Multi-arm apple picking robot

Abstract

The invention discloses a multi-arm apple picking robot, and relates to the technical field of robots, the multi-arm apple picking robot comprises a mobile platform and a walking mechanism located at the bottom of the mobile platform, a plurality of picking manipulators are installed on the mobile platform, and each picking manipulator comprises a supporting base, a rotating base, a first mechanical arm, a second mechanical arm and a tail end executing mechanism; the tail end executing mechanism comprises a telescopic rod, a clamping device and a plurality of posture adjusting bases, the clamping device is movably connected with one end of the telescopic rod through the posture adjusting bases, the other end of the telescopic rod stretches out and draws back to the tail end of the second mechanical arm, and the clamping device comprises a clamping claw mounting base and a plurality of clamping claws. The clamping jaws are driven by a clamping action actuator to be opened and closed, and elastic contact elements are arranged on the inner sides of the clamping jaws. The multi-manipulator design is adopted, multiple sensors and a visual system are carried, the motion paths of the manipulators are intelligently planned through an algorithm, collision is avoided, the picking sequence is optimized, and then the apple picking efficiency and the automation level are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-arm apple picking robot. Background Art

[0002] In modern agricultural production, fruit picking, as a key link, has long relied on a large number of laborers. However, with the aging of the population, rising labor costs and the outflow of rural labor, manual picking faces many challenges, and the development of fruit picking robots has emerged. In recent years, the rapid development of robotics, machine vision, sensor technology and artificial intelligence technology has provided solid technical support for the birth of fruit picking robots. However, fruit picking robots still face many technical problems that need to be solved in practical applications. For example, fruits vary in shape, size and color, and are often blocked by branches and leaves, resulting in insufficient recognition and positioning accuracy; the picking environment is complex and changeable, and factors such as undulating terrain, vegetation blocking and light changes affect the navigation and operation efficiency of robots; the surface of some fruits is relatively soft, and they are easily scratched by the end effector during picking, resulting in a high fruit damage rate; the technology of fruit picking robots is complex, and the equipment purchase and maintenance costs are high, which limits their popularity among small farmers; the working efficiency of existing fruit picking robots has not yet reached the ideal level, which is in sharp contrast to their high R&D and use costs. Therefore, how to improve the accuracy of fruit recognition and positioning, adapt to complex picking environments, improve work efficiency and reduce costs has become a key direction for the development of fruit picking robot technology. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-arm apple picking robot to solve the problems of poor precision, low efficiency and high cost of existing apple picking robots.

[0004] To achieve the above-mentioned purpose, the present invention provides the following scheme: a multi-arm apple picking robot, comprising a mobile platform and a walking mechanism located at the bottom of the mobile platform, a plurality of picking manipulators are installed on the mobile platform, the picking manipulators comprise a supporting base, a rotating base, a first manipulator arm, a second manipulator arm and an end actuator, the end actuator comprises a telescopic rod, a clamp and a plurality of posture adjustment seats, the clamp is movably connected to one end of the telescopic rod through a plurality of posture adjustment seats, the other end of the telescopic rod is telescoped to the end of the second manipulator arm, the clamp comprises a clamping claw mounting seat and a plurality of clamping claws, the clamping claw is driven to open and close by a clamping action actuator, and an elastic contact element is provided on the inner side of the clamping claw.

[0005] In some optional embodiments of the present invention, three clamping claws are evenly distributed circumferentially on the end surface of the clamping claw mounting seat, and a base at one end of the clamping claw is rotatably connected to the clamping action actuator.

[0006] In some optional embodiments of the present invention, a force sensor is provided at the junction of the clamping claw and the clamping action actuator.

[0007] In some optional embodiments of the present invention, a proximity sensor is provided on a side of the clamping claw mounting base facing the center position of the three clamping claws.

[0008] In some optional embodiments of the present invention, the picking robot also includes a visual system, which is installed at the end of the second robot arm. The visual system includes at least one camera and multiple sensors for identifying and locating apples.

[0009] In some optional embodiments of the present invention, the sensor on the visual system includes at least one depth sensor.

[0010] In some optional embodiments of the present invention, a control system is further included, wherein the control system is connected to the visual system and the picking robot, and the control system includes a central processing unit, an image processing module and a machine learning algorithm module.

