Spherical-like fruit and vegetable picking manipulator, picking mechanism, picking equipment and method

Abstract

The invention discloses a sphere-like fruit and vegetable picking manipulator, a picking mechanism, picking equipment and a picking method, solves the problem that in the prior art, a picking manipulator is prone to slipping in the fruit and vegetable rotating process, and has the beneficial effects that slipping in the fruit and vegetable rotating and unscrewing process is avoided, and the picking efficiency is improved. According to the specific scheme, the sphere-like fruit and vegetable picking manipulator comprises a base, the base supports at least four clamping jaw fingers, every two adjacent clamping jaw fingers are arranged at an interval angle, a space used for containing fruits and vegetables is formed between the multiple clamping jaw fingers, and after the multiple clamping jaw fingers grab the fruits and vegetables, the clamping jaw fingers can move towards the fruits and vegetables to clamp the fruits and vegetables; the length of at least two clamping jaw fingers in the multiple clamping jaw fingers is larger than that of the other clamping jaw fingers, and the length of the longer clamping jaw fingers is larger than the height of fruits and vegetables, so that acting force facing the center of the fruits and vegetables is provided for the fruits and vegetables when the clamping jaw fingers clamp the fruits and vegetables, and the fruits and vegetables are limited.

Description

Technical Field

[0001] The present invention relates to the technical field of picking robots, and in particular to a spherical fruit and vegetable picking manipulator, a picking mechanism, a picking device and a method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] At present, in the process of picking fruits and vegetables, a robot is usually used to pick spherical fruits and vegetables such as apples and pears. The robot specifically uses three gripper fingers to open to clamp the fruits and vegetables, and uses a cutting tool to cut the stem after clamping. If no external cutting component is used, the fruits and vegetables can be twisted off by rotation. However, the three gripper fingers are tilted and opened outward to clamp the fruits and vegetables, and the combined force of the three gripper fingers on the fruits and vegetables is toward the outside of the robot. Although the robot can clamp the fruits and vegetables, after the robot clamps the fruits and vegetables, when the gripper fingers rotate to twist off the fruits and vegetables, slipping is likely to occur, that is, the fruits and vegetables slip out before they are twisted off, resulting in the failure to smoothly pick the fruits and vegetables.

[0004] Even for the same variety of fruits and vegetables, the sizes of fruits and vegetables vary. If only gripper fingers of the same length are used to grip the fruits and vegetables, longer fingers are suitable for larger fruits and vegetables, and shorter fingers are suitable for smaller fruits and vegetables. However, it is not suitable to replace the fingers during the process of picking the same variety of fruits and vegetables, resulting in a limited range of use of the robot arm.

[0005] The picking mechanism connected to the manipulator can move linearly to grasp the fruits and vegetables. After the fruit stem is disconnected from the vertical, the manipulator is released, causing the fruits and vegetables to fall from a higher position, which is easy to cause damage. Therefore, in the prior art, the robot is often used to pick up the fruits and vegetables manually during the picking process, which makes the work efficiency low.

[0006] In addition, although the existing fruit and vegetable picking equipment is provided with a multi-directional moving mechanism to drive the picking mechanism to move, only one picking mechanism is provided per unit area, resulting in low picking efficiency. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a spherical fruit and vegetable picking robot that can not only grasp the fruits and vegetables, but also stably clamp the fruits and vegetables during the rotation of the robot, thereby avoiding the problem of slipping of the fruits and vegetables during the rotation of the robot.

[0008] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0009] A quasi-spherical fruit and vegetable picking manipulator comprises a base, the base supports at least four gripper fingers, the interval angle between two adjacent gripper fingers is set, a space for accommodating fruits and vegetables is formed between the multiple gripper fingers, after the multiple gripper fingers grab the fruits and vegetables, the gripper fingers can move toward the fruits and vegetables to clamp the fruits and vegetables, the length of at least two gripper fingers among the multiple gripper fingers is longer than the length of the other gripper fingers, the length of the longer gripper fingers is greater than the height of the fruits and vegetables so as to provide a force toward the center of the fruits and vegetables when the gripper fingers clamp the fruits and vegetables, so as to limit the fruits and vegetables and prevent them from slipping, and the length of the shorter gripper fingers is less than the height of the fruits and vegetables so as to fix the fruits and vegetables and further prevent them from slipping.

