Intelligent efficient picking robot

Abstract

The application relates to the technical field of picking robots, in particular to an intelligent high-efficiency picking robot, which comprises a body, a temporary storage box and a mechanical arm are respectively adaptively installed on the body, a camera and a picking mechanism are adaptively installed on the top of the mechanical arm, an outer layer pipe in the picking mechanism is adaptively sleeved with an inner layer pipe with a gap, an inner cavity is formed between the outer wall of the inner layer pipe and the inner wall of the outer layer pipe, a sliding mesh bag is adaptively installed in the inner cavity, and the mesh bag is used for grabbing and picking apples; the picking mechanism is designed as a double-layer pipe structure, the space occupied by picking is greatly reduced, picking is convenient, the picking efficiency is high, the shielding of the camera is reduced, and the picking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of harvesting robot technology, and in particular to an intelligent and efficient harvesting robot. Background Technology

[0002] With the popularization of AI intelligence, picking robots have replaced manual picking. They identify apples through a visual recognition module, then use mechanical claws to grab and process them, and finally place the apples on a temporary storage device for collection.

[0003] The harvesting robot consists of a robotic arm, a walking mechanism, a hydraulic drive system, a vision recognition system, and a microcontroller control system. The robotic arm comprises a turntable, a column, an upper arm, a lower arm, and a harvesting claw. The entire robotic arm has multiple degrees of freedom. When harvesting apples, the robot is first positioned close to the tree trunk. The turntable is then manipulated to align the robotic arm with a fruit tree. The microcontroller system then controls the upper and lower arms of the robotic arm to rise to a certain height, and the harvesting claw opens to align with the branch to be harvested. Simultaneously, the upper and lower arms move, allowing the harvesting claw to pick the apple from the branch. After picking the apple, the upper and lower arms drive the harvesting claw to slide it back along the same path and remove the apple, completing one harvesting operation.

[0004] To prevent mechanical picking claws from damaging apples, the claws are designed with rubber. While rubber increases the probability of pinching the apple's surface, the retracting picking method after gripping can easily cause the apple stem to fall off, making it difficult to store the harvested apples for a long period. To prevent the apple stem from falling off, some picking claws have added a rotating function. After gripping the apple, the claw rotates to tear the apple stem off the branch. However, this rotating function requires sufficient space on the trunk and branches. If the space is too small, it can easily damage the apple. Adjusting to a suitable space before rotating results in low picking efficiency. Furthermore, the existing picking claw design itself has flaws. Because the picking claw expands outward when gripping, the camera in the visual recognition system cannot monitor the angle and position of the apple being gripped in real time, leading to some apples falling off or being gripped multiple times, thus reducing picking efficiency.

[0005] Therefore, this application provides an intelligent and efficient harvesting robot to solve the problems mentioned in the background art. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent and efficient harvesting robot that solves the problem that existing mechanical harvesting claws easily damage apples during harvesting, resulting in a short apple storage period. At the same time, it also solves the problem that existing harvesting claws expand outwards when grasping apples, and the combined action of leaves and the harvesting claws partially obstructs the camera, making it impossible to view the angle and position of the grasp in real time, causing some apples to fall or be grasped multiple times, thus affecting harvesting efficiency.

[0007] To address the aforementioned technical problems, this invention provides an intelligent and efficient harvesting robot, comprising a body, a temporary storage box and a robotic arm respectively fitted onto the body, a camera and a harvesting mechanism fitted onto the top of the robotic arm, an outer tube in the harvesting mechanism fitting an inner tube with a gap, an inner cavity formed between the outer wall of the inner tube and the inner wall of the outer tube, and a sliding net bag fitted onto the inner cavity for grasping and harvesting apples.

[0008] A further improvement of the technical solution of the present invention is that the harvesting mechanism also includes a fixed base, one end face of which is fixed to a base. The base is a concave cavity, and at least two miniature electric cylinders are adapted to be installed in the concave cavity. The telescopic rods in the miniature electric cylinders are adapted to pass through the fixed ring, and the fixed ring is installed above the base and close to the side of the base.

[0009] A further improvement of the technical solution of the present invention is that: a perforation is provided in the middle of the base body, the perforation is adapted to the inner tube vertically arranged in its own concave cavity, a fixing ring is adapted to the outer wall of the inner tube body, and a through telescopic rod is adapted to the periphery away from the fixing ring.

