A device for crop picking using a multi-functional flexible robotic arm

Abstract

The present invention relates to the technical field of agricultural equipment, and discloses a device for picking crops using a multi-functional flexible robotic arm, which includes a carriage, a drive seat arranged on one side of the carriage, and a flexible robotic arm installed on the drive seat. A drive mechanism is arranged on one side of the carriage; in the present invention, through a plurality of impact columns arranged on the outer side of the rotating cylinder, when the rotating cylinder rotates, the centrifugal force causes the impact columns to move away from the rotating cylinder against the tension of the elastic connection belt, thereby impacting the roots of the crops. This design can effectively disperse the soil residues attached to the crops, making the soil residues fall off more thoroughly. Compared with the traditional device that only relies on vibration to clean the soil, the cleaning effect of this solution is better, especially suitable for crops with well-developed roots. By detecting the distance between the two positioning plates through the distance measuring element, the diameter of the stem of the crop clamped by the arc-shaped clamping plate can be calculated, and the crops can be automatically graded after picking is completed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural equipment, and in particular to a device for picking crops using a multifunctional flexible mechanical arm. Background Art

[0002] Crop harvesting devices are mechanical equipment used for automatic or semi-automatic harvesting of crops, aiming to improve harvesting efficiency, reduce labor costs and reduce crop damage. Traditional crop harvesting mainly relies on manual operation, which is labor-intensive, inefficient and easily affected by factors such as weather and season. With the development of agricultural mechanization, harvesting devices are gradually used in the harvesting process of various crops such as fruits, vegetables, tea, etc.

[0003] Chinese patent CN110972676B discloses an integrated operation device for harvesting and removing soil from the roots of crops, including a machine body, a soil-scraping group, and a clamping group. The clamping group includes a main motor and a long clamping plate. The main motor is fixedly mounted on the side wall of the machine body. The outer wall of the machine body is provided with a body groove. The output end of the main motor is located in the machine body groove. A clamping plate is fixedly mounted on the output end of the main motor. A vibration shaft and a vibration driving plate are fixedly mounted between two groups of clamping plates. The outer wall of the vibration shaft is rotatably matched with a vibration shaft sleeve and a torsion spring. The torsion spring is located at both ends of the vibration shaft sleeve. A vibration long plate is fixedly mounted on the bottom of the vibration shaft sleeve. An electromagnet is fixedly mounted on the top of the vibration driving plate. The invention can realize the pulling out of the roots of crops and automatic harvesting, so that the crops after harvesting can reduce the content of slag soil by vibration. At the same time, the vibration will not cause damage to the roots of the crops.

[0004] As shown in the above patent, existing crop picking devices usually use a clamping mechanism to clamp the stems of crops, then pull the crops upwards through a driving mechanism, and use a vibration device to shake off the soil attached to the roots. However, for crops with well-developed root systems, it is difficult to completely remove the debris at the roots by vibration alone, resulting in unsatisfactory soil removal effects. In addition, for crops whose stems are edible parts, existing devices cannot automatically grade according to the diameter of the stems after picking, and must rely on subsequent manual or additional equipment to complete the grading process, which not only increases the complexity of the operation process, but also reduces the overall picking efficiency.

[0005] Therefore, there is an urgent need for a device that can simultaneously achieve efficient cleaning of debris and automatic grading of stems during the picking process to improve work efficiency and crop processing quality. Summary of the invention

[0006] The purpose of the present invention is to provide a device for picking crops using a multi-functional flexible robotic arm, which has a better cleaning effect, is especially suitable for crops with well-developed roots, and can automatically grade the crops after picking, eliminating the need for subsequent manual or additional equipment for grading, thus improving the picking efficiency.

