are rotatably connected to the rotating disc and the main swing arm, respectively. The clamping structure comprises two upper and lower clamping structures. The rotating shaft penetrates the rotating discs of the two clamping structures.

[0013] The clamping structure comprises the lower side of the expansion clamping structure, clamping plates; the rotating disc of the lower side of the expansion clamping structure is fixedly connected with the lower driving lever; the two clamping plates are respectively fixedly connected with the main swing arm and the driven swing arm of the lower side of the expansion clamping structure.

[0014] The shearing structure comprises the upper side of the expansion clamping structure, shearing knives, and a delay slot; the two shearing knives are respectively fixedly connected with the main swing arm and the driven swing arm of the upper side of the expansion clamping structure; the rotating disc of the upper side of the expansion clamping structure is provided with a delay slot, the upper driving lever is located in the delay slot, and the upper driving lever can swing by a certain angle in the delay slot.

[0015] In a second aspect, the fruit and vegetable picking robot comprises a picking manipulator, a visual recognition module, a control module, a mechanical arm, a vehicle frame, and a chassis system.

[0016] The vehicle frame is installed on the chassis system, and the chassis system is used for walking.

[0017] The mechanical arm is installed on the vehicle frame.

[0018] The picking manipulator is installed at the execution end of the mechanical arm.

[0019] The visual recognition module identifies the position coordinates of the fruits and vegetables through image recognition technology.

[0020] The control module acquires the coordinate information and sends an instruction to control the mechanical arm and the picking manipulator to cooperate, so that the picking manipulator finally picks the target fruits and vegetables.

[0021] Further, a collection box is used for accommodating the fruits and vegetables and is fixed with the vehicle frame.

[0022] Further, the mechanical arm comprises a fixed seat, a first servo motor, and an extension arm.

[0023] The fixed seat is fixedly connected with the vehicle frame.

[0024] The first servo motor is fixedly connected with the fixed seat.

[0025] The extension arm comprises an end and a starting end; the starting end is fixedly connected with the output shaft end of the first servo motor; the end is fixed with the picking manipulator, and the shearing knives and the clamping plates of the picking manipulator are in a horizontal state.

[0026] The end and the starting end of the extension arm are respectively an end support and a starting fixed seat.

[0027] The bridge is located between the end support and the starting fixed seat, and a first parallelogram structure is formed by the rotation connection between the bridge and the starting fixed seat through the first input rod and the second input rod, and a second parallelogram structure is formed by the rotation connection between the bridge and the end support through the driving arm and the driven arm;

[0028] In addition, the two ends of the lifting driving rod are rotationally connected with the driving arm and the starting fixed seat, respectively;

[0029] The second servo motor is used to drive the second input rod to rotate;

[0030] The third servo motor is used to drive the lifting driving rod to rotate;

[0031] The first servo motor, the second servo motor and the third servo motor are electrically connected with the control module, and the control module can control the start / stop and forward / reverse rotation of the first servo motor, the second servo motor and the third servo motor through instructions.

[0032] Further, the frame is fixedly provided with a linear driving module, and a moving part of the linear driving module is fixedly connected with the fixed seat of the mechanical arm; the linear driving module is used to drive the mechanical arm to move in the width direction of the frame.

[0033] Further, the chassis system comprises a left drive A and a right drive B;

[0034] The right drive B comprises a power structure, a fixed frame and a steering adjusting structure; the fixed frame is fixedly connected with the frame;

[0035] The fixed frame is fixedly connected with the lower part of the frame;

[0036] The steering adjusting structure comprises a main rotating plate, a steering rudder, a reverse pull rod and a steering shaft; the two vertical steering shafts are rotationally connected with the fixed frame, and a driving handle is fixedly arranged at the upper end of the steering shaft; the steering rudder is arranged between the two steering shafts and is fixedly arranged, and a main rotating plate is fixedly arranged at the output end of the steering rudder; the reverse pull rod is rotationally connected with the driving handle of the main rotating plate; during the rotation of the main rotating plate by the steering rudder by a certain angle, the two steering shafts rotate in opposite directions;

[0037] A mounting seat is fixedly arranged at the lower end of the steering shaft, and the power structure is mounted on the mounting seat;

[0038] The left drive A and the right drive B are symmetrically mounted below the frame;

[0039] The steering rudder is electrically connected with the control module, and the control module is used to control the steering rudder.