[0010] A further improvement of the technical solution of the present invention is that: an outer tube is vertically arranged on the base body, the inner wall of the outer tube abuts against a fixed ring, the gap between the outer tube and the inner tube forms an inner cavity, a sliding installation net bag is fitted inside the inner cavity, a bottom ring is provided at the bottom of the net bag body, and the bottom end of the bottom ring body is fitted with the top end of the fixed telescopic rod.

[0011] A further improvement to the technical solution of the present invention is that: a suction cup is adapted to be installed at the top of the inner tube body, and a through air channel is provided at the bottom of the inner cavity of the suction cup, the air channel is connected to the hose opening, and the hose opening is connected to a miniature suction pump installed on the robotic arm.

[0012] A further improvement of the technical solution of the present invention is that: the net bag also includes a net body, a bottom ring is provided at the bottom end of the net body, and a ring cutter and a ring cutter A are symmetrically fixed at the top end of the net body, the ring cutter and the ring cutter A together form a ring.

[0013] A further improvement of the technical solution of the present invention is that: the ring cutter and the ring cutter A have the same size and structure, and the ring cutter body is provided with a number of teeth, and a tooth groove is formed between two adjacent teeth. The inner wall surface of the tooth groove and the teeth is set as an arc surface, and the arc surface is bent upward and outward at 30-60 degrees.

[0014] A further improvement to the technical solution of the present invention is that a V-shaped cutter head is provided on the side of the tooth groove body near the outer wall of the ring cutter.

[0015] A further improvement of the technical solution of the present invention is that: the mesh body is provided with at least two parallel and connected circular coils, the circular coils are curved m-shaped bodies, the coils are provided with several curved connection points, each downward curved point is uniformly fixed on the end face of the bottom ring; each upward curved point is uniformly fixed on the bottom end face of the ring cutter and the ring cutter A respectively.

[0016] A further improvement of the technical solution of the present invention is that: the mesh body is formed into a cylinder by the coil of the ring, and the mesh cavity of the cylinder is adapted to be installed on the outer wall of the inner tube.

[0017] A further improvement to the technical solution of the present invention is that the mesh body is made of nickel-titanium alloy.

[0018] A further improvement to the technical solution of the present invention is that: drive wheels are respectively adapted and installed on both sides of the lower part of the main body; a single-chip microcomputer control module, a hydraulic drive module, a battery module and a vision recognition module are respectively installed in the inner cavity of the main body; a micro air pump is adapted and installed in the large drive arm of the robotic arm on the main body; and several cameras A and infrared sensors are installed around the main body.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects:

[0020] 1. The present invention provides an intelligent and efficient harvesting robot. The robot uses suction cups and net bags to harvest apples. First, the suction cups are used to position the apples. Then, the net bags installed in the inner cavity are pushed out to wrap the apples. After wrapping, the apple stems are cut off by a ring knife installed at the top of the net bag, which reduces damage to the apple stems and increases the storage period of the apples.

[0021] 2. The present invention provides an intelligent and efficient harvesting robot. The harvesting mechanism innovatively installs a net bag in the inner cavity of the double-layer tube structure, which greatly reduces the obstruction of the line of sight. Compared with the traditional three-claw harvesting structure, the net bag structure is simple and ingeniously designed. Even if the line of sight is partially obstructed, it can still be observed through the enlarged through-hole of the net bag, which improves the efficiency of apple grasping and harvesting.

[0022] 3. The present invention provides an intelligent and efficient harvesting robot. The net bag is preferably made of a one-piece molded nickel-titanium alloy material. The net bag is woven from multiple circular coils, each coil is bent into an m-shape, and connected at each bending point of the m-shape to facilitate the self-expansion and contraction of the net bag. When grabbing an apple, a micro electric cylinder pushes the net bag, causing the ring blades and ring blade A at the top of the net bag to expand symmetrically outward along the outer surface of the apple. The net bag, detached from the inner cavity, expands outward along the outer surface of the apple due to its own m-shaped structure. At the same time, the net bag is pulled by itself to keep it close to the outer surface of the apple. The one-piece molded nickel-titanium alloy net bag, through its ingenious weaving structure and the inherent properties of the material, can effectively control the outward expansion deformation and has supporting strength, thus quickly wrapping the apple and greatly improving the harvesting efficiency.