[0007] The above technical objective of the present invention is achieved through the following technical solutions: A device for picking crops using a multi-functional flexible robotic arm, including a carriage, a driving seat arranged on one side of the carriage, and a flexible robotic arm installed on the driving seat. A driving mechanism is arranged on one side of the carriage, and the driving mechanism is in transmission connection with the driving seat. A plurality of collection baskets are arranged inside the carriage. A clamping mechanism is arranged on the flexible robotic arm. The clamping mechanism includes a housing. Two sliding seats are slidably installed inside the housing. A first transmission assembly for driving the two sliding seats to move synchronously in opposite directions is arranged inside the housing. Arc-shaped clamping plates are fixedly installed on one side of each of the two sliding seats. The two arc-shaped clamping plates are arranged opposite to each other. Positioning plates are fixedly installed on the other side of each of the two sliding seats. A distance measuring element is installed on the positioning plate. A rotating cylinder is arranged below the housing. A plurality of impact columns are arranged on the outer side of the rotating cylinder. The impact columns are connected to the rotating cylinder through elastic connection bands. A second transmission assembly for driving the rotating cylinder to rotate is arranged below the housing.

[0008] The further setting of the present invention is: A connecting seat is fixedly installed at the top end of the housing. The connecting seat is fixedly connected to the flexible robotic arm. A second motor is fixedly installed inside the connecting seat.

[0009] The further setting of the present invention is: The first transmission assembly includes a double-headed screw, a worm gear, and a worm. The double-headed screw is rotatably installed inside the housing. A worm gear is fixedly sleeved in the middle of the double-headed screw. The output end of the second motor is fixedly connected to the top end of the worm. The worm gear is meshed with the worm. The double-headed screw penetrates through the two sliding seats, and the double-headed screw is in threaded connection with the two sliding seats. The two sliding seats are symmetrically arranged on both sides of the worm gear respectively.

[0010] The further setting of the present invention is: A plurality of grooves are formed on the outer peripheral wall of the rotating cylinder. The impact columns are arranged in the grooves. An embedding groove is communicated with the inner side of the groove. The elastic connection band is arranged in the embedding groove.

[0011] A further setting of the present invention is that: the second transmission assembly includes a connecting ring, a driving cylinder, a sliding column and a spring. The connecting ring is fixedly installed at the bottom end of the housing. The top of the driving cylinder is rotatably installed inside the connecting ring. The bottom end of the worm is fixedly installed with a rotating shaft, and the rotating shaft extends into the interior of the driving cylinder and is rotationally matched with the driving cylinder. A clockwork spring is arranged inside the driving cylinder. One end of the clockwork spring is fixedly connected with the rotating shaft, and the other end of the clockwork spring is fixedly connected with the inner wall of the driving cylinder. The top end of the sliding column is fixedly connected with the bottom wall of the driving cylinder.

[0012] A further setting of the present invention is that: a sliding groove is opened at the center of the rotating cylinder. The bottom end of the sliding column extends into the sliding groove. A sliding disk is slidably installed in the sliding groove. The bottom end of the sliding column is fixedly connected with the sliding disk. The sliding disk is elastically connected with the bottom wall of the rotating cylinder through a spring.

[0013] A further setting of the present invention is that: a plug board is fixedly installed at the bottom end of the sliding disk. An extending groove is opened at the bottom wall of the rotating cylinder. The bottom end of the plug board extends into the extending groove.

[0014] A further setting of the present invention is that: a plurality of through grooves are opened at one side of the bottom of the collection basket. Convex blocks are arranged at the tops of the two opposite inner side walls of the collection basket.

[0015] A further setting of the present invention is that: an anti-slip gasket is fixedly installed inside the arc-shaped clamping plate. The anti-slip gasket is fixedly connected with the arc-shaped clamping plate through a connecting bolt. The anti-slip gasket is of an arc-shaped structure. A plurality of anti-slip protrusions are arranged inside the anti-slip gasket.

[0016] A further setting of the present invention is that: the driving mechanism includes two mounting plates, a lead screw rotatably installed between the two mounting plates and a first motor. The two mounting plates are arranged in parallel. The first motor is fixedly installed on one side of one of the mounting plates. The output end of the first motor is fixedly connected with one end of the lead screw. The lead screw penetrates through the driving seat and is in threaded connection with the driving seat. A guide post is fixedly installed between the two mounting plates. The guide post penetrates through the driving seat and is in sliding fit with the driving seat.

