A cherry tomato picking robot

Abstract

The invention discloses a cherry tomato picking manipulator, and the invention relates to the technical field of cherry tomato picking. The cherry tomato picking manipulator comprises a mobile bearing platform, a longitudinal slide fixedly connected to the upper end surface of the mobile bearing platform, and an electric slider slidably connected to the longitudinal slide. A combination picking claw for reducing the pulling force when picking cherry tomatoes and thus reducing the falling of cherry tomatoes is installed on the upper right end surface of the electric slider. The combination picking claw comprises an electric telescopic rod fixedly connected to the right end surface of the electric slider, an inner claw part arranged on the outer claw part for clamping the cherry tomatoes in multiple directions and moving them for picking, and a cutting part arranged between the outer claw part and the inner claw part for automatically cutting off the fruit stalk. The invention reduces the shaking of the fruit tree by automatically clamping the fruit stalk and limiting it before picking it during the picking process of the combination picking claw, thereby effectively reducing the accidental falling of the cherry tomatoes, and at the same time, it also ensures the integrity of the fruit after picking, and improves the picking quality of the fruit.

Description

Technical Field

[0001] The invention relates to the technical field of cherry tomato picking, in particular to a cherry tomato picking manipulator. Background Art

[0002] Cherry tomatoes, also known as cherry tomatoes and small tomatoes, are a variety of tomatoes. They are a relatively easy-to-grow fruit with strong adaptability and can grow well in a warm, sunny environment. The plants can climb and the fruits often grow in clusters on the branches of the plants. Picking cherry tomatoes is an important link in the production chain, which directly affects the quality and commercial value of the fruit. The main goal of picking is to maintain the integrity and freshness of the fruit as much as possible to meet the different needs of the market. The timing and method of picking will affect the storage period, transportation tolerance and appearance quality of the fruit.

[0003] Picking cherry tomatoes is a relatively delicate task, and it is usually necessary to avoid squeezing and damaging the fruit. In the process of picking cherry tomatoes, manual picking and mechanized picking can be used. For large-scale picking, picking robots are usually used. Most of the existing robot picking methods are to first open the jaws to clamp the cherry tomatoes, then rotate to twist and deform the fruit stalks, and finally pull the cherry tomatoes outward to pick them off. However, this picking method will also cause the fruit trees to shake during the pulling process. The shaking of the fruit trees causes some mature cherry tomatoes to fall naturally to the ground, which not only increases the subsequent steps of picking up and collecting them again, but also easily causes damage to the cherry tomatoes.

[0004] In addition, for cherry tomatoes that need to be stored for a long time or transported over long distances, the stalks need to be retained when picking, because the stalks can prevent the fruit from direct contact with the outside world, reduce the loss of water in the pulp, help maintain the freshness and hardness of the fruit, and extend the shelf life. The stalks can also reduce the risk of mechanical or collision damage to the fruit itself, especially when packaging and transporting after picking. The stalks act as a buffer protective layer to prevent the peel from cracking or being squeezed. However, the existing picking method of pulling by picking robots can easily separate the fruit from the stalks, thereby affecting the quality of the picked cherry tomatoes. Summary of the invention

[0005] The present invention provides a cherry tomato picking robot, which solves the technical problem that the existing robot picking method clamps the cherry tomatoes with claws, then rotates and twists the fruit stalks, and finally pulls the fruits outwards. However, this pulling and picking method will cause the fruit trees to shake, which will cause the ripe fruits to fall off naturally, increase the difficulty of collection and easily damage the fruits. In addition, for cherry tomatoes that need to retain the fruit stalks, the existing method often separates the fruits from the fruit stalks, affecting the preservation effect and transportation quality, and weakening the protection function of the fruits.

[0006] The present invention provides a cherry tomato picking robot, comprising a movable supporting platform, a longitudinal slide seat fixedly connected to the upper end surface of the movable supporting platform, and an electric slider slidably connected to the longitudinal slide seat, wherein a combined picking claw for reducing the pulling force when picking cherry tomatoes and thus reducing the falling of cherry tomatoes is installed on the upper right end surface of the electric slider, the combined picking claw comprises an electric telescopic rod fixedly connected to the right end surface of the electric slider, a mounting tube fixedly connected to the right end of the electric telescopic rod, an outer claw portion arranged on the mounting tube for clamping and limiting the fruit stalk when picking, an inner claw portion arranged on the outer claw portion for clamping the cherry tomatoes in multiple directions and moving them for picking, and a cutting portion arranged between the outer claw portion and the inner claw portion for automatically cutting off the fruit stalk, and a material receiving mechanism for automatically collecting the cherry tomatoes that fall during the picking process is installed between the electric slider and the combined picking claw and below the combined picking claw.