[0040] Further, specifically, the power structure includes a roller, a transmission structure, a power motor, and a main rotating shaft; the main rotating shaft is rotatably installed on the mounting seat, and the roller is installed on the main rotating shaft; the power motor is fixedly connected with the mounting seat, and the power motor drives one roller through the transmission structure.

[0041] The present application has the following advantages:

[0042] The picking steering engine 10 drives the slave rotating shaft 20 to rotate, and the slave rotating shaft 20 is fixedly provided with a lower shifting lever 21 and an upper shifting lever 22; the lower shifting lever 21 synchronously acts with the clamping structure 40; the shearing structure 50 is provided with a delay slot 52, and the upper shifting lever 22 can swing by a certain angle in the delay slot 52; therefore, the shearing structure 50 always delays the action relative to the clamping structure 40, that is, the clamping structure 40 first clamps the fruit and vegetable stem, and then the shearing structure 50 cuts the fruit and vegetable stem from the plant; the purpose of controlling the clamping structure and the shearing structure of the picking robot by one steering engine is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall structure of the mechanical hand;

[0044] Figure 2 It is a schematic diagram of the structure of the shearing structure 50 and the clamping structure 40;

[0045] Figure 3 It is a top view of the unfolding clamping structure 30;

[0046] Figure 4 It is a combined schematic diagram of the shearing structure 50 and the mounting frame 60;

[0047] Figure 5 It is a schematic diagram of the structure of the slave rotating shaft 20;

[0048] Figure 6 It is a schematic diagram of the overall structure of the picking robot;

[0049] Figure 7 It is a combined schematic diagram of the frame 80 and the chassis system 90;

[0050] Figure 8 It is a schematic diagram of the overall structure of the chassis system 90;

[0051] Figure 9 It is a schematic diagram of the overall structure of the chassis system 90;

[0052] Figure 10 It is a schematic diagram of the structure of the right side drive 900B;

[0053] Figure 11 It is a schematic diagram of the structure of the right side drive 900B;

[0054] Figure 12 is a top view of the right drive 900B;

[0055] Figure 13 is a roll posture diagram;

[0056] Figure 14 is a structure diagram of turning right;

[0057] Figure 15 is a structure diagram of turning left;

[0058] Figure 16 is a whole diagram of the mechanical arm 70;

[0059] Figure 17 is a structure principle diagram of the stretching arm 740 of the mechanical arm 70;

[0060] Figure 18 is a whole diagram of the mechanical arm 70;

[0061] Figure 19 is a whole diagram of the mechanical arm 70;

[0062] Correspondence table of reference signs:

[0063] Picking steering engine 10;

[0064] From the rotating shaft 20, the lower push rod 21, the upper push rod 22;

[0065] Exhibition clamp structure 30, rotating disc 31, pull rod 32, main swing arm 33, driven swing arm 34;

[0066] Clamping structure 40, clamping plate 41;

[0067] Shearing structure 50, shearing knife 51, delay slot 52;

[0068] Mounting bracket 60;

[0069] Mechanical arm 70, first servo motor 710, fixed seat 720, stretching arm 740, bridge piece 741, starting fixed seat 742, end support 743, drive arm 744, driven arm 745, first input rod 746, second input rod 747, lifting drive rod 748, second servo motor 750, third servo motor 760;

[0070] Frame 80, linear drive module 810;

[0071] The chassis system 90, the left drive 900A, the right drive 900B, the power structure 910, the roller 911, the transmission structure 912, the power motor 913, the main rotating shaft 914, the fixing frame 920, the steering adjusting structure 930, the main rotating plate 931, the steering steering wheel 934, the reverse pull rod 933, the steering shaft 932, the mounting seat 9321, and the driving handle 9332. DETAILED DESCRIPTION

[0072] The specific embodiments of the present application will be further described below with reference to the accompanying drawings. The same parts are denoted by the same reference numerals in the drawings.