[0017] In summary, the present invention has the following beneficial effects: the present invention moves the clamping mechanism to the picking position through the flexible mechanical arm, and its operation flexibility is high. The flexible mechanical arm can simulate the movement of the human arm and can accurately reach the position of the stem of the crop in a complex farmland environment. Compared with the traditional fixed picking device, the application of the flexible mechanical arm makes the picking process more flexible and diverse, and can adapt to various terrains and crop planting methods; by arranging a plurality of impact columns on the outside of the rotating cylinder, when the rotating cylinder rotates, the centrifugal force causes the impact columns to overcome the pulling force of the elastic connecting belt and move in a direction away from the rotating cylinder, thereby impacting the root system of the crop. This design can The dirt attached to the crops is effectively broken up, making the dirt fall off more thoroughly. Compared with the traditional device that only relies on vibration to clean the soil, the cleaning effect of this solution is better, especially suitable for crops with well-developed root systems. After the arc-shaped clamping plate clamps the stem of the crop stably, the distance between the two positioning plates is detected by the distance measuring element, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plate, and then according to the grading range, the crops are placed in the collection basket through the flexible mechanical arm in coordination with the drive seat, so that the crops can be automatically graded after picking is completed, without the need for subsequent manual or additional equipment for grading, thereby improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention;

[0020] Figure 3 It is a cross-sectional structural schematic diagram of the clamping mechanism of the present invention;

[0021] Figure 4 It is a schematic cross-sectional structural diagram of the housing of the present invention;

[0022] Figure 5 It is a schematic structural diagram of the slide seat, the arc-shaped clamping plate and the anti-slip pad of the present invention;

[0023] Figure 6 It is a cross-sectional structural schematic diagram of the rotating cylinder and the driving cylinder of the present invention;

[0024] Figure 7 It is a schematic diagram of the local structure of the present invention when the plug board is inserted into the soil;

[0025] Figure 8 It is a schematic diagram of the local structure of the present invention when the rotating drum is rotating;

[0026] Figure 9 It is a schematic structural diagram of the collecting basket of the present invention.

[0027] In the figure: 1, carriage; 2, mounting plate; 3, lead screw; 4, guide post; 5, first motor; 6, drive seat; 7, flexible robotic arm; 8, collection basket; 801, through slot; 802, convex block; 9, connecting seat; 10, housing; 11, sliding seat; 12, double-headed screw; 13, worm gear; 14, worm; 15, arc-shaped clamping plate; 16, anti-slip gasket; 1601, anti-slip protrusion; 17, positioning plate; 18, ranging element; 19, second motor; 20, rotating shaft; 21, connecting ring; 22, drive cylinder; 23, spring; 24, sliding column; 25, limiting strip; 26, rotating cylinder; 2601, groove; 2602, extending slot; 27, sliding disc; 28, spring; 29, impact column; 30, elastic connecting band; 31, plug board; 32, camera; 33, connecting bolt. Detailed implementation manner

