Forest fruit picking manipulator

Abstract

The invention belongs to the technical field of forest fruit picking, and particularly relates to a forest fruit picking manipulator which comprises a shell, a rotating disc is rotatably connected to the left side of the shell, the rotating disc is electrically connected with a power source in the shell, a PLC is fixedly connected to the side wall of the shell, an acquisition camera is fixedly connected to the upper side wall of the shell, and the acquisition camera is electrically connected with a power source in the shell. And the left side of the turntable is connected with a clamping mechanism through a bolt. In the process of picking forest fruits by utilizing the manipulator, the forest fruits can be completely wrapped by utilizing the manipulator, so that the problem that the surfaces of the fruits are scratched by branches of fruit trees in the process of recovering the forest fruits by utilizing the manipulator is avoided, fruit stems can be cut off, and the fruit stems are prevented from being damaged in the process of twisting the fruits and separating the fruits from the fruit stems. Fruit tissues around fruit stems can be torn, so that the epidermis is scratched, and the appearance and the commodity value of the fruits are seriously influenced.

Description

Technical Field

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

[0002] A fruit picking robot is an intelligent mechanical device used in the agricultural field, which is designed to automatically complete the task of fruit picking. It can effectively solve the problems of low efficiency, high cost and difficulty in operating in complex environments of manual picking. For example, the fruit picking robot proposed in patent announcement number CN114654490B.

[0003] When picking fruits, the existing fruit picking manipulator needs to use the manipulator to clamp the fruits and then twist the fruits to separate the fruits from the fruit stalks, so as to achieve the picking function. When the manipulator is used to twist the fruits from the fruit stalks, if the contact position or angle between the mechanical claws and the fruit stalks is not appropriate, the fruit tissue around the fruit stalks is easily torn during the twisting process, resulting in abrasions and scratches on the epidermis, which seriously affects the appearance and commercial value of the fruits. At the same time, when the robot is recycling the picked fruits, the branches of the fruit trees are likely to block the moving path of the fruits, causing scratches on the fruits during the movement of the fruits, and also causing scratches on the surface of the fruits.

[0004] Therefore, a fruit picking robot is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a fruit picking robot in view of the above problems.

[0006] To achieve the above object, the present invention adopts the following technical solutions: a fruit picking manipulator, comprising a shell, a turntable is rotatably connected to the left side of the shell, the turntable is electrically connected to a power source inside the shell, a PLC controller is fixedly connected to the side wall of the shell, a collection camera is fixedly connected to the upper side wall of the shell, a clamping mechanism is connected to the left side of the turntable by bolts, and further comprising: Two clamping rods are fixedly connected to the two movable ends of the clamping mechanism, the clamping rod is a Z-shaped structure, and one end of the clamping rod away from the clamping mechanism is connected to a picking assembly; A cutting assembly, arranged on the side wall of the picking assembly on the upper side, for separating the fruit from the fruit stalk; The adsorption component is arranged on the left side of the clamping mechanism and is used for guiding the direction when picking fruits.

[0007] Preferably, the picking component includes an arc-shaped cover fixedly connected to the left end of the clamping rod, the arc-shaped cover is a semi-oval structure, the inner wall of the arc-shaped cover is fixedly connected with a rubber sheet, a flexible pressure element is provided in the rubber sheet, the side wall of the arc-shaped cover is fixedly connected with an air release pipe, a first control valve is provided in the air release pipe, the inner wall of the arc-shaped cover is fixedly connected with a first air pressure sensor, the first air pressure sensor is electrically connected to a PLC controller, the front side wall of the clamping mechanism is fixedly connected with a U-shaped tube and a first air pump, the air inlet end of the first air pump is fixedly connected to the U-shaped tube, the two ends of the U-shaped tube are respectively fixedly connected to the two arc-shaped covers with the same hose, and the air inlet end of the first air pump is provided with a second control valve.