[0010] In the spherical fruit and vegetable picking robot as described above, the gripper fingers include four, and the lengths of two adjacent gripper fingers are different, wherein the lengths of two gripper fingers are greater than the lengths of the other two gripper fingers, so that the lengths of two gripper fingers arranged opposite to each other among the four gripper fingers are the same, so that the fruits and vegetables are clamped and limited by the two longer gripper fingers arranged opposite to each other, and the fruits and vegetables are fixed by the other two shorter gripper fingers, and even if the same type of fruits and vegetables are of different sizes, the fruits and vegetables can be stably fixed by the cooperation of the gripper fingers.

[0011] As described above, in a quasi-spherical fruit and vegetable picking manipulator, the base is a cross-shaped base, each side of the base is provided with a slide groove, one side of the connecting piece is movable relative to the slide groove, the other side of the connecting piece is connected to the support, the support supports the gripper fingers, the support and the gripper fingers are both hollow, the air source is connected to the support, and the air of set pressure is provided to the gripper fingers through the air source, the gripper fingers gradually contact with the fruits and vegetables and fix the fruits and vegetables, the distance between the connecting piece and the gripper fingers can be adjusted through the slide groove to adapt to fruits and vegetables of different sizes, and the distance between the two relatively arranged connecting pieces is greater than or equal to the maximum diameter of the fruits and vegetables to be grasped.

[0012] In a second aspect, the present invention discloses a spherical fruit and vegetable picking mechanism, including a picking rail, a telescopic component is arranged on the picking rail, the telescopic component is installed on the picking rail, the picking rail drives the telescopic component to move, a rotating component is fixed to the telescopic end of the telescopic component, the rotating component is connected to the spherical fruit and vegetable picking manipulator, and the linear movement range of the spherical fruit and vegetable picking manipulator can be guaranteed by cooperating with the telescopic component and the picking rail. The rotating component is connected to the base to drive the fruits and vegetables clamped by the gripper fingers to rotate through the base, so as to twist the fruits and vegetables off by rotation to avoid damage to the fruit trees or vegetable vines.

[0013] In the spherical fruit and vegetable picking mechanism as described above, the picking guide rail is provided with a mounting plate, and a swing component is provided between the mounting plate and the bracket. The swing component drives the picking guide rail to swing to a set angle through the mounting plate, which can not only expand the picking range and improve the picking flexibility, but also enable a spherical fruit and vegetable picking manipulator to drop the picked fruits and vegetables into a set position.

[0014] In the spherical fruit and vegetable picking mechanism as described above, the swing component and the telescopic component are arranged on both sides of the picking rail opposite to each other, and the mounting plate is L-shaped, one side of the mounting plate is fixed to the picking rail, and the other side is connected to the output end of the swing component.

[0015] In a third aspect, the present invention discloses a spherical fruit and vegetable picking device, comprising a supporting member, wherein the supporting member supports at least one multi-directional moving mechanism, and the multi-directional moving mechanism is connected to at least two of the spherical fruit and vegetable picking mechanisms.

[0016] In the spherical fruit and vegetable picking device as described above, the supporting member is provided with a first camera, and the spherical fruit and vegetable picking mechanism is provided with a second camera. The first camera and the second camera are respectively connected to the controller separately, and the controller is respectively connected to the multi-directional moving mechanism, the picking guide rail, the telescopic component, the swing component, the rotating component, and the spherical fruit and vegetable picking manipulator.

[0017] In the spherical fruit and vegetable picking device as described above, the multidirectional moving mechanism is provided with multiple groups, the multidirectional moving mechanism includes a longitudinal guide rail and a transverse guide rail, the longitudinal guide rails of two adjacent groups of multidirectional moving mechanisms are staggered, the moving part of each longitudinal guide rail is connected to the transverse guide rail, and the moving part of the transverse guide rail is connected to the spherical fruit and vegetable picking mechanism.