[0028] The following will further illustrate the present invention in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] Please refer to Figures 1 to 5, in the embodiment of the present invention, a device for picking crops using a multi-functional flexible robotic arm includes a carriage 1, a drive seat 6 provided on one side of the carriage 1, and a flexible robotic arm 7 mounted on the drive seat 6. The carriage 1 is driven by an agricultural vehicle. A drive mechanism is provided on one side of the carriage 1, and the drive mechanism is in transmission connection with the drive seat 6. A plurality of collection baskets 8 are arranged in the carriage 1. A clamping mechanism is provided on the flexible robotic arm 7. The clamping mechanism includes a housing 10. Two sliding seats 11 are slidably installed inside the housing 10. A first transmission assembly for driving the two sliding seats 11 to move in opposite directions synchronously is provided inside the housing 10. An arc-shaped clamping plate 15 is fixedly installed on one side of each of the two sliding seats 11. The two arc-shaped clamping plates 15 are arranged oppositely. A positioning plate 17 is fixedly installed on the other side of each of the two sliding seats 11. A distance measuring element 18 is installed on the positioning plate 17. The distance measuring element 18 uses an infrared distance sensor to measure the distance between the two positioning plates 17. A rotating cylinder 26 is provided below the housing 10. A plurality of impact columns 29 are arranged on the outer side of the rotating cylinder 26. The impact columns 29 are connected to the rotating cylinder 26 through elastic connection bands 30. A second transmission assembly for driving the rotating cylinder 26 to rotate is provided below the housing 10. During specific use, the device is moved to the picking area through the carriage 1. The crops to be picked are automatically identified by the vision system. Then, the clamping mechanism is moved to the picking position through the flexible robotic arm 7, so that the two arc-shaped clamping plates 15 are located on both sides of the stem of the crop. Then, the first transmission assembly is used to drive the two sliding seats 11 to approach each other, so that the two arc-shaped clamping plates 15 clamp the stem of the crop. Then, the crop is pulled out through the flexible robotic arm 7. After the crop is pulled out of the soil, the rotating cylinder 26 rotates under the drive of the second transmission assembly. When the rotating cylinder 26 rotates, under the action of centrifugal force, the impact columns 29 overcome the tension of the elastic connection bands 30 and move away from the rotating cylinder 26, so that the impact columns 29 impact the root system of the crop, thereby dispersing and shedding the soil attached to the crop. While the rotating cylinder 26 rotates, the flexible robotic arm 7 can be controlled to swing slightly, so that the root system of the crop swings, further improving the cleaning effect of the soil. After the arc-shaped clamping plates 15 stably clamp the stem of the crop, the distance between the two positioning plates 17 is detected by the distance measuring element 18, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plates 15. Then, according to the grading range, with the drive of the drive seat 6, the crop is put into the collection basket 8 through the flexible robotic arm 7, so that the crops can be automatically graded after picking, without subsequent manual or additional equipment for grading, improving the picking efficiency.

[0030] The present solution uses the flexible mechanical arm 7 to move the gripping mechanism to the picking position, and has high operational flexibility. The flexible mechanical arm 7 can simulate the movements of a human arm and can accurately reach the position of the stem of a crop in a complex farmland environment. Compared with the traditional fixed picking device, the application of the flexible mechanical arm 7 makes the picking process more flexible and diverse, and can adapt to various terrains and crop planting methods. By providing a plurality of impact columns 29 on the outside of the rotating cylinder 26, when the rotating cylinder 26 rotates, the centrifugal force causes the impact columns 29 to overcome the pulling force of the elastic connecting belt 30 and move in a direction away from the rotating cylinder 26, thereby impacting the root system of the crop. This design can effectively break up the debris attached to the crops and make the debris fall off more thoroughly. Compared with the traditional device that only relies on vibration to clean the soil, the present solution has a better cleaning effect, and is particularly suitable for crops with well-developed root systems. Moreover, while the rotating cylinder 26 rotates, the flexible mechanical arm 7 can be controlled to swing slightly. The root system of the crops also follows the swing, and this action further improves the cleaning effect of the debris, ensuring that the debris at the roots of the crops is removed as much as possible. Through this multi-dimensional cleaning method, the cleanliness of the crops after picking is greatly improved, providing better quality assurance for subsequent processing and sales; and after the arc-shaped clamping plate 15 clamps the stem of the crop stably, the distance between the two positioning plates 17 can be detected by the distance measuring element 18, so as to calculate the diameter of the stem of the crop clamped by the arc-shaped clamping plate 15. This measurement method is accurate and reliable, and can provide accurate data basis for subsequent grading. According to the grading range, in conjunction with the drive of the drive seat 6, the crops can be placed in the collection basket 8 through the flexible mechanical arm 7, without the need for subsequent manual or additional equipment for grading, which greatly simplifies the operation process and improves the overall picking efficiency. At the same time, automatic grading can also ensure the accuracy and consistency of grading, thereby improving the market value of agricultural products.