[0023] 4. This invention provides an intelligent and efficient harvesting robot. The top of the net bag is symmetrically equipped with two ring blades and ring blade A. Multiple teeth are provided on the two ring blades and ring blade A, forming grooves between adjacent teeth. Multiple V-shaped blades are provided on the side wall of the groove body near the outer wall of the ring blades to cut the apple stems. To prevent the teeth and grooves from scratching or abrading the apples when the ring blades and ring blade A move along the outer wall of the apples, the inner wall of the teeth and grooves is made of an arc surface, curving upwards and outwards at 30-60 degrees. This arc surface reduces scratching of the apples by the inner wall of the ring blades. When the ring blades move, the apple stems shift along the grooves, and the blades on the outer wall of the grooves cut the displaced apple stems. This ring blade greatly improves harvesting efficiency, reduces apple damage during harvesting, and increases the apple storage period and yield.

[0024] 5. The present invention provides an intelligent and efficient harvesting robot. The harvesting mechanism is designed with a double-layer tube structure, which greatly reduces the space occupied during harvesting, and makes harvesting convenient and efficient. The net bag itself has a multi-hole structure and a small expansion space. The structure of the net bag itself is superior to that of the traditional three-claw harvesting hand. The net bag occupies little space during deformation. The net bag has no blind spots in all directions, reduces the problem of camera obstruction, and improves harvesting efficiency. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of an intelligent and efficient harvesting robot.

[0027] Figure 2A three-dimensional schematic diagram of an intelligent and efficient harvesting robot;

[0028] Figure 3 This is a structural diagram of the mounting base and the outer tube;

[0029] Figure 4 This is a structural diagram of the outer and inner tubes;

[0030] Figure 5 This is a schematic diagram of the inner tube and mesh bag structure;

[0031] Figure 6 A structural diagram of the mesh bag and telescopic rod;

[0032] Figure 7 This is a schematic diagram of the suction cup and inner tube structure;

[0033] Figure 8 This is a schematic diagram of the perforated and inner tube structure;

[0034] Figure 9 This is a partially enlarged structural diagram of the airway and internal cavity.

[0035] Figure 10 This is a schematic diagram of the airway and suction cup structure.

[0036] Figure 11 A schematic diagram of the structure with the mesh bag extended;

[0037] Figure 12 This is a schematic diagram of the mesh bag in its closed state;

[0038] Figure 13 This is a schematic diagram of the structure of ring cutter A;

[0039] Figure 14 This is a partially enlarged schematic diagram of the tooth groove and the cutter head;

[0040] Figure 15 This is a schematic diagram of the structure of the mesh and coil.

[0041] Reference numerals: 1. Robotic arm; 2. Body; 3. Drive wheel; 4. Temporary storage box; 5. Camera; 6. Harvesting mechanism; 7. Camera A; 8. Miniature air pump; 9. Hose inlet; 10. Large drive arm; 60. Fixing base; 61. Outer tube; 62. Suction cup; 63. Inner tube; 64. Mesh bag; 65. Inner cavity; 66. Air passage; 67. Telescopic rod; 68. Fixing ring; 69. Miniature electric cylinder; 70. Base; 71. Perforation; 72. Concave cavity; 640. Bottom ring; 641. Ring cutter; 642. Ring cutter A; 643. Mesh cavity; 644. Teeth; 645. Tooth groove; 646. Arc surface; 647. Cutting head; 648. Mesh body; 649. Coil; 650. Point. Detailed Implementation

[0042] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0045] The present invention will be further explained below with reference to specific embodiments.