[0018] In addition, the present invention also discloses a picking method of a spherical fruit and vegetable picking device, comprising the following contents:

[0019] The supporting structure is mounted on the vehicle body or arranged on the side of the fruit tree or vegetable vine;

[0020] The first camera acquires a global image of the fruit tree or vegetable vine and sends it to the controller, which divides the picking area according to the position of the fruit and vegetable, and makes a one-to-one correspondence between the divided picking area and a spherical fruit and vegetable picking mechanism;

[0021] The controller controls the multi-directional moving mechanism to move so that a spherical fruit and vegetable picking mechanism moves to a position corresponding to the picking area;

[0022] The second camera acquires image information of a single fruit or vegetable and sends it to the controller. The controller controls the multi-directional moving mechanism and / or the swinging component to move a quasi-spherical fruit and vegetable picking mechanism to the side of the fruit or vegetable, controls the picking mechanism to drive the telescopic component to move and / or the telescopic component to move relative to the picking guide rail, and controls a quasi-spherical fruit and vegetable picking manipulator to move so that multiple gripper fingers grab the fruit or vegetable, and then clamp it. After clamping, the controller controls the rotating component to rotate to twist off the fruit or vegetable.

[0023] The controller controls the swing component to move so that the telescopic component is tilted downward, and the controller controls a spherical fruit and vegetable picking manipulator to open so that the fruits and vegetables fall into a set position.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1) The present invention provides a manipulator, which clamps fruits and vegetables through gripper fingers. A holding space is formed between the gripper fingers to hold the fruits and vegetables after they are grabbed. After grabbing, the gripper fingers move toward the direction of the fruits and vegetables and clamp the fruits and vegetables. The longer gripper fingers provide a force toward the center of the fruits and vegetables to the fruits and vegetables, so as to hold and limit the fruits and vegetables, thereby preventing the fruits and vegetables from slipping during rotation. Even if they slip, the shorter gripper fingers can effectively fix the fruits and vegetables when they slip, thereby effectively ensuring the clamping stability and reducing the probability of slipping. Moreover, gripper fingers of different lengths cooperate with each other, so that the manipulator can clamp the same kind of fruits and vegetables of different sizes, thereby ensuring the versatility of the manipulator for the same variety of fruits and vegetables.

[0026] 2) The position of the connecting member relative to the base in the present invention is adjustable. According to the type of fruits and vegetables to be picked, the distance between the connecting members and the base can be adjusted so that the distance between the relatively arranged connecting members is adapted to the fruits and vegetables to be picked.

[0027] 3) The picking mechanism in the present invention includes a picking guide rail, and the picking guide rail is provided with a telescopic component and a picking guide rail to effectively ensure the extendable length of the picking mechanism. A rotating component is provided at the picking guide rail, and the rotating component drives the picking guide rail to swing, so that the position of the manipulator can be lowered to a lower position, so as to facilitate the manipulator to place the picked fruits and vegetables. The height of the fruits and vegetables when they are released can be reduced without manual cooperation, thereby reducing the probability of damage to the fruits and vegetables. The manipulator can also be controlled to rotate within a height range to meet the grabbing of fruits and vegetables within a set range.

[0028] 4) The present invention adopts a picking device, including a multi-directional moving mechanism, which is provided with at least two picking mechanisms, so as to increase the number of manipulators per unit area and improve the picking efficiency; through the setting of the first camera, the controller can divide the picking area, and after the division, the controller is adapted one by one with the picking mechanisms, so that each picking mechanism can pick within the corresponding picking area, and then according to the image of a single fruit or vegetable obtained by the second camera, the action of the multi-directional moving mechanism and the picking mechanism is controlled to realize simultaneous picking of multiple picking mechanisms, and the picking efficiency is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 It is a schematic diagram of a spherical fruit and vegetable picking robot according to one or more embodiments of the present invention.

[0031] Figure 2 It is a schematic diagram of a spherical fruit and vegetable picking mechanism according to one or more embodiments of the present invention.

[0032] Figure 3 It is a schematic diagram of a spherical fruit and vegetable picking device according to one or more embodiments of the present invention.