[0031] In this embodiment, preferably, the driving mechanism includes two mounting plates 2, a screw rod 3 rotatably installed between the two mounting plates 2 and a first motor 5, the two mounting plates 2 are arranged parallel to each other, the first motor 5 is fixedly installed on one side of one of the mounting plates 2, the output end of the first motor 5 is fixedly connected to one end of the screw rod 3, the screw rod 3 passes through the drive seat 6, and the screw rod 3 is threadedly connected to the drive seat 6, a guide column 4 is fixedly installed between the two mounting plates 2, the guide column 4 passes through the drive seat 6, and the guide column 4 is slidably matched with the drive seat 6; the screw rod 3 can be driven to rotate by the first motor 5, and when the screw rod 3 rotates, it drives the drive seat 6 to move, thereby driving the flexible robotic arm 7 to move.

[0032] In this embodiment, preferably, a connecting seat 9 is fixedly installed at the top end of the housing 10. The connecting seat 9 is fixedly connected to the flexible robotic arm 7. A second motor 19 is fixedly installed inside the connecting seat 9. The first transmission assembly includes a double-headed screw 12, a worm gear 13, and a worm 14. The double-headed screw 12 is rotatably installed inside the housing 10. A worm gear 13 is fixedly sleeved in the middle of the double-headed screw 12. The output end of the second motor 19 is fixedly connected to the top end of the worm 14. The worm gear 13 meshes with the worm 14. The double-headed screw 12 passes through two sliding seats 11, and the double-headed screw 12 is threadedly connected to the two sliding seats 11. The two sliding seats 11 are symmetrically arranged on both sides of the worm gear 13 respectively. The two sections of threads on the double-headed screw 12 are symmetrically arranged in the opposite direction. By driving the worm 14 to rotate through the second motor 19, when the worm 14 rotates, it drives the worm gear 13 to rotate, thereby driving the double-headed screw 12 to rotate. When the double-headed screw 12 rotates, it drives the two sliding seats 11 to move synchronously in the opposite direction, thereby driving the two arc-shaped clamping plates 15 to move synchronously in the opposite direction.

[0033] In this embodiment, preferably, an anti-slip gasket 16 is fixedly installed on the inner side of the arc-shaped clamping plate 15. The anti-slip gasket 16 is fixedly connected to the arc-shaped clamping plate 15 through a connecting bolt 33. The anti-slip gasket 16 is of an arc-shaped structure. A plurality of anti-slip protrusions 1601 are arranged on the inner side of the anti-slip gasket 16. The anti-slip gasket 16 is made of elastic rubber material. A slip sensor is arranged inside the anti-slip gasket 16. The slip sensor is used to sense the frictional force on the surface of an object to realize the grasping, handling, and operation of the object. The slip sensor can help the robot determine an appropriate gripping force to avoid damaging the object due to excessive gripping force or causing the object to slip due to insufficient gripping force, thereby realizing the flexible grasping of the robot. The anti-slip gasket 16 and the arc-shaped clamping plate 15 are detachably connected through the connecting bolt 33, so that the anti-slip gasket 16 can be replaced to replace anti-slip gaskets 16 of different sizes according to different harvested crops. Through the arrangement of the anti-slip protrusions 1601, the firmness of fixing the crop during clamping can be further improved.

[0034] In this embodiment, preferably, cameras 32 are arranged on both the flexible robotic arm 7 and the carriage 1 to construct the vision system of the device, thereby improving the accuracy of picking and facilitating the picking work.

[0035] Please refer to Figures 6 to 9, in the embodiment of the present invention, a plurality of grooves 2601 are formed on the outer peripheral wall of the rotating cylinder 26, the impact column 29 is arranged in the groove 2601, an embedding groove is communicated with the inner side of the groove 2601, and the elastic connecting band 30 is arranged in the embedding groove; the second transmission assembly includes a connecting ring 21, a driving cylinder 22, a sliding column 24 and a spring 28. The connecting ring 21 is fixedly installed at the bottom end of the housing 10, the top of the driving cylinder 22 is rotatably installed inside the connecting ring 21, a rotating shaft 20 is fixedly installed at the bottom end of the worm 14, the rotating shaft 20 extends into the driving cylinder 22, and the rotating shaft 20 is rotationally matched with the driving cylinder 22. A clockwork spring 23 is arranged inside the driving cylinder 22, one end of the clockwork spring 23 is fixedly connected with the rotating shaft 20, and the other end of the clockwork spring 23 is fixedly connected with the inner wall of the driving cylinder 22. The top end of the sliding column 24 is fixedly connected with the bottom wall of the driving cylinder 22. A sliding groove is formed at the axis of the rotating cylinder 26, the bottom end of the sliding column 24 extends into the sliding groove, a sliding disk 27 is slidably installed in the sliding groove, the bottom end of the sliding column 24 is fixedly connected with the sliding disk 27, and the sliding disk 27 is elastically connected with the bottom wall of the rotating cylinder 26 through a spring 28. A limiting strip 25 is fixedly arranged on the outer wall of the sliding column 24. Through the arrangement of the limiting strip 25, the rotating cylinder 26 can be driven to rotate when the sliding column 24 rotates.