[0011] In some optional embodiments of the present invention, a navigation system is further included, and the navigation system is connected to the control system.

[0012] In some optional embodiments of the present invention, a lifting device is further included in the center of the mobile platform, and a lifting platform is provided on the top of the lifting device, and the lifting platform is used to carry the material frame.

[0013] In some optional embodiments of the present invention, the lifting device includes a lifting drive mechanism fixedly connected to the center of the lifting bearing base, and four auxiliary hydraulic rods located around the lifting drive mechanism. The lifting drive mechanism and the top of the auxiliary hydraulic cylinder fixedly support the lifting platform.

[0014] Compared with the prior art, the present invention at least discloses the following beneficial effects:

[0015] Compared with traditional picking robots, the present invention adopts a multi-manipulator design, each manipulator is equipped with a visual system, can independently complete the picking operation, and each manipulator operates synchronously, which greatly improves the efficiency of apple picking.

[0016] The present invention can intelligently control the movement amplitude of the end actuator according to different task requirements, so as to flexibly control the movement freedom of the gripper, realize the picking of apples in different positions and directions, and complete the automatic picking task of apples in complex environments.

[0017] The present invention uses the coordination of multiple sensors and vision systems, combined with AI algorithms or Dijkstra algorithms, to intelligently plan the motion path of the manipulator, and uses a control system to achieve collaborative control of multiple manipulators to avoid collisions and optimize the picking sequence, thereby improving the efficiency and automation level of apple picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a front view of an embodiment of the present invention;

[0020] Figure 2 It is a right side view of an embodiment of the present invention;

[0021] Figure 3 A top view of an embodiment of the present invention;

[0022] Figure 4 is an axonometric diagram of an embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of a lifting device in an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of a picking robot in an embodiment of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the end effector in an embodiment of the present invention;

[0026] Figure 8 The structure of the clamp in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0027] Fig. 9 The structure of the clamp in the embodiment of the present invention is shown in FIG. Figure 2 .

[0028] In the figure: 1. walking mechanism; 2. walking control device; 3. mobile platform; 4. lifting bearing base; 5. lifting drive mechanism; 6. lifting platform; 7. material frame; 8. picking manipulator; 9. visual system; 10. auxiliary hydraulic rod; 801. supporting base; 802. rotating base; 803. first mechanical arm; 804. second mechanical arm; 805. clamper; 806. first adjusting motor; 807. second adjusting motor; 808. third adjusting motor; 809. fourth adjusting motor; 810. telescopic rod; 811. first posture adjustment seat; 812. second posture adjustment seat; 813. third posture adjustment seat; 80501. first clamping claw; 80502. second clamping claw; 80503. third clamping claw; 80504. elastic contact element; 80505. clamping claw mounting seat; 80506. clamping action actuator. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The prior art discloses a fruit picking robot, comprising a walking mechanism, a frame, a motion compensation mechanism, a mounting box, a mechanical arm, a picking head and a visual data acquisition box. The walking mechanism comprises a driving wheel and a track assembly, the frame is fixed on the walking mechanism, the motion compensation mechanism is arranged in the frame and the output end is suitable for outputting left and right linear motion and lifting linear motion. The main function of the motion compensation mechanism is that when picking fruits located in a dead corner that the mechanical arm cannot reach, the motion compensation mechanism can greatly increase the motion range of the mechanical arm through lifting motion and left and right motion, so that the picking head can reach the dead corner and pick the fruit.

[0031] The motion compensation mechanism includes a lifting linear drive pair and a left and right linear drive pair. The fixed part of the lifting linear drive pair is fixed in the frame, and the fixed part of the left and right linear drive pairs is fixed on the moving part of the lifting drive pair, and the moving part is fixedly connected to the installation box.

[0032] The installation box is fixed on the output end of the motion compensation mechanism. The main function of the installation box is to serve as a connection between the motion compensation mechanism and the robotic arm, so that the motion compensation mechanism can be output to all robotic arms through the installation box, and then output to all picking heads. There are four robotic arms on the installation box, and each robotic arm has a picking head at the output end, and each robotic arm is equipped with a visual data acquisition box. The four picking heads can work synchronously, and the picking efficiency is higher.