[0033] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0034] Wherein: 1. Longer gripper fingers, 2. Shorter gripper fingers, 3. Support, 4. Connector, 5. Base, 6. Air pipe connector, 7. Rotating assembly, 8. Mounting plate, 9. Swinging assembly, 10. Bracket, 11. Picking guide rail, 12. Telescopic assembly, 13. First camera, 14. Second camera, 15. Longitudinal guide rail, 16. Transverse guide rail, 17. Support structure, 18. Transverse drive motor, 19. Picking mechanism. DETAILED DESCRIPTION

[0035] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0037] As introduced in the background technology, the picking robot in the prior art is prone to slipping during the process of rotating fruits and vegetables. In order to solve the above technical problems, the present invention proposes a spherical fruit and vegetable picking robot.

[0038] Embodiment 1

[0039] In a typical embodiment of the present invention, reference is made to Figure 1 As shown, a spherical fruit and vegetable picking robot comprises a base 5, the base 5 supports at least four gripper fingers, the interval angle between two adjacent gripper fingers is set, a space for accommodating fruits and vegetables is formed between the multiple gripper fingers, the length of at least two gripper fingers among the multiple gripper fingers is longer than the length of the other gripper fingers, the gripper fingers can move toward the position of gripping fruits and vegetables to grip the fruits and vegetables, the length of the longer gripper finger 1 is greater than the height of the fruits and vegetables, so that the heads of the gripper fingers provide a force toward the center of the fruits and vegetables to avoid the fruits and vegetables from slipping, and the length of the shorter gripper finger 2 is less than the height of the fruits and vegetables, so that the fruits and vegetables can be gripped by the shorter gripper fingers to further avoid slipping.

[0040] In this embodiment, the gripper fingers specifically include four, the angle between two adjacent gripper fingers is 90°, the lengths of two adjacent gripper fingers are different, and the lengths of two gripper fingers are greater than those of the other two gripper fingers, so that the lengths of two gripper fingers arranged opposite to each other among the four gripper fingers are the same, so that fruits and vegetables are clamped and limited by the two oppositely arranged longer gripper fingers, and fruits and vegetables are clamped by the other two shorter gripper fingers, and even if the same type of fruits and vegetables are of different sizes, the fruits and vegetables can be stably fixed by the cooperation of the gripper fingers.

[0041] It is easy to understand that in other examples, the number of the gripper fingers can also be 5 or 6, etc., but the optimal number is 4. In some examples, the width of the gripper fingers may be different.

[0042] Specifically, the base 5 is a cross-shaped base, and two slide grooves are arranged on each side of the base 5. One side of the connecting member 4 is movable relative to the slide groove, and the other side of the connecting member 4 is connected to the support 3. The support 3 supports the gripper fingers. The support 3 and the gripper fingers are both hollow. The air source is an air compressor, and the air source is connected to the support 3. The air source is used to inflate the interior of the gripper fingers. The distance between the connecting member and the gripper fingers can be adjusted through the slide groove to suit fruits and vegetables of different sizes. The distance between the two relatively arranged connecting members is greater than or equal to the maximum diameter of the fruits and vegetables to be grasped.

[0043] In this embodiment, the connecting member 4 supports the support 3 of the gripper fingers, and the connecting member 4 can be snap-connected with the support 3 or fastened with bolts. In this embodiment, bolts are set at the bottom of the connecting member, and the bolts are locked by nuts after passing through the slide groove.

[0044] Among them, the support 3 is a rectangular block structure with a hollow interior. The gripper fingers and the support supporting them can use existing gripper finger accessories. The gripper fingers are rubber parts, which are connected to the support 3 internally. Anti-slip grooves are set on the inner side of the gripper fingers. An air pipe connector 6 is set on one side of the support. The air pipe connector 6 is connected to the air source through an air pipe. After the air source is turned on, gas of a set pressure is introduced into the support and the gripper fingers through the air pipe connector. Under the action of the gas, the gripper fingers gradually move toward the fruits and vegetables and exert force on the fruits and vegetables to achieve the clamping of the fruits and vegetables.