[0036] In this embodiment, preferably, a plug plate 31 is fixedly installed at the bottom end of the sliding plate 27, and a protruding groove 2602 is opened on the bottom wall of the rotating cylinder 26, and the bottom end of the plug plate 31 extends into the protruding groove 2602; when picking, the clamping mechanism is first moved to the two arc-shaped clamping plates 15 located on both sides of the stem of the crop, and then the clamping mechanism is driven downward by the flexible mechanical arm 7 to make the bottom wall of the rotating cylinder 26 contact with the soil, and then the clamping mechanism is continued to be driven downward to make the sliding column 24 extend into the sliding groove in the middle of the rotating cylinder 26, and The spring 28 is compressed. At the same time, the sliding column 24 moves downward, driving the sliding plate 27 to move downward. When the sliding plate 27 moves downward, driving the plug plate 31 to move downward, so that the plug plate 31 is inserted into the soil, thereby making the rotating cylinder 26 unable to rotate. Subsequently, the two sliding seats 11 are driven to approach each other through the first transmission component, so that the two arc-shaped clamping plates 15 cooperate with the anti-slip pads 16 to clamp the stems of the crops. In the process of the first transmission component driving the sliding seat 11 to move, the worm 14 drives the rotating shaft 20 to rotate. Since the rotating cylinder 26 cannot rotate at this time The rotating shaft 20 rotates, and the spring 23 contracts to store energy. When the crop is pulled out, as the slide column 24 moves upward, the plug plate 31 is pulled out of the soil and moves to the inside of the rotating cylinder 26 under the elastic action of the spring 28. At this time, the rotating cylinder 26 is at the same height as the root system of the crop. The spring 23 expands and releases energy to drive the driving cylinder 22 to rotate, thereby driving the rotating cylinder 26 to rotate through the slide column 24. When the rotating cylinder 26 rotates, under the action of centrifugal force, the impact column 29 overcomes the pulling force of the elastic connecting belt 30 and moves away from the rotating cylinder. The impact column 29 moves in the direction of the rotation cylinder 26, so that the impact column 29 impacts the root system of the crop, so that the debris attached to the crop is broken up and falls off; through the arrangement of the above structure, the up and down movement and rotation of the rotating cylinder 26 can be realized without adding additional electrical drive elements, so that the root system of the crop is automatically cleaned, the production cost of the equipment is reduced, and the synchronization is better. Moreover, for some crops with developed root systems that are difficult to pull out, the width of the plug plate 31 can be widened, and the soil can be loosened by inserting the plug plate 31, thereby making it easier to pull out the crops.

[0037] In the present embodiment, preferably, a plurality of through grooves 801 are provided on one side of the bottom of the collecting basket 8, and protrusions 802 are provided on the tops of the two opposite inner walls of the collecting basket 8, through which the collecting basket 8 can be conveniently pulled out, and when crops are put into the collecting basket 8, as the worm 14 drives the arc clamping plate 15 to open, the rotating cylinder 26 rotates, so that the impact column 29 impacts the root system of the crops again for secondary cleaning, and the cleaned debris falls into the carriage 1 through the through grooves 801, and a through hole can be opened at the bottom of the carriage 1 to discharge the debris.

[0038] The above are only the preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made according to the structures, features and principles described in the scope of the present invention patent application are included in the scope of the present invention patent application.