[0033] The mechanical arm includes a rotating frame, a winding wheel, a flexible arm and a rotating disk. The rotating frame is driven to be installed on the installation box and the rotating shaft is arranged vertically; there are four winding wheels and they are all driven to be installed in the rotating frame, the four winding wheels are distributed in four directions of front, back, left and right, and the axis of each winding wheel is arranged horizontally; the flexible arm includes a plurality of horizontally arranged connecting plates, the plurality of connecting plates are vertically spaced and the connecting plate at the bottom is fixed to the top of the rotating frame, a group of springs is arranged between each two adjacent connecting plates, each group of springs is provided with four and distributed in four directions of front, back, left and right, different groups of springs correspond vertically, all springs in each direction are interspersed with a flexible shaft, the top end of the flexible shaft is fixed on the connecting plate at the top and passes through other connecting plates, and the bottom end of the flexible shaft is wound around the winding wheel in the corresponding direction; the rotating disk is driven to be installed on the connecting plate at the top and the rotating shaft is perpendicular to the connecting plate, the rotating disk is fixedly connected to the side wall of the arc cylinder, and the rotating shaft of the rotating disk is perpendicular to the axis of the arc cylinder.

[0034] When the picking head needs to move forward, the front winding wheel is driven to rotate, so that the front flexible shaft is tightened. On the contrary, the rear winding wheel is driven to rotate, so that the rear flexible shaft is loosened, so that the picking head can move forward; the same principle can be used to drive backward, left, and right. In this way, the picking head can be driven to move in any direction through the combination of flexible shafts in multiple directions. In addition, when the picking head itself needs to rotate relative to the flexible arm, it is achieved through the rotating disk; when the entire flexible arm and the picking head need to rotate as a whole, it is achieved through the rotating frame. The coordination of rotation and movement enables the picking head to reach the target fruit position smoothly.

[0035] However, the existing fruit picking robots have limited ability to adapt to complex terrain. Although the track assembly can adapt to certain complex terrain, on extremely rugged or irregular ground, the manipulator with limited freedom cannot adapt to the posture changes caused by the robot's walking, and its picking stability cannot be guaranteed. In addition, the manipulator of the above structure is not flexible enough. Since its mechanical arm is designed as a flexible structure, when facing complex branches and leaves or dense fruits, the movement of the picking head may be restricted, making it difficult to flexibly reach each target fruit.

[0036] In order to improve the efficiency and effect of fruit picking, a robotic arm and a picking head with higher coordination and better freedom are needed to automate the entire picking process and reduce labor costs. To this end, the present invention intends to develop an efficient and intelligent multi-robotic apple picking robot through structural design, which can significantly improve the efficiency and automation level of apple picking.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Reference Figures 1 to 9 As shown, an embodiment of the present invention provides a multi-arm apple picking robot for automated picking of apple fruits, the multi-arm apple picking robot comprises a walking mechanism 1, a mobile platform 3 mounted on the walking mechanism 1, a plurality of picking manipulators 8 arranged on the mobile platform 3, and a lifting device located in the center of the mobile platform 3 for carrying a material frame 7.

[0039] In this embodiment, two walking control devices 2 are fixed at the front and rear of the bottom of the mobile platform 3. The walking control devices 2 are rotatably connected to the walking mechanism 1 on both sides. The walking control device 2 is provided with a driving mechanism for driving the driving wheel in the walking mechanism 1 to rotate, a transmission mechanism and a speed differential connecting the driving mechanism and the walking mechanism 1, and a vibration reduction mechanism. The above-mentioned walking control device 2 can adopt mature technology in this technical field and will not be elaborated here.

[0040] In this embodiment, the walking mechanism 1 is a crawler walking wheel, which is suitable for orchard environments with complex terrain and uneven ground. The crawler walking wheel has a large contact area, which can disperse the weight of the robot and reduce the pressure on the ground, thereby improving its passability on soft or muddy ground.

[0041] It should be understood that in some other embodiments, the walking mechanism 1 can also adopt a wheeled walking device, a multi-joint wheeled walking device, a leg-type walking device or a suspended walking device, etc., which is not further limited here.