[0008] Preferably, the cutting assembly includes a connecting seat fixedly connected to the side wall of the upper arc-shaped cover, the lower side wall of the connecting seat is provided with a placement groove, the upper inner wall of the placement groove is fixedly connected with a small electric push rod, the movable end of the small electric push rod is fixedly connected with a cutting knife, the side wall of the arc-shaped cover located on the lower side is fixedly connected with a knife groove seat matching the cutting knife, and the inner wall of the placement groove is provided with a detection and repair assembly.

[0009] Preferably, the detection and repair component includes a lead screw linear module fixedly connected to the inner wall of the placement groove, the movable end of the lead screw linear module is fixedly connected to a movable plate, the upper side wall of the movable plate is fixedly connected to a first micro-electric push rod, the movable end of the first micro-electric push rod is fixedly connected to a detection box through a pressure sensor, the rear inner wall of the detection box is connected to a movable plate through a spring, the upper side wall of the movable plate is fixedly connected to a support plate, the upper side wall of the detection box is provided with a sliding opening that matches the support plate, the upper side wall of the support plate is fixedly connected to a detection seat, the upper side wall of the detection seat is provided with a first V-shaped groove that matches the cutting knife, and the inner wall of the first V-shaped groove is fixedly connected to a friction plate, the rear side wall of the movable plate is fixedly connected to a conductive frame, the conductive frame is electrically connected to an external power supply, the lower inner wall of the detection box is inlaid with a conductive plate, and the conductive plate is electrically connected to a PLC controller.

[0010] Preferably, the rear side wall of the detection box is fixedly connected to a carrying plate, the upper side wall of the carrying plate is fixedly connected to a second micro-electric push rod, the movable end of the second micro-electric push rod is fixedly connected to a repair seat via a pressure sensor, the upper side wall of the repair seat is provided with a second V-shaped groove, and the inner wall of the second V-shaped groove is fixedly connected to a repair polishing plate.

[0011] Preferably, the adsorption assembly includes an adsorption electric push rod fixedly connected to the left side of the clamping mechanism, the moving end of the adsorption electric push rod is fixedly connected to the adsorption seat, the left side wall of the adsorption seat is fixedly connected to the adsorption box, the left side wall of the adsorption box is fixedly connected to the suction cup, a second air pressure sensor is provided inside the adsorption box, the front side wall of the adsorption seat is fixedly connected to the second air pump, the air inlet end of the second air pump is fixedly connected to the air inlet pipe, the left end of the air inlet pipe is connected to the adsorption box, the pipe wall of the air inlet pipe is fixedly connected to the short pipe, the air inlet pipe is provided with a first regulating valve, the short pipe is provided with a second regulating valve, the adsorption seat is a hollow structure, the air outlet end of the second air pump is connected to the adsorption seat, the left side wall of the adsorption seat is fixedly connected to two blowing pipes, and the left end of the blowing pipe is fixedly connected to a blowing head.

[0012] Preferably, the rod wall of the clamping rod is fixedly connected to an analysis box, the left inner wall of the analysis box is connected to a piston plate via a spring, the right inner wall of the analysis box is fixedly connected to a trigger switch, the trigger switch is electrically connected to a PLC controller, an air pressure hole is opened on the right side wall of the analysis box, and the analysis box and the arc cover on the same side are fixedly connected by the same analysis tube.

[0013] Preferably, the left side wall of the arc-shaped cover is provided with two clamping grooves, and the clamping grooves are semicircular hole-type structures.

[0014] Compared with the existing technology, the advantages of a fruit picking manipulator are: 1. Through the setting of picking components and cutting components, in the process of using a robot to pick fruits, the robot can be used to completely wrap the fruits inside, thereby avoiding the problem that the branches of the fruit trees will scratch the surface of the fruits during the process of the robot recovering the fruits. The fruit stalks can also be cut off to avoid tearing the fruit tissue around the stalks during the process of twisting the fruits and separating them, resulting in abrasions and scratches on the skin, which seriously affects the appearance and commercial value of the fruits.