[0045] The manipulator provided in the present embodiment clamps fruits and vegetables by means of gripper fingers, and a holding space is formed between the gripper fingers to hold the fruits and vegetables. The gas source provides gas of set pressure to the gripper fingers, so that the gripper fingers clamp the fruits and vegetables. The longer gripper fingers provide a force toward the center of the fruits and vegetables to limit the fruits and vegetables and prevent them from slipping during rotation. Even if they slip, the shorter gripper fingers can further effectively prevent the fruits and vegetables from slipping, thereby ensuring gripping stability and reducing the probability of slipping.

[0046] Embodiment 2

[0047] This embodiment discloses a spherical fruit and vegetable picking mechanism. Figure 2 As shown, it includes a picking rail, and the picking rail is provided with a telescopic component 12, and the telescopic component 12 is installed on the picking rail 11. The picking rail 11 drives the telescopic component 12 to move, and the telescopic end of the telescopic component 12 is fixed with a rotating component 7. The rotating component 7 is connected to a spherical fruit and vegetable picking manipulator described in Example 1. Through the cooperation of the telescopic component and the picking rail 11, the linear movement range of the spherical fruit and vegetable picking manipulator can be guaranteed. The rotating component is connected to the base 5 to drive the fruits and vegetables clamped by the gripper fingers to rotate through the base 5, so as to twist the fruits and vegetables off by rotation to avoid damage to the fruit trees or vegetable vines.

[0048] Among them, the picking guide rail 11 specifically selects the existing linear guide rail, the moving part of the linear guide rail is connected to the fixed end of the telescopic component, the telescopic component 12 can specifically select a telescopic cylinder, the telescopic end of the telescopic cylinder is provided with a fixed seat, the fixed seat is installed with the rotating component 7, the rotating component 7 is specifically a brushless motor, and the rotating shaft of the brushless motor is connected to the base 5 by screws.

[0049] It can be understood that the picking guide rail 11 is provided with a mounting plate 8, and a swing component 9 is provided between the mounting plate 8 and the bracket 10. The swing component drives the picking guide rail to swing to a set angle through the mounting plate so that a spherical fruit and vegetable picking robot drops the picked fruits and vegetables into a set position. The swing component 9 specifically selects a swing motor, the bracket 10 is T-shaped, and the fixed end of the swing motor is fixed to the vertical section of the bracket 10.

[0050] The swing assembly and the telescopic assembly are arranged opposite to each other on both sides of the picking guide rail. The mounting plate is L-shaped. One side of the mounting plate is fixed to the upper side of the picking guide rail. The mounting plate is installed on the side of the picking guide rail close to the manipulator, and the other side is fixedly connected to the output end of the swing motor. In this way, when the swing motor rotates, the picking guide rail is driven to swing through the mounting plate.

[0051] The picking mechanism provided in this embodiment has a rotating component that drives the picking guide rail to swing, so that the position of the manipulator can be lowered to a lower position, which is convenient for the manipulator to place the picked fruits and vegetables. The height of the fruits and vegetables when they are released can be lowered without manual cooperation, thereby reducing the probability of damage to the fruits and vegetables.

[0052] Embodiment 3

[0053] The present embodiment discloses a spherical fruit and vegetable picking device, including a supporting member, the supporting member supporting at least one multi-directional moving mechanism, the multi-directional moving mechanism being connected to at least two spherical fruit and vegetable picking mechanisms (referred to as picking mechanisms 19), the supporting member being specifically a frame-type supporting member, a flat plate being provided at the bottom of the frame-type supporting member, the flat plate being provided with bolt holes, and the supporting member being able to be fixed to a vehicle body or the ground through the flat plate.

[0054] The supporting structure is provided with a first camera 13, and the picking mechanism 19 is provided with a second camera 14. The first camera 13 and the second camera 14 are respectively connected to the controller separately, and the controller is respectively connected to the multi-directional moving mechanism, the picking guide rail, the telescopic component, the swing component, the rotating component, and a spherical fruit and vegetable picking manipulator (referred to as the manipulator).

[0055] Among them, the first camera 13 and the second camera 14 are both existing cameras, and the controller is an existing industrial control computer. The existing image recognition software is set in the industrial control computer. The images taken by the first camera and the second camera are extracted through the image recognition software, and the position information of the fruit and vegetable partitions or single fruits and vegetables is obtained (existing technical means), and sent to the controller so that the controller can control the actions of other components.