[0073] It should be noted that the words "front", "back", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0074] In order to make the content of the present application more easily understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

[0075] In view of the prior art, the picking manipulator of the picking robot is driven by two separate steering wheels, and the price of the steering wheel is high, which causes the picking manipulator to be expensive. The present application aims to reduce the use of steering wheels by driving the clamping structure and the shearing structure with one steering wheel, and to reduce the price of the picking manipulator.

[0076] In the first aspect, referring to Figures 1 to 5 The fruit and vegetable picking manipulator comprises a mounting frame 60, a picking steering wheel 10, a clamping structure 40, and a shearing structure 50.

[0077] The mounting frame 60 is fixedly arranged.

[0078] The picking steering wheel 10 is fixedly installed on the mounting frame 60.

[0079] The rotating shaft member 20 is fixedly connected to the rotating shaft output end of the picking steering wheel 10, and the rotating shaft member 20 is fixedly arranged with a lower push rod member 21 and an upper push rod member 22.

[0080] The exhibition and clamping structure 30 comprises a rotating disc 31, a pull rod 32, a main swing arm 33, and a driven swing arm 34; the rotating disc 31, the main swing arm 33, and the driven swing arm 34 are rotationally arranged with the mounting frame 60, the contact surfaces of the main swing arm 33 and the driven swing arm 34 are gear surfaces in meshing, and the two ends of the pull rod 32 are rotationally connected with the rotating disc 31 and the main swing arm 33 respectively. It is to be noted that, in the rotating process of the rotating disc 31, the pull rod 32 will pull the main swing arm 33 to swing in a rotating manner by a certain angle, because the rotating disc 31 and the main swing arm 33 have meshing gear surfaces, the rotating main swing arm 33 will drive the driven swing arm 34 to rotate, so as to realize the same direction or reverse rotation of the main swing arm 33 and the driven swing arm 34. The exhibition and clamping structure 30 is two in total and is distributed in an upper and lower manner, namely the upper exhibition and clamping structure 30 and the lower exhibition and clamping structure 30; the rotating shaft 20 penetrates the rotating discs 31 of the two exhibition and clamping structures 30.

[0081] The clamping structure 40 comprises the lower exhibition and clamping structure 30 and clamping plates 41; the rotating disc 31 of the lower exhibition and clamping structure 30 is fixedly connected with the lower actuating rod 21, and the two clamping plates 41 are respectively fixedly connected with the main swing arm 33 and the driven swing arm 34 of the lower exhibition and clamping structure 30; that is to say, the rotating disc 31 of the lower exhibition and clamping structure 30 is synchronously rotated with the rotating shaft 20 through the lower actuating rod 21.

[0082] The shearing structure 50 comprises the upper exhibition and clamping structure 30, shearing knives 51, and a delay slot 52; the two shearing knives 51 are respectively fixedly connected with the main swing arm 33 and the driven swing arm 34 of the upper exhibition and clamping structure 30. The rotating disc 31 of the upper exhibition and clamping structure 30 is provided with a delay slot 52, the upper actuating rod 22 is located in the delay slot 52, and the upper actuating rod 22 can swing by a certain angle in the delay slot 52.

[0083] In the process of picking fruits and vegetables, the picking steering engine 10 drives the rotating shaft 20 to rotate in a forward direction, and the lower actuating rod 21 of the rotating shaft 20 synchronously drives the clamping structure 40 to act. Then, after the upper actuating rod 22 is freely rotated by a certain angle in the delay slot 52, the upper actuating rod 22 abuts against the inner wall of the delay slot 52, and then the shearing structure 50 starts to act. That is to say, the shearing structure 50 is delayed relative to the clamping structure 40. Then, the two clamping plates 41 of the clamping structure 40 first clamp the fruit and vegetable stems, and then the two shearing knives 51 of the shearing structure 50 delay to cut the fruit and vegetable stems. Finally, the lower clamping structure 40 clamps the fruits and vegetables in the form of clamping the fruit and vegetable stems.