[0046] like Figures 1-15As shown, this embodiment provides an intelligent and efficient harvesting robot, including a body 2. A temporary storage box 4 and a robotic arm 1 are respectively fitted and installed on the body 2. The temporary storage box 4 is used to store harvested apples. A camera 5 and a harvesting mechanism 6 are fitted and installed on the top of the robotic arm 1. The camera 5 is a commercially available product and will not be described in detail here; the camera 5 is used to collect information such as harvesting status and harvesting actions in real time. In the harvesting mechanism 6, an inner tube 63 is fitted with an outer tube 61 with a gap, and an inner cavity 65 is formed between the outer wall of the inner tube 63 and the inner wall of the outer tube 61. The cavity 65 is fitted with a sliding net bag 64, which is used to grab and harvest apples. A suction cup 62 is fitted to the top of the inner tube 63. An air passage 66 is provided at the bottom of the suction cup 62's inner cavity, connecting to a flexible hose port 9. The flexible hose port 9 connects to a miniature suction pump 8 installed on the robotic arm 1. The miniature suction pump 8 is a commercially available product and will not be described in detail here. Specifically, a camera 5 and a harvesting mechanism 6 are installed on the top of the robotic arm 1. The camera 5 is used to collect real-time information on the apple-harvesting action and status. The harvesting mechanism 6 has two connecting tubes for... The picking claw consists of a double-layer structure. An inner cavity 65 is set between the outer wall of the inner tube 63 and the inner wall of the outer tube 61. A sliding net bag 64 is fitted and installed inside the inner cavity 65. The net bag 64 is lifted and lowered by a telescopic rod 68 installed at its bottom. First, the apple is fixed by a suction cup 62 set at the top of the inner tube 63. The suction cup 62 is installed at the hose opening 9 through a hose. The hose opening 9 is connected to a micro suction pump 8. The micro suction pump 8 uses suction force to initially fix the apple. Then, the micro electric cylinder 69 is activated to drive the telescopic rod 68 to lift the net bag 64. The inner tube 63 and outer tube 61 slide out of the inner cavity 65. Both are of the same length, with the inner tube 63 fitted inside the outer tube 61. As the net bag 64 extends, it slowly wraps around the apple, allowing it to be harvested. Once the apple is placed in the temporary storage box 4, the net bag 64 retracts to its initial state, or is compressed by the downward force of the micro-electric cylinder 69, fitting itself onto the outer wall of the inner tube 63. The outer diameter of the suction cup 62 is smaller than the inner diameter of the net bag 64 in its retracted state, ensuring the net bag 64 is not affected by the suction cup 62 during retrieval. This robot uses a suction cup and net bag to harvest apples. First, the suction cup positions the apple, then the net bag installed in the inner cavity is pushed out to wrap the apple. After wrapping, a ring cutter installed at the top of the net bag cuts off the apple stem, completing the harvesting of a single apple.

[0047] like Figures 2-10 , Figure 12As shown, in this embodiment, the harvesting mechanism 6 also includes a fixed base 60. A base 70 is fixed to one end face of the fixed base 60 body. The base 70 is a concave cavity 72. At least two miniature electric cylinders 69 are adapted and installed within the concave cavity 72. The miniature electric cylinders 69 are commercially available products and will not be described in detail here. The telescopic rod 67 of the miniature electric cylinder 69 is adapted to pass through a fixing ring 68. The fixing ring 68 is installed above the base 70 and close to the side of the base 70. A through hole 71 is provided in the middle of the base 70 body. The through hole 71 is adapted to an inner tube 63 vertically arranged within its own concave cavity 72. The outer wall of the inner tube 63 body... A fixing ring 68 is fitted, and a telescopic rod 67 is fitted around the perimeter away from the fixing ring 68. An outer tube 61 is vertically installed on the base 70 body, and the inner wall of the outer tube 61 is fitted with the fixing ring 68. The gap between the outer tube 61 and the inner tube 63 forms an inner cavity 65. The fixing ring 68 serves two purposes: first, to increase the stability of the telescopic rod 67, and second, to further separate the gap between the inner tube 63 and the outer tube 61. This gap facilitates the movement of the mesh bag 64. The mesh bag 64 is fitted and slidably installed inside the inner cavity 65. A bottom ring 640 is provided at the bottom of the mesh bag 64 body, and the bottom end of the bottom ring 640 body is fitted with the top end of the fixed telescopic rod 67. Specifically, a base 70 is fixed to the front end of the mounting base 60. An inner tube 63 and an outer tube 61 are vertically fixed to the base 70. The inner tube 63 is fitted into the inner cavity of the outer tube 61. A gap is formed between the outer wall of the inner tube 63 and the inner wall of the outer tube 61. A mounting ring 68 is fitted within this gap and installed on one side near the base 70. A concave cavity 72 is provided on the base 70, and a through hole 71 is provided in the center of the concave cavity 72. The through hole 71 fits the outer wall of the inner tube 63. Multiple [unclear - possibly related to mounting] tubes are installed in the area of ​​the concave cavity 72 away from the through hole 71. A miniature electric cylinder 69, with a telescopic rod 67 extending upward through a fixing ring 68, has its top end connected to a bottom ring 640 at the bottom of the mesh bag 64. A suction cup 62 is mounted on the top of the inner tube 63, and the air passage 66 at the bottom of the suction cup 62 is sealed to a miniature suction pump 8 via the air passage 66 of the inner tube 63. First, the camera 5 locks the position of the apple, the suction cup 62 initially fixes the apple, and then pushes out the mesh bag 64 from the inner cavity 65 for apple harvesting. The mesh bag 64 is normally pushed out to 2 / 3 of its length.