[0042] In this embodiment, a lifting bearing base 4 is fixedly connected between the two travel control devices 2. The lifting bearing base 4 is lower than the mobile platform 3 and faces the center of the mobile platform 3. A lifting device is provided on the lifting bearing base 4, and a platform hole for the lifting device to move up and down is opened in the center of the mobile platform 3. Figure 5 As shown, the lifting device includes a lifting drive mechanism 5 fixedly connected to the center of the lifting bearing base 4, and four auxiliary hydraulic rods 10 located around the lifting drive mechanism 5. The lifting drive mechanism 5 and the top of the auxiliary hydraulic cylinder are fixedly supported with a lifting platform 6, and the lifting platform 6 is used to place the material frame 7. The purpose of setting the lifting platform 6 is to dynamically adjust the height of the material frame 7 during the picking process to meet the picking needs of the picking manipulator 8 for fruits of different heights, to facilitate the picking manipulator 8 to put down the picked fruits, reduce the range of the manipulator's lifting and falling movements, improve efficiency, and at the same time, be gentle to avoid damage to the apple fruit.

[0043] A plurality of material frames 7 can be placed on the lifting platform 6. For example, in the present embodiment, the length and width of the lifting platform 6 can carry four material frames 7. The picking robot 8 can be implanted with an algorithm so that the picking robot 8 automatically detects the size and weight of the fruit after picking, and then classifies the fruit, placing fruits of different sizes in different material frames 7, completing the automatic grading of the fruit and improving the working efficiency.

[0044] like Figures 6 to 9 As shown, the picking manipulator 8 is the main component of the multi-arm apple picking robot, and its structure mainly includes a support base 801, a rotating base 802, a first manipulator arm 803, a second manipulator arm 804 and an end actuator, which are connected in sequence from bottom to top. Among them, the support base 801 is connected to the mobile platform 3 as the fixed foundation of the entire picking manipulator 8 to provide stable support for the manipulator; the rotating base 802 is installed above the support base 801 and can rotate around the vertical axis, so that the picking manipulator 8 can adjust the angle in the horizontal direction to expand the working range. The rotating base 802 is driven by the first adjusting motor 806; one end of the first manipulator arm 803 is hinged on the rotating base 802, and the other end is connected to the second manipulator arm 804. The length and rigidity design of the first manipulator arm 803 enable it to withstand a certain load. The joint where the first manipulator arm 803 is connected to the rotating base is arranged. A second regulating motor 807 is installed, and the second regulating motor 807 is used to drive the first mechanical arm 803 to rotate. A third regulating motor 808 is installed at the joint where the first mechanical arm 803 and the second mechanical arm 804 are connected, and the third regulating motor 808 is used to drive the second mechanical arm 804 to rotate. The second mechanical arm 804 is connected to the first mechanical arm 803 to further extend the operating range of the manipulator, and its movement mode cooperates with the first mechanical arm 803 to achieve more complex spatial movement. A fourth regulating motor 809 is fixedly connected to the second mechanical arm 804, and the fourth regulating motor 809 is connected to the end actuator through a telescopic rod 810. In the above structure, the first regulating motor 806, the second regulating motor 807, the third regulating motor 808 and the fourth regulating motor 809 are respectively installed at different joints of the manipulator to drive the movement of the mechanical arm and the movement of the end actuator.

[0045] like Figure 7As shown, the end actuator includes a telescopic rod 810, a clamp 805 and a plurality of posture adjustment seats. The clamp 805 is located at the end of the picking manipulator 8 and is used to grab and pick apples; the clamp 805 is movably connected to one end of the telescopic rod 810 through a plurality of posture adjustment seats, and the other end of the telescopic rod 810 is fixed to the output end of the fourth adjustment motor 809, which is used to adjust the length or posture of the manipulator so that it can reach the position of the target apple more flexibly; the posture adjustment seat is used to provide support and guidance for the movement of the manipulator, and in order to realize the activity ability of the clamp 805 with multiple degrees of freedom, the posture adjustment seat includes a first posture adjustment seat 811, a second posture adjustment seat 812, and a third posture adjustment seat 813 that are movably connected in sequence.