[0007] In a possible implementation, the outer claw portion includes a plurality of outer claw rods equidistantly hinged to the circumferential outer wall of the mounting cylinder through lugs, a folding rod fixedly connected to the right end of the outer claw rod, and an arc-shaped clamping plate fixedly connected to one end of the folding rod close to each other.

[0008] In one possible implementation, the inner claw portion includes a slide groove opened on the side of the outer claw rod close to the axis of the mounting tube, an inner claw rod slidably connected to the slide groove, an electric slide column slidably connected to the mounting tube, and a connecting rod hinged between the inner claw rod and the electric slide column. The inner claw rod is fixedly connected to an elastic arc sleeve column on the side away from the outer claw rod through a connecting column, and two self-adjusting resistance components for limiting the left side of the cherry tomato are symmetrically arranged between each corresponding inner claw rod and the outer claw rod.

[0009] In one possible implementation, the self-adjusting resistance assembly includes a sliding groove provided on the side end face of the inner claw rod, a sliding block slidably connected in the sliding groove, a limit spring jointly arranged between the sliding block and the sliding groove, an elastic top plate fixedly connected to the lower end face of the sliding block by a connecting rod, and a pulling member arranged on the inner claw rod for driving the sliding block to move so as to make the elastic top plate contact the outside of the cherry tomato.

[0010] In one possible implementation, the pulling member includes a No. 1 gear rotatably connected to the side end face of the inner claw rod, a No. 1 rack fixedly connected to the outer claw rod and meshing with the No. 1 gear, a rotating shaft fixedly connected to the center of the No. 1 gear away from the inner claw rod, two C-shaped frames symmetrically fixedly connected to the outside of the rotating shaft through spring telescopic columns, a winding ring sleeved on the outside of the two C-shaped frames, a No. 1 cable wound and fixedly connected to the outside of the winding ring, and a rope column rotatably connected to the side of the sliding block away from the sliding groove, the end of the No. 1 cable away from the winding ring passes through the outer wall of the rope column and is fixedly connected to the inner claw rod through the fixed block.

[0011] In one possible implementation, the cutting portion includes a mounting frame fixedly connected to the side of the vertical section of the folding rod close to the outer claw rod, a sliding rod slidably connected to the mounting frame, a return spring fixedly connected between the sliding rod and the mounting frame, a cutter fixedly connected to the side of the sliding rod close to the axis of the mounting cylinder, a No. 2 rack fixedly connected to the outer wall of the sliding rod, a No. 2 gear rotatably connected to the mounting frame and meshing with the No. 2 rack, an annular groove provided on the outer wall of the No. 2 gear, and a No. 2 cable wound and fixedly connected in the annular groove, a plurality of guide strips are fixedly connected to the folding rod, and an end of the No. 2 cable away from the No. 2 gear slides through the guide strip and is fixedly connected to the right end face of the inner claw rod.

[0012] In one possible implementation, the material receiving mechanism includes an L-shaped rod fixedly connected to the lower portion of the outer wall of the mounting tube, a ring fixedly connected to the right end of the transverse section of the L-shaped rod, a column rod rotatably connected in the ring, an arc-shaped handle fixedly connected to the outside of the column rod, and a material receiving concave plate fixedly connected to the upper end of the arc-shaped handle, and the electric slider is provided with a flipping component for controlling the flipping of the material receiving concave plate to facilitate the catching and pouring of cherry tomatoes.

[0013] In one possible implementation, the flip assembly includes a rectangular plate fixedly connected to the right end face of the electric slider through a fixing rod, a transverse groove is provided on the upper part of the front end face of the rectangular plate, a column rod is slidably connected in the transverse groove, a guide groove is provided on the lower part of the front end face of the rectangular plate, the guide groove is composed of two transverse segment grooves at different levels and an inclined groove connected at the proximal ends of the two transverse segment grooves, and the outside of the arc handle is fixedly connected to a guided column slidably set in the guide groove through a connecting strip.

[0014] It can be seen from the above technical solutions that the present invention has the following advantages.