Claims

1. A device for picking crops using a multifunctional flexible mechanical arm, comprising a carriage, a driving seat arranged on one side of the carriage, and a flexible mechanical arm installed on the driving seat, characterized in that: A driving mechanism is provided on one side of the carriage, and the driving mechanism is transmission-connected with the driving seat, a plurality of collecting baskets are provided in the carriage, and a clamping mechanism is provided on the flexible mechanical arm, and the clamping mechanism comprises a shell, and two slide seats are slidably installed inside the shell, and a first transmission assembly for driving the two slide seats to move synchronously in opposite directions is provided in the shell, and an arc-shaped clamping plate is fixedly installed on one side of the two slide seats, and the two arc-shaped clamping plates are arranged opposite to each other, and a positioning plate is fixedly installed on the other side of the two slide seats, and a distance measuring element is installed on the positioning plate, and a rotating cylinder is provided below the shell, and a plurality of impact columns are provided on the outer side of the rotating cylinder, and the impact columns are connected to the rotating cylinder through an elastic connecting belt, and a second transmission assembly for driving the rotating cylinder to rotate is provided below the shell; A connecting seat is fixedly installed on the top of the shell, the connecting seat is fixedly connected to the flexible mechanical arm, and a second motor is fixedly installed inside the connecting seat; The first transmission assembly includes a double-headed screw, a worm wheel and a worm, the double-headed screw is rotatably mounted inside the housing, the middle part of the double-headed screw is fixedly sleeved with a worm wheel, the output end of the second motor is fixedly connected to the top end of the worm, the worm wheel is meshed with the worm, the double-headed screw passes through two slide seats, and the double-headed screw is threadedly connected to the two slide seats, and the two slide seats are symmetrically arranged on both sides of the worm wheel; The second transmission assembly includes a connecting ring, a driving cylinder, a sliding column and a spring. The connecting ring is fixedly mounted on the bottom end of the housing. The top of the driving cylinder is rotatably mounted on the inner side of the connecting ring. A rotating shaft is fixedly mounted on the bottom end of the worm. The rotating shaft extends into the interior of the driving cylinder and the rotating shaft and the driving cylinder are rotatably matched. A spring is arranged inside the driving cylinder. One end of the spring is fixedly connected to the rotating shaft. The other end of the spring is fixedly connected to the inner wall of the driving cylinder. The top end of the sliding column is fixedly connected to the bottom wall of the driving cylinder. A slide groove is provided at the axis of the rotating cylinder, the bottom end of the slide column extends into the slide groove, a slide plate is slidably installed in the slide groove, the bottom end of the slide column is fixedly connected to the slide plate, and the slide plate is elastically connected to the bottom wall of the rotating cylinder through a spring; A plug plate is fixedly mounted on the bottom end of the sliding plate, a protruding groove is provided on the bottom wall of the rotating cylinder, and the bottom end of the plug plate extends into the protruding groove.

2. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: The outer peripheral wall of the rotating cylinder is provided with a plurality of grooves, the impact column is arranged in the groove, the inner side of the groove is connected with an embedding groove, and the elastic connecting belt is arranged in the embedding groove.

3. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: A plurality of through slots are provided on one side of the bottom of the collecting basket, and bumps are provided on the tops of two opposite inner side walls of the collecting basket.

4. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: An anti-skid pad is fixedly installed on the inner side of the arc-shaped clamping plate. The anti-skid pad is fixedly connected to the arc-shaped clamping plate through connecting bolts. The anti-skid pad is an arc-shaped structure, and a plurality of anti-skid protrusions are arranged on the inner side of the anti-skid pad.

5. The device for picking crops using a multifunctional flexible mechanical arm according to claim 1, characterized in that: The driving mechanism includes two mounting plates, a screw rod rotatably mounted between the two mounting plates, and a first motor. The two mounting plates are arranged parallel to each other. The first motor is fixedly mounted on one side of one of the mounting plates. The output end of the first motor is fixedly connected to one end of the screw rod. The screw rod passes through the driving seat, and the screw rod is threadedly connected to the driving seat. A guide column is fixedly mounted between the two mounting plates, and the guide column passes through the driving seat, and the guide column and the driving seat are slidably matched.

Images