[0046] like Figure 8 and Fig. 9 As shown, the clamp 805 includes a clamping claw mounting seat 80505, which is used to fix the clamping claw to ensure the stability and reliability of the clamp 805. The clamping claw mounting seat 80505 is rotatably connected to the third posture adjustment seat 813 on one side, and three clamping action actuators 80506 are fixed on the other side. The three clamping action actuators 80506 are evenly distributed in a ring shape, and the angle between each other is 60°. The first clamping claw 80501, the second clamping claw 80502 and the third clamping claw 80503 are respectively hinged on the three clamping action actuators 80506. The clamping action actuator 80506 includes a servo for controlling the action of the clamping claw. The three clamping claws are driven to open and close through the clamping action actuator 80506 to achieve the grasping and releasing of the apple. The three clamping claws have the same structure, including a clamping claw body and an elastic contact element 80504 disposed inside the clamping claw body. The elastic contact element 80504 can adapt to the shape of the apple and flexibly wrap the apple to avoid damaging the apple. The elastic contact element 80504 is made of flexible rubber material. On the one hand, it can be deformed according to the shape of the clamped object, and on the other hand, it can increase the friction with the clamped object, achieving a good clamping effect. The clamping claw body uses lightweight and high-strength materials, such as carbon fiber or aluminum alloy, to reduce weight and improve durability.

[0047] Specifically, the shape of the clamping claw body is curved, similar to a grasping finger, and can perform a grasping action. The clamping claw body includes two opposite mounting surfaces, on which two axes are spaced apart, and the elastic contact element 80504 is sleeved on the outside of the two axes, and the part between the two axes forms a flexible clamping surface. The clamping surfaces of the three clamping claws cooperate with each other to perform a wrap-around clamping of the apple from three directions. Correspondingly, an arc-shaped clearance notch is opened in the middle of the mounting surface, that is, an arc-shaped clearance notch is opened on the mounting surface where the clamping surface is located, so as to avoid hard clamping damage to the apple by the mounting surface during the clamping process. A rotating joint is provided at the base of one end of the clamping claw body, which is connected to the clamping action actuator 80506.

[0048] Furthermore, a plurality of sensors are provided on the clamp 805. For example, a force sensor is provided at the rotating joint of the clamping claw body to detect the clamping force, so as to achieve more precise control by detecting the gripping force or the existence of the object. For example, a proximity sensor is provided in the middle of one side of the clamping claw mounting seat 80505 facing the clamping surface to detect the distance between the clamp 805 and the apple.

[0049] A visual system 9 is installed near the gripper 805 on the picking machine. Specifically, the visual system 9 is installed at the end of the second mechanical arm 804. The visual system 9 includes at least one camera and multiple sensors, and the camera and sensors are used to identify and locate the apple. The visual system 9 can identify the color, shape and position of the apple, and transmit this information to the control system of the robot. The control system calculates the target position and posture that the manipulator needs to reach based on the feedback of the visual system 9. After the picking is completed, the control system can identify the maturity of the apple based on the feedback of the visual system 9 through the image processing module and the machine learning algorithm module installed in the control system. Specifically, the high-resolution camera in the visual system 9 can take the image of the apple, and analyze the outline and size of the apple through the image processing algorithm. Through the image processing module, the system can calculate the geometric parameters of the apple such as the diameter and height, so as to judge the size of the apple. The machine learning algorithm carried by the visual system 9 can classify and identify the image of the apple. Through the training data set, the system can learn the characteristics of apples of different sizes. In the actual picking process, after the visual system 9 identifies apples of different sizes, the robot can classify the picked apples according to the size of the apple and place them in different material boxes.

[0050] The sensors on the visual system 9 include at least one depth sensor, such as a lidar or a depth camera, for measuring distance and building an environment map.

[0051] The camera on the visual system 9 is a high-resolution camera, which is not only used to identify the position of the apples, but also to identify the maturity of the apples. Image recognition and classification are performed through the image processing module installed in the control system.

[0052] The visual system 9 is connected to a control system, which can be arranged above the mobile platform 3 or in the walking control device 2. The control system includes a central processing unit, such as a high-performance embedded processor or an industrial computer, equipped with a real-time operating system (RTOS) and a robot operating system (ROS).

[0053] In this embodiment, a navigation system is also included, which is equipped with GPS and an inertial navigation system to achieve autonomous navigation and automatic obstacle avoidance.

[0054] In this embodiment, a power system is also included, such as a lithium battery pack, which provides high energy density and long battery life, and is equipped with a battery management system and a power distribution system for monitoring and protecting the battery. The power distribution system dynamically distributes power according to the workload of each picking robot 8.

[0055] In this embodiment, the picking robot has a human-machine interaction interface, including a touch screen for displaying status information and performing manual control, and supports remote control and operation and monitoring via a wireless network.