[0084] In summary, the picking steering engine 10 drives the rotation of the rotating shaft 20, and the rotating shaft 20 is fixedly provided with a lower shifting lever 21 and an upper shifting lever 22; the lower shifting lever 21 synchronously acts with the clamping structure 40; the shearing structure 50 is provided with a delay slot 52, and the upper shifting lever 22 can swing by a certain angle in the delay slot 52; therefore, the shearing structure 50 always delays the action relative to the clamping structure 40, that is, the clamping structure 40 first clamps the fruit and vegetable stem, and then the shearing structure 50 cuts off the fruit and vegetable stem from the plant; the purpose of controlling the clamping structure and the shearing structure of the picking robot by one steering engine is achieved.

[0085] In a second aspect, the fruit and vegetable picking robot comprises the picking manipulator, a visual recognition module, a control module, a mechanical arm 70, a vehicle frame 80, and a chassis system 90.

[0086] The vehicle frame 80 is installed on the chassis system 90, and the chassis system 90 is used for walking.

[0087] The mechanical arm 70 is installed on the vehicle frame 80.

[0088] The picking manipulator is installed on the execution end of the mechanical arm 70.

[0089] The visual recognition module identifies the position coordinates of the fruit and vegetable through image recognition technology.

[0090] The control module obtains the coordinate information and sends an instruction to control the mechanical arm 70 and the picking manipulator to cooperatively act, so that the picking manipulator finally picks the target fruit and vegetable.

[0091] Further, a collection box 100 is used for accommodating the fruit and vegetable and is fixed with the vehicle frame 80.

[0092] Further, the mechanical arm comprises a fixed seat 720, a first servo motor 710, and an extension arm 740.

[0093] The fixed seat 720 is fixedly connected with the vehicle frame 80.

[0094] The first servo motor 710 is fixedly connected with the fixed seat 720.

[0095] The extension arm 740 comprises an end and a starting end; the starting end is fixedly connected with the output shaft end of the first servo motor 710, so that the extension arm 740 can rotate and further expand the working range of the extension arm 740; the end is fixed with the picking manipulator, and the shearing knife 51 and the clamping plate 41 of the picking manipulator are in a horizontal state, and the extension arm 740 is used for adjusting the distance and height of the picking manipulator.

[0096] The end and the starting end of the extension arm 740 are an end support 743 and a starting fixed seat 742, respectively.

[0097] The bridge piece 741 is located between the terminal support piece 743 and the starting fixed seat 742, and a first parallelogram structure is formed by the rotation connection between the bridge piece 741 and the starting fixed seat 742 through the first input rod 746 and the second input rod 747. The bridge piece 741 and the terminal support piece 743 form a second parallelogram structure through the rotation connection between the driving arm 744 and the driven arm 745.

[0098] In addition, the two ends of the lifting driving rod 748 are rotationally connected with the driving arm 744 and the starting fixed seat 742, respectively, and the lifting driving rod 748, the second input rod 747, the driving arm 744 and the starting fixed seat 742 also form a parallelogram.

[0099] The second servo motor 750 is used to drive the second input rod 747 to rotate. Due to the existence of the first parallelogram structure, the rotating second input rod 747 only makes the bridge piece 741 lift in space without any rotation.

[0100] The third servo motor 760 is used to drive the lifting driving rod 748 to rotate. In the second parallelogram structure, the terminal support piece 743 is opposite to the bridge piece 741. Since the bridge piece 741 does not rotate in space, when the third servo motor 760 drives the lifting driving rod 748 to rotate, the terminal support piece 743 only lifts in space without any rotation. Therefore, the shearing knife 51 and the clamping plate 41 of the picking manipulator fixedly connected with the terminal support piece 743 are always in a horizontal state.