[0015] In the present invention, the combination of picking claws can automatically clamp the fruit stalks and limit them before picking them during the picking process, thereby reducing the shaking of the fruit tree, thereby effectively reducing the accidental falling of cherry tomatoes, and automatically collecting a small amount of fallen fruits through the linkage with the material receiving mechanism during picking, thereby avoiding the damage of fruits and additional manual picking steps, thereby improving the picking quality of fruits.

[0016] In the present invention, the cutting part automatically cuts off the fruit stalk clamped during picking, so as to avoid the separation of the fruit stalk and the fruit due to pulling, thereby ensuring that the picked cherry tomatoes are with the fruit stalk, thereby maintaining the integrity of the fruit, and further helping to extend the shelf life of the fruit, and ensuring the quality of the cherry tomatoes after picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of the structure of the cherry tomato picking robot provided by the present invention.

[0019] Figure 2 This is a schematic diagram of the overall structure of the combined claw removal device provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the structure of the combined claw removing part provided by the present invention.

[0021] Figure 4 The present invention provides Figure 3 Schematic diagram of the enlarged structure of part A in the figure.

[0022] Figure 5 This is a schematic diagram of the installation structure of the cutting part provided by the present invention.

[0023] Figure 6 The present invention provides Figure 5 Schematic diagram of the enlarged structure of part B.

[0024] Figure 7 This is a partial structural schematic diagram of the cutting portion provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the installation structure of the material receiving mechanism provided by the present invention.

[0026] Fig. 9 This is a partial structural schematic diagram of the material receiving mechanism provided by the present invention.

[0027] Among them, the above drawings include the following figure marks.

[0028] 1. Mobile bearing platform; 2. Vertical sliding seat; 3. Electric slider; 4. Combined claw; 41. Electric telescopic rod; 42. Mounting tube; 43. External claw; 431. External claw rod; 432. Folding rod; 433. Arc splint; 44. Internal claw; 441. Slide groove; 442. Internal claw rod; 443. Electric slide column; 444. Connecting rod; 445. Elastic arc sleeve column; 446. Self-adjusting resistance assembly; 4461. Sliding groove; 4462. Sliding block; 4463. Limit spring; 4464. Elastic top plate; 4465. Pulling member; 44651. No. 1 gear; 44652. No. 1 rack; 4 4653, rotating shaft; 44654, C-shaped frame; 44655, winding ring; 44656, rope column; 44657, No. 1 cable; 45, cutting part; 451, mounting frame; 452, sliding rod; 453, return spring; 454, cutting knife; 455, No. 2 rack; 456, No. 2 gear; 457, annular groove; 458, No. 2 cable; 459, guide strip plate; 5, material receiving mechanism; 51, L-shaped rod; 52, circular ring; 53, column rod; 54, arc handle; 55, material receiving concave plate; 56, flip assembly; 561, rectangular plate; 562, transverse groove; 563, guide groove; 564, guided column. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0030] See also Figure 1 , Figure 2 and Figure 3The present invention provides a technical solution: a cherry tomato picking manipulator, comprising a mobile bearing platform 1, a longitudinal slide 2 fixedly connected to the upper end surface of the mobile bearing platform 1, and an electric slider 3 slidably connected to the longitudinal slide 2, a combined picking claw 4 for reducing the pulling force when picking cherry tomatoes and thus reducing the falling of cherry tomatoes is installed on the upper right end surface of the electric slider 3, and the combined picking claw 4 comprises an electric telescopic rod 41 fixedly connected to the right end surface of the electric slider 3, and a mounting tube fixedly connected to the right end of the electric telescopic rod 41. 42, an outer claw portion 43 arranged on the mounting tube 42 for clamping and limiting the fruit stem when picking, an inner claw portion 44 arranged between the mounting tube 42 and the outer claw portion 43 for clamping the cherry tomatoes in multiple directions and moving them for picking, and a cutting portion 45 arranged between the outer claw portion 43 and the inner claw portion 44 for automatically cutting off the fruit stem, a receiving mechanism 5 for automatically collecting the cherry tomatoes dropped during the picking process is installed between the electric slider 3 and the combined picking claw 4 and below the combined picking claw 4.