[0056] In this embodiment, reference Figure 3 As shown, a plurality of groups of multi-directional moving mechanisms are provided, and the multi-directional moving mechanisms include longitudinal guide rails 15 and transverse guide rails 16. The longitudinal guide rails 15 of two adjacent groups of multi-directional moving mechanisms are staggered, and the moving portion of each longitudinal guide rail is connected to the transverse guide rail, and the transverse guide rail is connected to a spherical fruit and vegetable picking mechanism described in Example 2. Two longitudinal guide rails 15 are respectively provided along the two vertical sections of the support member 17, and the longitudinal guide rails are arranged along the height direction of the support member 17. The two longitudinal guide rails 15 on one side are staggered to make full use of the space, and while ensuring the longitudinal moving height of the transverse guide rail 16 as much as possible, avoid the height of the support member being too high.

[0057] Specifically, the longitudinal guide rail 15 is an existing linear guide rail or a linear screw drive mechanism, and the two longitudinal guide rails at the same height on both sides are driven by the same longitudinal drive motor, and the two longitudinal drive motors are arranged up and down and diagonally. The transverse guide rail 16 is a linear guide rail, and the transverse guide rail 16 is supported by the moving parts of the two longitudinal guide rails 15 at the same height on both sides. The moving part of the transverse guide rail is connected to the bracket, and a transverse drive motor 18 is arranged at the moving part, so that the picking mechanism can realize independent movement under the drive of each transverse drive motor 18. The moving part is a moving block, and a second camera 14 is arranged at the moving part, and the first camera is fixed to the top center of the supporting member to realize global scanning.

[0058] In addition, the present invention also discloses a picking method of a spherical fruit and vegetable picking device, comprising the following contents:

[0059] The supporting structure is mounted on the vehicle body or arranged on the side of the fruit tree or vegetable vine;

[0060] The first camera 13 obtains a global image of the fruit tree or vegetable vine and sends it to the controller, which divides the picking area according to the position of the fruit and vegetable, and makes a one-to-one correspondence between the divided picking area and a spherical fruit and vegetable picking mechanism;

[0061] The controller controls the movement of the moving part of the longitudinal guide rail 15 and the moving part of the transverse guide rail 16 in the multi-directional moving mechanism, so that the spherical fruit and vegetable picking mechanism moves to a position corresponding to the picking area;

[0062] At the set height, the second camera 14 acquires image information of a single fruit or vegetable and sends it to the controller. The controller controls the moving part of the transverse guide rail and / or the swing component 9 to move a quasi-spherical fruit and vegetable picking mechanism to the side of the fruit or vegetable, and controls the picking mechanism to drive the telescopic component 12 to move and / or the telescopic component to move relative to the picking guide rail, and controls a quasi-spherical fruit and vegetable picking manipulator to move so that multiple gripper fingers grab the fruit or vegetable, and then clamp the fruit or vegetable. After clamping, the controller controls the rotating component 7 to rotate to unscrew the fruit or vegetable.

[0063] The controller controls the swing assembly to move so that the telescopic assembly 12 is tilted downward, and the controller controls a spherical fruit and vegetable picking robot to open so that the fruits and vegetables fall into a set position.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A spherical fruit and vegetable picking robot, characterized in that: The utility model comprises a base, which supports at least four gripper fingers, and the interval angle between two adjacent gripper fingers is set, and a space for accommodating fruits and vegetables is formed between the multiple gripper fingers. After the multiple gripper fingers grab the fruits and vegetables, the gripper fingers can move toward the fruits and vegetables to clamp the fruits and vegetables. The length of at least two gripper fingers among the multiple gripper fingers is longer than the length of the other gripper fingers. The length of the longer gripper fingers is greater than the height of the fruits and vegetables so as to provide a force toward the center of the fruits and vegetables when the gripper fingers clamp the fruits and vegetables so as to limit the fruits and vegetables. The length of the shorter gripper fingers is less than the height of the fruits and vegetables so as to fix the fruits and vegetables and further prevent the fruits and vegetables from slipping.