[0048] The bottom ring 640 remains within the inner cavity 65 to prevent it from being pushed out and causing the net bag 64 to fall out. This harvesting mechanism is designed with a double-layer tube structure, which greatly reduces the space occupied during harvesting, makes harvesting convenient and efficient, reduces camera obstruction, and improves harvesting efficiency.

[0049] like Figures 11-15As shown, in this embodiment, the mesh bag 64 also includes a mesh body 648. A bottom ring 640 is provided at the bottom end of the mesh body 648. A ring cutter 641 and a ring cutter A642 are symmetrically fixed at the top end of the mesh body 648. The ring cutter 641 and the ring cutter A642 together form a ring. The ring cutter 641 and the ring cutter A642 have the same size and structure. A number of teeth 644 are provided on the body of the ring cutter 641. A tooth groove 645 is formed between two adjacent teeth 644. The inner wall surface of the tooth groove 645 and the teeth 644 is set as an arc surface 646. The arc surface 646 is bent upward and outward at 30-60 degrees. A V-shaped cutter head 647 is provided on the side of the tooth groove 645 near the outer wall of the ring cutter 641. Specifically, a bottom ring 640 is installed at the bottom of the net body 648, and the top of the telescopic rod 67 is fixed to the lower end of the bottom ring 640. A ring cutter 641 and a ring cutter A642 are symmetrically arranged at the top of the net body 648. Both ring cutters 641 and A642 are arc-shaped, forming an annular opening. This annular opening design facilitates the exaggeration of the net bag 64. Multiple teeth 644 are provided on both ring cutters 641 and A642, and grooves 645 between adjacent teeth 644 are provided with… A V-shaped blade 647 is provided, which is used to cut the apple stem. When the net bag 64 wraps the apple, as the wrapping progresses, the apple stem slides along the groove 645 and comes into contact with the blade 647, thus cutting the apple stem. In order to prevent the ring blade 641 from scratching or scraping the apple surface during the wrapping process, the inner wall of the entire groove 645 and teeth 644 in the ring blade 641 is set as an arc surface 646. The design of the arc surface 646 reduces the scratches on the apple surface and increases the storage period of the apple.

[0050] like Figure 6 , Figure 12 , Figure 15As shown, in this embodiment, the mesh body 648 in the mesh bag 64 has at least two parallel and connected circular coils 649 on its main body. The circular coils 649 are curved m-shaped bodies, and the coils 649 are provided with several curved connecting points 650. Each downward bending point 650 is evenly fixed to the end face of the bottom ring 640; each upward bending point 650 is evenly fixed to the bottom end faces of the ring cutter 641 and the ring cutter A642 respectively. The main body of the mesh body 648 is formed into a cylinder by the circular coils 649, and the mesh cavity 643 of the cylinder is adapted to... The mesh 648 is fitted onto the outer wall of the inner tube 63; the body of the mesh 648 is made of nickel-titanium alloy; specifically, the body of the mesh 648 is woven from multiple circular coils 649, each coil 649 is bent into an m-shape, and the bending points 650 of each coil 649 are connected side by side to form the entire mesh 648. The top surface of the bottom ring 640 is fixed at the bottom of the mesh 648, and ring cutters 641 and A642 are fixed at the top of the mesh 648 respectively; in this embodiment, the mesh bag 64 is preferably made of one-piece nickel-titanium alloy, and the mesh bag is woven from multiple circular coils. The process involves bending each coil into an M-shape and connecting them at each bending point to facilitate the self-expansion and contraction of the mesh bag. When grasping an apple, a miniature electric cylinder pushes the mesh bag, causing the ring blades and ring blade A at the top of the mesh bag to expand symmetrically outward along the apple's surface. This continuous pushing action causes the mesh bag, detached from the inner cavity, to expand outward along the apple's outer surface due to its own M-shaped structure. Simultaneously, the mutual pulling action keeps the mesh bag firmly attached to the apple's outer surface. To prevent scratching the apple's surface, the inner walls of the ring blades and ring blade A are designed with an arc shape, and symmetrical ring blades are used. Together with ring blade A, they form a closing opening. When pressed against the apple, the ring blade and ring blade A expand outward on their own, greatly reducing damage to the apple's outer surface. The one-piece molded nickel-titanium alloy mesh bag, through its ingenious weaving structure and the inherent properties of the material, can effectively control the outward expansion deformation while providing support strength, quickly enclosing the apple and greatly improving harvesting efficiency. Compared with the traditional three-claw harvesting structure, this mesh bag has a simpler structure and ingenious design. Even if the view is partially obstructed, observation can still be made through the mesh bag's own holes, improving the efficiency of apple grasping and harvesting.