[0031] See also Figure 2 and Figure 3 The outer claw portion 43 includes a plurality of outer claw rods 431 which are equidistantly hinged on the circumferential outer wall of the mounting tube 42 through lugs, a folding rod 432 which is fixedly connected to the right end of the outer claw rod 431, and an arc-shaped clamping plate 433 which is fixedly connected to one end of the folding rod 432 which is close to each other. The inner claw portion 44 includes a sliding groove 441 which is opened on the side of the outer claw rod 431 close to the axis of the mounting tube 42, an inner claw rod 442 which is slidably connected in the sliding groove 441, an electric sliding column 443 which is slidably connected in the mounting tube 42, and a connecting rod 444 which is jointly hinged between the inner claw rod 442 and the electric sliding column 443. The side of the inner claw rod 442 away from the outer claw rod 431 is fixedly connected with an elastic arc-shaped sleeve column 445 through a connecting column, and two self-adjusting resistance components 446 for resisting and limiting the left part of the cherry tomatoes are symmetrically arranged between each corresponding inner claw rod 442 and the outer claw rod 431.

[0032] See also Figure 3 , Figure 5 , Figure 6 and Figure 7The cutting portion 45 includes a mounting frame 451 fixedly connected to the vertical section of the folding rod 432 near the side of the outer claw rod 431, a sliding rod 452 slidably connected in the mounting frame 451, a return spring 453 fixedly connected between the sliding rod 452 and the mounting frame 451, a cutter 454 fixedly connected to the side of the sliding rod 452 near the axis of the mounting tube 42, a No. 2 rack 455 fixedly connected to the outer wall of the sliding rod 452, a No. 2 gear 456 rotatably connected in the mounting frame 451 and meshing with the No. 2 rack 455, an annular groove 457 provided on the outer wall of the No. 2 gear 456, and a No. 2 cable 458 wound and fixedly connected in the annular groove 457, a plurality of guide strips 459 are fixedly connected to the folding rod 432, and the end of the No. 2 cable 458 away from the No. 2 gear 456 slides through the guide strip 459 and is fixedly connected to the right end surface of the inner claw rod 442.

[0033] First, control the mobile carrier 1 to move to the position of the cherry tomato tree to be picked, then control the outer claw rod 431 to rotate and open around the lug, and the outer claw rod 431 will also drive the inner claw rod 442 to rotate synchronously, then control the electric telescopic rod 41 to extend and push the installation cylinder 42 to move toward the cherry tomatoes, and the installation cylinder 42 then drives the outer claw rod 431 to move synchronously until the outer claw rod 431 moves to the position where it is sleeved on the outside of the cherry tomatoes, and then control the outer claw rod 431 to reverse and close around the lug, gradually wrapping the cherry tomatoes. The outer claw rod 431, after being fully retracted, drives the arc-shaped clamp to clamp the outside of the fruit stem through the folding rod 432, tightly clamping the fruit stem, and then controls the electric slide column 443 to move to the left, and the electric slide column 443 then pulls the inner claw rod 442 to move left through the connecting rod 444. During the movement of the inner claw rod 442 to the left, the self-adjusting resistance component 446 is triggered to operate, so that the self-adjusting resistance component 446 is in contact with the outside of the cherry tomato from the left, and at the same time, the inner claw rod 442 drives the elastic arc-shaped sleeve column 445 to contact the right part of the cherry tomato.

[0034] When the inner claw rod 442 moves to the left, it pulls the No. 2 cable 458 to gradually tighten, and the No. 2 cable 458 then pulls the No. 2 gear 456 to rotate, and the No. 2 gear 456 then drives the slide bar 452 to move through the No. 2 rack 455, and the slide bar 452 then drives the cutter 454 to move toward the clamped fruit stalk, and the cutter 454 cuts the fruit stalk. Finally, the self-adjusting resistance component 446 and the elastic arc sleeve column 445 that abut against the outside of the cherry tomato drive the cherry to move to the left, so that the cherry tomatoes can be picked while retaining the fruit stalk. At the same time, since the fruit stalk is clamped, the fruit tree is prevented from shaking due to pulling, thereby reducing the number of remaining cherry tomatoes falling due to shaking. After the cherry tomatoes are picked, the outer claw rod 431 is controlled to open slightly outward, thereby driving the arc splint to separate from the fruit stalk.