[0101] The first servo motor 710, the second servo motor 750 and the third servo motor 760 are electrically connected with the control module. The control module can control the start / stop and forward / reverse rotation of the first servo motor 710, the second servo motor 750 and the third servo motor 760 through instructions.

[0102] The first servo motor 710 and the second servo motor 750 jointly adjust the height and distance of the terminal support piece 743 of the stretching arm 740.

[0103] Further, the vehicle frame 80 is fixedly provided with a linear driving module 810, and the moving part of the linear driving module 810 is fixedly connected with the fixed seat 720 of the mechanical arm 70. The linear driving module 810 is used to drive the mechanical arm 70 to move in the width direction of the vehicle frame 80, so as to expand the working range of the mechanical arm 70.

[0104] Further, the chassis system 90 includes a left drive 900A and a right drive 900B.

[0105] The right side drive 900B comprises a power structure 910, a fixing frame 920 and a steering adjusting structure 930; the fixing frame 920 is fixedly connected with the vehicle frame 80;

[0106] The fixing frame 920 is fixedly connected with the lower part of the vehicle frame 80;

[0107] The steering adjusting structure 930 comprises a main rotating plate 931, a steering engine 934, a reverse pull rod 933 and steering shafts 932; the two vertical steering shafts 932 are rotatably connected with the fixing frame 920, and the upper ends of the steering shafts 932 are fixedly provided with driving handles 9332; the steering engine 934 is located between the two steering shafts 932 and is fixedly arranged, and the output end of the steering engine 934 is fixedly provided with the main rotating plate 931; the reverse pull rod 933 is rotatably connected with the driving handle 9332 of the main rotating plate 931; when the steering engine 934 drives the main rotating plate 931 to rotate by a certain angle, the two steering shafts 932 rotate in opposite directions (i.e., one counterclockwise and the other clockwise).

[0108] The lower ends of the steering shafts 932 are fixedly provided with mounting seats 9321, and the power structure 910 is mounted on the mounting seats 9321. Specifically, the power structure 910 comprises rollers 911, a transmission structure 912, a power motor 913 and a main rotating shaft 914; the main rotating shaft 914 is rotatably mounted on the mounting seat 9321, and the rollers 911 are mounted on the main rotating shaft 914; the power motor 913 is fixedly connected with the mounting seat 9321, and the power motor 913 drives one roller 911 through the transmission structure 912.

[0109] The left side drive 900A and the right side drive 900B are symmetrically mounted on the lower part of the vehicle frame 80.

[0110] The steering engine 934 is electrically connected with a control module, and the control module is used to control the steering engine 934.

[0111] Referring to Figure 13 , Figure 14 , Figure 15 respectively show the posture of the trolley rotating in place and turning left and right, wherein the four rollers can adjust the direction of the rollers through the steering engine 934, and each roller has an independent driving system, so that the turning radius of the trolley is small.