[0051] like Figures 1-2As shown, in this embodiment, drive wheels 3 are respectively installed on both sides of the lower part of the main body 2. A microcontroller control module, a hydraulic drive module, a battery module, and a vision recognition module are respectively installed in the internal cavity of the main body 2. The microcontroller control module, hydraulic drive module, battery module, and vision recognition module are all existing products on the market and will not be described in detail here. A micro air pump 8 is installed in the large drive arm 10 of the robotic arm 1 on the main body of ...

[0052] This invention also provides a working principle for an intelligent and efficient harvesting robot: First, the harvesting robot is moved to the side of the fruit tree by the drive module. Information is collected by the vision recognition module and sent to the microcontroller control module. The microcontroller control module controls the hydraulic drive module to drive the robotic arm 1 to a suitable position. A camera 5 and a harvesting mechanism 6 are respectively installed at the top of the robotic arm 1. The camera 5 is used to collect harvesting action and harvesting status information in real time and transmits the collected information back to the microcontroller control module. The microcontroller control module controls the movement adjustment of the harvesting mechanism 6 in real time. The harvesting mechanism 6 adopts a double-layer tube structure and an innovative harvesting design, which greatly reduces the space occupied by harvesting. The outer tube 61 and the inner tube 61 are vertically fixed on the base 70 in the harvesting mechanism 6. The inner tube 63 is fitted inside the outer tube 61. The gap between the outer wall of the inner tube 63 and the inner wall of the outer tube 61 forms an inner cavity 65. A mesh bag 64 is fitted and installed inside the inner cavity 65. A telescopic rod 67 is set on the bottom end of the mesh bag 64 via a bottom ring 640. The telescopic rod 67 passes through a fixing ring 68. The telescopic rod 67 is the telescopic rod 67 on a miniature electric cylinder 69. The miniature electric cylinder 69 is installed in the concave cavity 72 of the base 70. A through hole 71 is set in the middle of the concave cavity 72. The through hole 71 fits the air passage 66 of the inner tube 63. The air passage 66 is sealed and connected to a miniature suction pump 8 and a suction cup 62. The suction cup 62 is fitted to the top of the inner tube 63. When picking apples, the apples are first sucked up by the suction cup 62 for initial picking. The net bag 64 is fixed in place and then pushed out by a miniature electric cylinder 69. Through continuous pushing, the ring blade 641 at the top of the net bag 64 cuts the apple stem. Ring blades 641 and A642 are symmetrically arranged at the top of the net bag 64, forming a ring-shaped harvesting and stem-cutting opening. To prevent the ring blades 641 and A642 from scratching or abrading the apple surface as the net bag 64 wraps around the apple, an arc surface 646 is provided on the inner wall of the grooves 645 and teeth 644 of the ring blade 641 and A642. The arc surface 646 effectively reduces damage to the apple surface, thereby improving harvesting efficiency. The net bag 64 is made of a single piece of nickel-titanium alloy. The mesh bag 64 is made of a material in which the mesh body 648 is provided with at least two parallel and connected circular coils 649. The circular coils 649 are curved m-shaped bodies. The coils 649 are provided with several curved connection points 650. Each downward curved point 650 is evenly fixed to the end face of the bottom ring 640. Each upward curved point 650 is evenly fixed to the bottom end face of the ring cutter 641 and the ring cutter A642 respectively. The mesh body 648 is formed into a cylinder by the circular coils 649. The mesh cavity 643 of the cylinder is adapted to be installed in the inner tube 63. The mesh bag 64 is woven by multiple circular coils 649. Each coil 649 is curved into an m-shaped body and connected at each curved point 650 of the m-shaped body, so that the mesh bag 64 can expand and contract on its own.When picking up an apple, a miniature electric cylinder 69 pushes the net bag 64, causing the ring blades 641 and A642 at the top of the net bag 64 to expand symmetrically outward along the outer surface of the apple. This continuous pushing of the net bag 64, detached from the inner cavity 65, allows it to expand outward along the apple's surface due to its own M-shaped structure. Simultaneously, the mutual pulling action of the net bag keeps it firmly attached to the apple's surface. The one-piece nickel-titanium alloy net bag 64, through its ingenious weaving structure and the inherent properties of the material, effectively controls the outward expansion deformation while providing support strength, quickly enveloping the apple and greatly improving harvesting efficiency. Compared to the traditional three-claw harvesting structure, this net bag has a simpler and more ingenious design. Even with partial obstruction of vision, observation can still be made through the through-holes in the net bag, further improving apple picking and harvesting efficiency.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent and efficient harvesting robot, characterized in that, The machine includes a body (2), on which a temporary storage box (4) and a robotic arm (1) are respectively fitted and installed. A camera (5) and a picking mechanism (6) are fitted and installed on the top of the robotic arm (1). The outer tube (61) of the picking mechanism (6) is fitted with a gap-fitting inner tube (63). An inner cavity (65) is formed between the outer wall of the inner tube (63) and the inner wall of the outer tube (61). A sliding net bag (64) is fitted and installed in the inner cavity (65). The net bag (64) is used to grab apples and pick them. The net bag (64) also contains The mesh body (648) has a bottom ring (640) at its bottom end. A ring cutter (641) and a ring cutter A (642) are symmetrically fixed at the top of the mesh body (648). The ring cutter (641) and the ring cutter A (642) together form a ring-shaped cutter. The ring cutter (641) and the ring cutter A (642) have the same size and structure. Several teeth (644) are provided on the body of the ring cutter (641), and a tooth groove (645) is formed between two adjacent teeth (644). The inner wall of the tooth (644) and the tooth (644) is set as an arc surface (646), and the arc surface (646) bends upward and outward at 30-60 degrees; the tooth groove (645) body is provided with a V-shaped cutter head (647) on the side near the outer wall of the ring cutter (641); the mesh body (648) body is provided with at least two parallel and connected circular coils (649), the circular coils (649) are curved m-shaped bodies, and the coil (649) body is bent to form several connecting points (650); the coil near the bottom ring (640) ( 649), each downward bending point (650) of the coil (649) is evenly fixed on the upper end face of the bottom ring (640); the coil (649) near the ring cutter (641), each upward bending point (650) of the coil (649) is evenly fixed on the bottom end face of the ring cutter (641) and the ring cutter A (642); the body of the mesh (648) is connected by several circular coils (649) to form a cylinder, and the mesh cavity (643) of the cylinder is adapted to be installed on the outer wall of the inner tube (63).