[0035] See also Figure 3 and Figure 4 In this embodiment, the self-adjusting resistance assembly 446 includes a sliding groove 4461 provided on the side end surface of the inner claw rod 442, a sliding block 4462 slidably connected to the sliding groove 4461, a limit spring 4463 jointly arranged between the sliding block 4462 and the sliding groove 4461, an elastic top plate 4464 fixedly connected to the lower end surface of the sliding block 4462 through a connecting rod, and a pulling member 4465 arranged on the inner claw rod 442 for driving the sliding block 4462 to move so as to make the elastic top plate 4464 contact the outside of the cherry tomato, the pulling member 4465 includes a No. 1 gear 44651 rotatably connected to the side end surface of the inner claw rod 442, a No. 1 gear 44651 fixedly connected to the outer claw rod 431 and No. 1 gear Rack No. 1 44652 meshing with gear 44651, a rotating shaft 44653 fixedly connected to the center part of the circle on the side of gear No. 1 44651 away from the inner claw rod 442, two C-shaped frames 44654 symmetrically fixedly connected to the outside of the rotating shaft 44653 through spring telescopic columns, a reel 44655 sleeved on the outside of the two C-shaped frames 44654, a No. 1 cable 44657 wound and fixedly connected to the outside of the reel 44655, and a rope column 44656 rotatably connected to the sliding block 4462 away from the sliding groove 4461, one end of the No. 1 cable 44657 away from the reel 44655 passes through the outer wall of the rope column 44656 and is fixedly connected to the inner claw rod 442 through a fixed block.

[0036] When the inner claw rod 442 moves to the left to trigger the operation of the self-adjusting resistance assembly 446: the inner claw rod 442 drives the No. 1 gear 44651 to move horizontally synchronously, and the No. 1 gear 44651 then moves on the No. 1 rack 44652 and is driven to rotate, and the No. 1 gear 44651 then drives the spring telescopic column to rotate through the rotating shaft 44653, and the spring telescopic column then drives the reel 44655 to rotate through the C-shaped frame 44654 that tightly contacts the inner wall of the reel 44655 (the friction between the spring telescopic column and the C-shaped frame 44654 that contacts the reel 44655 is utilized, so that the No. 1 gear 44651 can drive the reel 44655 to rotate synchronously when it initially rotates), the reel 44655 rotates to wind up the No. 1 cable 44657, and the continuously shortened No. 1 cable 44657 is then driven by pulling the rope column 44656 The sliding block 4462 slides toward the right side, and the sliding block 4462 then drives the elastic top plate 4464 to move through the connecting rod until the elastic top plate 4464 abuts against the left part of the cherry tomato. At this time, the elastic arc sleeve column 445 abuts against the right part of the cherry tomato. Then the elastic top plate 4464 and the elastic arc sleeve column 445 start to push the cherry tomatoes to the left from multiple points to facilitate picking. After the elastic top plate 4464 abuts against the cherry tomatoes, the elastic top plate 4464 will stop moving due to the resistance of the cherry tomatoes. At this time, the reel 44655 stops rotating, and the No. 1 gear 44651 continues to rotate to drive the C-shaped frame 44654 to rotate synchronously, so that at this time, the rotating force of the C-shaped frame 44654 is greater than the friction between the C-shaped frame 44654 and the reel 44655, that is, the C-shaped frame 44654 changes to a motion state of idling sliding on the inner wall of the reel 44655.

[0037] See also Figure 1 , Figure 8 and Fig. 9 In this embodiment, the material receiving mechanism 5 includes an L-shaped rod 51 fixedly connected to the lower part of the outer wall of the mounting cylinder 42, a ring 52 fixedly connected to the right end of the transverse section of the L-shaped rod 51, a column 53 rotatably connected to the ring 52, an arc handle 54 fixedly connected to the outside of the column 53, and a material receiving concave plate 55 fixedly connected to the upper end of the arc handle 54. The electric slider 3 is provided with a turning component 56 for controlling the turning of the material receiving concave plate 55 so as to catch and pour out the cherry tomatoes. The turning component 56 includes A rectangular plate 561 is fixedly connected to the right end face of the electric slider 3 through a fixing rod, a transverse groove 562 is provided on the upper front end face of the rectangular plate 561, a column rod 53 is slidably connected in the transverse groove 562, a guide groove 563 is provided on the lower front end face of the rectangular plate 561, the guide groove 563 consists of two transverse section grooves at different levels and an inclined groove connecting the proximal ends of the two transverse section grooves, and the outside of the arc handle 54 is fixedly connected to a guided column 564 slidably set in the guide groove 563 through a connecting strip.