[0112] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fruit and vegetable picking robot, characterized in that, The picking manipulator, the visual recognition module, the control module, the mechanical arm, the frame, and the chassis system are included. The fruit and vegetable picking manipulator comprises a mounting frame, a picking steering engine, a clamping structure, and a shearing structure. The mounting frame is fixedly arranged. The picking steering engine is fixedly arranged on the mounting frame. The rotating shaft is fixedly connected to the output end of the rotating shaft of the picking steering engine. The rotating shaft is fixedly arranged with a lower push rod and an upper push rod. The clamping structure comprises a rotating disc, a pull rod, a main swing arm, and a driven swing arm. The rotating disc, the main swing arm, and the driven swing arm are rotatably arranged on the mounting frame. The contact surfaces of the main swing arm and the driven swing arm are gear surfaces. The two ends of the pull rod are rotatably connected to the rotating disc and the main swing arm. The clamping structure comprises two upper and lower clamping structures. The rotating disc of the lower clamping structure is fixedly connected to the lower push rod. The two clamping plates are fixedly connected to the main swing arm and the driven swing arm of the lower clamping structure. The shearing structure comprises an upper clamping structure, a shearing knife, and a delay slot. The two shearing knives are fixedly connected to the main swing arm and the driven swing arm of the upper clamping structure. The rotating disc of the upper clamping structure is provided with a delay slot. The upper push rod is located in the delay slot and can swing by a certain angle in the delay slot. The frame is arranged on the chassis system. The chassis system is used for walking. The mechanical arm is arranged on the frame. The picking manipulator is arranged on the execution end of the mechanical arm. The visual recognition module identifies the position coordinates of the fruits and vegetables through image recognition technology. The control module obtains the coordinate information and sends a control instruction to control the mechanical arm and the picking manipulator to cooperate and finally pick the target fruits and vegetables. The mechanical arm comprises a fixed seat, a first servo motor, and an extension arm. The fixed seat is fixedly connected to the frame. The first servo motor is fixedly connected to the fixed seat. The extension arm comprises an end and a starting end. The end is fixedly connected to the output shaft end of the first servo motor. The end of the picking manipulator is fixed, and the shearing knife and the clamping plate of the picking manipulator are in a horizontal state. The end and the starting end of the extension arm are respectively an end support and a starting fixed seat. The bridge piece is located between the end support and the starting fixed seat. The bridge piece and the starting fixed seat are rotatably connected by a first input rod and a second input rod to form a first parallelogram structure. The bridge piece and the end support are rotatably connected by a driving wall and a driven arm to form a second parallelogram structure. In addition, the two ends of the lifting driving rod are rotatably connected to the driving wall and the starting fixed seat. The second servo motor is used to drive the second input rod to rotate. The third servo motor is used to drive the lifting driving rod to rotate.

2. The fruit and vegetable picking robot according to claim 1, wherein a collection box is arranged on the frame to collect the fruits and vegetables.

3. The fruit and vegetable picking robot according to claim 1, wherein The frame is fixedly provided with a linear driving module, a moving part of the linear driving module is fixedly connected with a fixed seat of the mechanical arm; the linear driving module is used to drive the mechanical arm to move in the width direction of the frame.

4. The fruit and vegetable picking robot according to claim 3, characterized in that, The chassis system comprises a left side drive and a right side drive; The right side drive comprises a power structure, a fixed frame and a steering adjusting structure; the fixed frame is fixedly connected with the frame; The fixed frame is fixedly connected with the lower part of the frame; The steering adjusting structure comprises a main rotating plate, a steering steering engine, a reverse pull rod and a steering shaft; the two vertical steering shafts are rotatably connected with the fixed frame, and the upper end of the steering shaft is fixedly provided with a driving handle; the steering steering engine is located between the two steering shafts and is fixedly arranged, and the output end of the steering steering engine is fixedly provided with the main rotating plate; the reverse pull rod is rotatably connected with the driving handle of the main rotating plate; during the process that the steering steering engine drives the main rotating plate to rotate by a certain angle, the two steering shafts rotate in opposite directions; The lower end of the steering shaft is fixedly provided with a mounting seat, and the power structure is mounted on the mounting seat; The left side drive and the right side drive are symmetrically mounted on the lower part of the frame; The steering steering engine is electrically connected with a control module, and the control module is used to control the steering steering engine.

5. The fruit and vegetable picking robot according to claim 4, characterized in that, Specifically, the power structure comprises a roller, a transmission structure, a power motor and a main rotating shaft; the main rotating shaft is rotatably mounted on the mounting seat, and the roller is mounted on the main rotating shaft; the power motor is fixedly connected with the mounting seat, and the power motor drives one roller through the transmission structure.

6. The fruit and vegetable picking robot according to claim 1, characterized in that, The first servo motor, the second servo motor and the third servo motor are electrically connected with a control module, and the control module can control the start / stop and forward / reverse rotation of the first servo motor, the second servo motor and the third servo motor through instructions.

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