[0056] The operation principle of the picking manipulator 8 of the above structure is to realize the recognition, positioning, grasping and picking of apples through the coordinated work of multiple motors and sensors. The control system plans the best movement path of the manipulator according to the target position and posture, combined with the AI ​​algorithm or the Dijkstra algorithm; the adjustment motor drives the movement of the first manipulator 803 and the second manipulator 804 according to the command of the control system, so that the manipulator can move to the position of the target apple along the planned path; the rotating base 802 can rotate in the horizontal direction to further adjust the direction of the manipulator so that it can more accurately aim at the target apple; when the manipulator reaches the position of the target apple, the clamping action actuator 80506 drives the clamping claw to open and close to clamp the apple; the elastic contact element 80504 on the clamp 805 can buffer the clamping force to avoid damage to the apple; after the picking is completed, the manipulator moves the apple to the material frame 7 on the lifting platform 6, and classifies the apple into different material frames 7 according to the size and weight of the apple.

[0057] In this embodiment, multiple picking manipulators 8 can operate synchronously, achieve collaborative operation through the control system, avoid mutual collision, optimize the picking sequence, and improve the overall picking efficiency. The lifting device can dynamically adjust the height of the material frame 7 according to the needs of the picking manipulator 8 to further optimize the picking process.

[0058] Through the above structure and action principle, the picking robot 8 can efficiently and flexibly complete the apple picking task, significantly improving the picking efficiency and automation level.

[0059] The details not described in detail in the present invention are all conventional technical means well known to those skilled in the art.

[0060] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0061] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-arm apple picking robot, comprising a mobile platform (3) and a walking mechanism (1) located at the bottom of the mobile platform (3), characterized in that: A plurality of picking manipulators (8) are installed on the mobile platform (3), and the picking manipulators (8) include a supporting base (801), a rotating base (802), a first manipulator arm (803), a second manipulator arm (804) and an end actuator, and the end actuator includes a telescopic rod (810), a clamp (805) and a plurality of posture adjustment seats, the clamp (805) is movably connected to one end of the telescopic rod (810) through the plurality of posture adjustment seats, and the other end of the telescopic rod (810) is telescoped to the end of the second manipulator arm (804), the clamp (805) includes a clamping claw mounting seat (80505) and a plurality of clamping claws, the clamping claw is driven to open and close by a clamping action actuator (80506), and an elastic contact element (80504) is provided on the inner side of the clamping claw.

2. The multi-arm apple picking robot according to claim 1, characterized in that: Three clamping claws are evenly distributed circumferentially on the end surface of the clamping claw mounting seat (80505), and the base at one end of the clamping claw is rotatably connected to the clamping action actuator (80506).

3. The multi-arm apple picking robot according to claim 2, characterized in that: A force sensor is provided at the junction of the clamping claw and the clamping action actuator (80506).

4. The multi-arm apple picking robot according to claim 3, characterized in that: The clamping claw mounting seat (80505) is provided with a proximity sensor on one side facing the center position of the three clamping claws.

5. The multi-arm apple picking robot according to claim 1, characterized in that: The picking robot (8) also includes a visual system (9), which is installed at the end of the second robot arm (804). The visual system (9) includes at least one camera and multiple sensors for identifying and locating apples.

6. The multi-arm apple picking robot according to claim 5, characterized in that: The sensors on the vision system (9) include at least one depth sensor.

7. The multi-arm apple picking robot according to claim 5, characterized in that: It also includes a control system, which is connected to the visual system (9) and the picking robot (8), and the control system includes a central processing unit, an image processing module and a machine learning algorithm module.

8. The multi-arm apple picking robot according to claim 7, characterized in that: Also included is a navigation system, which is connected to the control system.

9. The multi-arm apple picking robot according to claim 1, characterized in that: It also comprises a lifting device arranged in the center of the mobile platform (3), the top of the lifting device is provided with a lifting platform (6), and the lifting platform (6) is used to carry a material frame (7).

10. The multi-arm apple picking robot according to claim 9, characterized in that: The lifting device comprises a lifting drive mechanism (5) fixedly connected to the center of a lifting bearing base (4), and four auxiliary hydraulic rods (10) located around the lifting drive mechanism (5); the lifting drive mechanism (5) and the top of the auxiliary hydraulic cylinder fixedly support the lifting platform (6).

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