[0038] First, place the external collecting box directly under the arc handle 54, and the mounting tube 42 moves toward the cherry tomatoes. During the picking process, the L-shaped rod 51 will be driven to move synchronously, and the L-shaped rod 51 then drives the column rod 53 to slide in the transverse groove 562 through the circular ring 52. The column rod 53 also drives the arc handle 54 to move horizontally. The arc handle 54 then drives the receiving concave plate 55 to move horizontally. The arc handle 54 also drives the guided column 564 to move horizontally through the connecting strip. When the guided column 564 moves to the inclined groove in the guide groove 563, it will be squeezed and moved upward, and then the arc handle 54 will be pushed to rotate around the column rod 53. When the guided column 564 moves to the horizontal section groove located at a high position in the guide groove 563, the receiving concave plate 55 becomes horizontal, that is, it is located directly below the combined picking claws 4, so that the cherry tomatoes that fall during the picking process can be received.

[0039] After the combined picking claw 4 moves to the left to pick the cherry tomatoes, the mounting tube 42 drives the L-shaped rod 51 to move left synchronously, and the L-shaped rod 51 then drives the arc handle 54 to move left through the ring 52 and the column rod 53. During the movement of the arc handle 54 to the left, the guided column 564 is driven to move left in the guide groove 563, and then the guided column 564 slides into the inclined groove in the guide groove 563. The guided column 564 moves to the left and enters the inclined groove of the guide groove 563. It will continue to move downward during the sliding process, and then drive the arc handle 54 to rotate around the column rod 53, so that the receiving concave plate 55 gradually tilts to the left. The tilted receiving concave plate 55 makes the cherry tomatoes caught after falling roll downward along the inclined surface, and finally fall into the collection box prepared in advance, so that a very small part of the cherry tomatoes that fall during the picking process can be automatically caught and collected.

[0040] During operation, firstly control the mobile supporting platform 1 to move to the position of the cherry tomato tree to be picked, then control the electric slider 3 to move up according to the height of the cherry tomatoes, drive the combined picking claws 4 to move to a suitable position, then control the combined picking claws 4 to operate, the combined picking claws 4 first clamp the fruit stalks of the cherry tomatoes, then cut off the fruit stalks, and then pull the cherry tomatoes to drive the retained fruit stalks to move synchronously, thereby completing the picking of the cherry tomatoes, while the fruit stalks can be retained during the picking process, the shaking of the fruit tree caused by pulling the fruits is avoided, and the number of ripe cherry tomatoes falling is reduced, while the combined picking claws 4 are running, they drive the receiving mechanism 5 to operate synchronously, and the receiving mechanism 5 catches some of the cherry tomatoes that fall during the picking process and then automatically collects them together.

[0041] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 limiting the present invention.

[0042] In addition, the terms "first", "second", "number one", "number two" 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, the features defined as "first", "second", "number one", "number two" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A cherry tomato picking robot, comprising a mobile bearing platform (1), a longitudinal slide (2) fixedly connected to the upper end surface of the mobile bearing platform (1), and an electric slider (3) slidably connected to the longitudinal slide (2), characterized in that: The upper portion of the right end surface of the electric slider (3) is provided with a combined picking claw (4) for reducing the pulling force when picking cherry tomatoes, thereby reducing the falling of cherry tomatoes; The combined claw removal device (4) comprises: An electric telescopic rod (41) fixedly connected to the right end surface of the electric slider (3), a mounting tube (42) fixedly connected to the right end of the electric telescopic rod (41), an outer claw portion (43) arranged on the mounting tube (42) for clamping and limiting the position of the fruit stem when picking, an inner claw portion (44) arranged on the outer claw portion (43) for clamping the cherry tomatoes in multiple directions and moving them for picking, and a cutting portion (45) arranged between the outer claw portion (43) and the inner claw portion (44) for automatically cutting off the fruit stem; A material receiving mechanism (5) for automatically collecting cherry tomatoes that fall during the picking process is installed between the electric slider (3) and the combined picking claw (4) and below the combined picking claw (4); The outer claw portion (43) comprises a plurality of outer claw rods (431) equidistantly hinged to the outer circumferential wall of the mounting tube (42) through lugs, a folding rod (432) fixedly connected to the right end of the outer claw rod (431), and an arc-shaped clamping plate (433) fixedly connected to one end of the folding rod (432) close to each other; The inner claw portion (44) includes a slide groove (441) opened on the side of the outer claw rod (431) close to the axis of the mounting tube (42), an inner claw rod (442) slidably connected to the slide groove (441), an electric slide column (443) slidably connected to the mounting tube (42), and a connecting rod (444) hinged between the inner claw rod (442) and the electric slide column (443). The inner claw rod (442) is fixedly connected to an elastic arc sleeve column (445) on the side away from the outer claw rod (431) through a connecting column. Two self-adjusting resistance components (446) for resisting and limiting the left part of the cherry tomato are symmetrically arranged between each corresponding inner claw rod (442) and the outer claw rod (431).