2. The spherical fruit and vegetable picking robot according to claim 1, characterized in that: The gripper fingers include four, and the lengths of two adjacent gripper fingers are different, wherein the lengths of two gripper fingers are greater than the lengths of the other two gripper fingers.

3. The spherical fruit and vegetable picking robot according to claim 2, characterized in that: The base is a cross-shaped base, each side of the base is provided with a slide groove, one side of the connecting piece is movable relative to the slide groove, the other side of the connecting piece is connected to the support, the support supports the clamping fingers, the support and the clamping fingers are both hollow, the air source is connected to the support, and the clamping fingers are driven by the air source to clamp fruits and vegetables.

4. A spherical fruit and vegetable picking mechanism, characterized in that: It comprises a picking rail, a telescopic component is arranged on the picking rail, the telescopic component is installed on the picking rail, the picking rail drives the telescopic component to move, a rotating component is fixed on the telescopic end of the telescopic component, and the rotating component is connected to a spherical fruit and vegetable picking manipulator according to any one of claims 1-3.

5. The spherical fruit and vegetable picking mechanism according to claim 4, characterized in that: The picking guide rail is provided with a mounting plate, and a swing component is provided between the mounting plate and the bracket. The swing component drives the picking guide rail to swing to a set angle through the mounting plate so that a spherical fruit and vegetable picking manipulator drops the picked fruits and vegetables into a set position.

6. The spherical fruit and vegetable picking mechanism according to claim 5, characterized in that: The swing assembly and the telescopic assembly are arranged opposite to each other on both sides of the picking guide rail. The mounting plate is L-shaped, one side of the mounting plate is fixed to the picking guide rail, and the other side is connected to the output end of the swing assembly.

7. A spherical fruit and vegetable picking device, characterized in that: The invention comprises a supporting member, wherein the supporting member supports at least one multi-directional moving mechanism, and the multi-directional moving mechanism is connected to at least two spherical fruit and vegetable picking mechanisms as claimed in any one of claims 5 or 6.

8. The spherical fruit and vegetable picking device according to claim 7, characterized in that: The supporting member is provided with a first camera, and the spherical fruit and vegetable picking mechanism is provided with a second camera. The first camera and the second camera are respectively connected to the controller separately, and the controller is respectively connected to the multi-directional moving mechanism, the picking guide rail, the telescopic component, the swing component, the rotating component, and the spherical fruit and vegetable picking manipulator.

9. The spherical fruit and vegetable picking device according to claim 7, characterized in that: The multidirectional moving mechanism is provided with multiple groups, and the multidirectional moving mechanism includes a longitudinal guide rail and a transverse guide rail. The longitudinal guide rails of two adjacent groups of multidirectional moving mechanisms are staggered, and the moving part of each longitudinal guide rail is connected to the transverse guide rail, and the moving part of the transverse guide rail is connected to the spherical fruit and vegetable picking mechanism.

10. The picking method of the spherical fruit and vegetable picking device according to claim 8, characterized in that: It includes the following: The supporting structure is mounted on the vehicle body or arranged on the side of the fruit tree or vegetable vine; The first camera acquires a global image of the fruit tree or vegetable vine and sends it to the controller, which divides the picking area according to the position of the fruit and vegetable, and makes a one-to-one correspondence between the divided picking area and a spherical fruit and vegetable picking mechanism; The controller controls the multi-directional moving mechanism to move so that a spherical fruit and vegetable picking mechanism moves to a position corresponding to the picking area; The second camera acquires image information of a single fruit or vegetable and sends it to the controller. The controller controls the multi-directional moving mechanism and / or the swinging component to move a quasi-spherical fruit and vegetable picking mechanism to the side of the fruit or vegetable, controls the picking mechanism to drive the telescopic component to move and / or the telescopic component to move relative to the picking guide rail, and controls a quasi-spherical fruit and vegetable picking manipulator to move so that multiple gripper fingers grab the fruit or vegetable, and then clamp it. After clamping, the controller controls the rotating component to rotate to twist off the fruit or vegetable. The controller controls the swing component to move so that the telescopic component is tilted downward, and the controller controls a spherical fruit and vegetable picking manipulator to open so that the fruits and vegetables fall into a set position.

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