2. The intelligent and efficient harvesting robot according to claim 1, characterized in that, The harvesting mechanism (6) also includes a fixed base (60), a base (70) is fixed on one end face of the fixed base (60), the base (70) is a concave cavity (72), at least two miniature electric cylinders (69) are adapted to be installed in the concave cavity (72), the telescopic rod (67) in the miniature electric cylinder (69) is adapted to pass through the fixing ring (68), the fixing ring (68) is located above the base (70) and installed on the side close to the base (70).

3. The intelligent and efficient harvesting robot according to claim 2, characterized in that, A perforation (71) is provided in the middle of the base (70) body. The perforation (71) is adapted to the inner tube (63) vertically arranged in the concave cavity (72) of itself. The outer wall of the inner tube (63) body is adapted to be fitted with a fixing ring (68). A through telescopic rod (67) is adapted around the perimeter away from the fixing ring (68).

4. The intelligent and efficient harvesting robot according to claim 2, characterized in that, An outer tube (61) is vertically installed on the base (70) body. The inner wall of the outer tube (61) abuts against a fitting fixing ring (68). The gap between the outer tube (61) and the inner tube (63) forms an inner cavity (65). A sliding installation net bag (64) is fitted inside the inner cavity (65). A bottom ring (640) is installed at the bottom of the net bag (64) body. The bottom end of the bottom ring (640) body is fitted with the top end of the fixed telescopic rod (67).

5. The intelligent and efficient harvesting robot according to claim 3, characterized in that, The inner tube (63) is fitted with a suction cup (62) at the top of the body. The suction cup (62) has a through air passage (66) at the bottom of its inner cavity. The air passage (66) is connected to the hose opening (9). The hose opening (9) is connected to the miniature suction pump (8) installed on the robotic arm (1).

Images