2. A cherry tomato picking robot according to claim 1, characterized in that: The self-adjusting resistance assembly (446) comprises a sliding groove (4461) provided on the side end surface of the inner claw rod (442), a sliding block (4462) slidably connected in the sliding groove (4461), a limit spring (4463) jointly arranged between the sliding block (4462) and the sliding groove (4461), an elastic top plate (4464) fixedly connected to the lower end surface of the sliding block (4462) via a connecting rod, and a pulling member (4465) arranged on the inner claw rod (442) for driving the sliding block (4462) to move so as to make the elastic top plate (4464) contact the outside of the cherry tomato.

3. A cherry tomato picking robot according to claim 2, characterized in that: The pulling member (4465) comprises a first gear (44651) rotatably connected to the side end surface of the inner claw rod (442), a first rack (44652) fixedly connected to the outer claw rod (431) and meshing with the first gear (44651), a rotating shaft (44653) fixedly connected to the center of the circle of the first gear (44651) away from the inner claw rod (442), and two C-shaped frames (44654) symmetrically fixedly connected to the outside of the rotating shaft (44653) through spring telescopic columns. ), a reel (44655) sleeved on the outside of the two C-shaped frames (44654), a No. 1 pull rope (44657) wound and fixedly connected to the outside of the reel (44655), and a rope column (44656) rotatably connected to the sliding block (4462) on the side away from the sliding groove (4461), the end of the No. 1 pull rope (44657) away from the reel (44655) passes through the outer wall of the rope column (44656) and is fixedly connected to the inner claw rod (442) through the fixing block.

4. The cherry tomato picking robot according to claim 1, characterized in that: The cutting portion (45) comprises a mounting frame (451) fixedly connected to a side of a vertical section of the folding rod (432) close to the outer claw rod (431), a sliding rod (452) slidably connected to the mounting frame (451), a return spring (453) fixedly connected between the sliding rod (452) and the mounting frame (451), a cutting knife (454) fixedly connected to a side of the sliding rod (452) close to the axis of the mounting tube (42), a second rack (455) fixedly connected to the outer wall of the sliding rod (452), a rotating spring (453) fixedly connected to the sliding rod (452) and the mounting frame (451). A No. 2 gear (456) is connected to the installation frame (451) and meshes with the No. 2 rack (455), an annular groove (457) is provided on the outer wall of the No. 2 gear (456), and a No. 2 cable (458) is wound and fixedly connected in the annular groove (457). A plurality of guide strips (459) are fixedly connected to the folding rod (432), and one end of the No. 2 cable (458) away from the No. 2 gear (456) slides through the guide strip (459) and is fixedly connected to the right end surface of the inner claw rod (442).

5. The cherry tomato picking robot according to claim 1, characterized in that: The material receiving mechanism (5) comprises an L-shaped rod (51) fixedly connected to the lower part of the outer wall of the mounting cylinder (42), a ring (52) fixedly connected to the right end of the transverse section of the L-shaped rod (51), a column rod (53) rotatably connected to the ring (52), an arc-shaped handle (54) fixedly connected to the outside of the column rod (53) and a material receiving concave plate (55) fixedly connected to the upper end of the arc-shaped handle (54), and a turning component (56) for controlling the turning of the material receiving concave plate (55) so as to facilitate the catching and pouring of cherry tomatoes is provided on the electric slider (3).

6. The cherry tomato picking robot according to claim 5, characterized in that: The flip assembly (56) comprises a rectangular plate (561) fixedly connected to the right end face of the electric slider (3) through a fixing rod, a transverse groove (562) is provided at the upper part of the front end face of the rectangular plate (561), a column rod (53) is slidably connected in the transverse groove (562), a guide groove (563) is provided at the lower part of the front end face of the rectangular plate (561), the guide groove (563) is composed of two transverse segment grooves at different levels and an inclined groove connected at the proximal ends of the two transverse segment grooves, and the outside of the arc handle (54) is fixedly connected to a guided column (564) slidably set in the guide groove (563) through a connecting strip.

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