[0015] 2. Through the detection and repair components, after using the cutting knife to cut the fruit stalk for a long time, the wear degree of the cutting knife can be automatically detected. When the detection finds that the cutting knife is seriously worn, the surface of the cutting knife can be automatically polished and repaired to ensure the cutting quality of the cutting knife.

[0016] 3. Through the adsorption component, when the robot is used to pick the fruits, the fruits can be adsorbed before the robot clamps the fruits to separate them from the surrounding fruits, thereby avoiding the problem of the robot clamping other fruits and ensuring the picking quality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a structural schematic diagram of a fruit picking manipulator provided by the present invention; Figure 2 This is a structural schematic diagram of an adsorption component in a fruit picking manipulator provided by the present invention; Figure 3 This is a structural schematic diagram of a picking component in a fruit picking robot provided by the present invention; Figure 4 This is a schematic diagram of the internal structure of a connecting seat in a fruit picking manipulator provided by the present invention; Figure 5 This is a schematic diagram of the internal structure of a detection box in a fruit picking robot provided by the present invention; Figure 6 It is a schematic diagram of the internal structure of an analysis box in a fruit picking manipulator provided by the present invention.

[0018] In the figure: 1 housing, 2 turntable, 3 PLC controller, 4 acquisition camera, 5 clamping mechanism, 6 clamping rod, 7 picking component, 71 arc cover, 72 rubber sheet, 8 flexible pressure element, 9 venting pipe, 10 first control valve, 11 first air pressure sensor, 12 U-shaped tube, 13 first air pump, 14 second control valve, 15 cutting component, 151 connecting seat, 152 placement slot, 16 small electric push rod, 17 cutting knife, 18 knife slot seat, 19 detection and repair component, 191 screw linear module, 192 moving plate, 20 first micro electric push rod, 21 detection box, 22 movable Plate, 23 support plate, 24 sliding port, 25 detection seat, 26 friction plate, 27 conductive frame, 28 conductive plate, 29 bearing plate, 30 second micro electric push rod, 31 repair seat, 32 repair polishing plate, 33 adsorption component, 331 adsorption electric push rod, 332 adsorption seat, 34 adsorption box, 35 suction cup, 36 second air pressure sensor, 37 second air pump, 38 intake pipe, 39 short pipe, 40 first regulating valve, 41 second regulating valve, 42 air blowing pipe, 43 air blowing head, 44 analysis box, 45 piston plate, 46 trigger switch, 47 analysis tube, 48 clamping groove, 49 hose. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] like Figure 1-Figure 6 As shown, a fruit picking manipulator includes a housing 1, a turntable 2 is rotatably connected to the left side of the housing 1, the turntable 2 is electrically connected to the power source inside the housing 1, a PLC controller 3 is fixedly connected to the side wall of the housing 1, a collection camera 4 is fixedly connected to the upper side wall of the housing 1, and a clamping mechanism 5 is connected to the left side of the turntable 2 by bolts, and also includes: Two clamping rods 6 are fixedly connected to the two moving ends of the clamping mechanism 5. The clamping rod 6 is a Z-shaped structure. The end of the clamping rod 6 away from the clamping mechanism 5 is connected to a picking assembly 7. The picking assembly 7 includes an arc cover 71 fixedly connected to the left end of the clamping rod 6. The arc cover 71 is a semi-oval structure. The inner wall of the arc cover 71 is fixedly connected to a rubber sheet 72. A flexible pressure element 8 is arranged in the rubber sheet 72. The side wall of the arc cover 71 is fixedly connected to a vent pipe 9. A first control valve 10 is arranged in the vent pipe 9. The inner wall of the arc cover 71 is fixedly connected to a first air pressure sensor 11. The first air pressure sensor The sensor 11 is electrically connected to the PLC controller 3, the front side wall of the clamping mechanism 5 is fixedly connected with a U-shaped tube 12 and a first air pump 13, the air inlet end of the first air pump 13 is fixedly connected to the U-shaped tube 12, the two ends of the U-shaped tube 12 are respectively fixedly connected to the two arc-shaped covers 71 by a same hose 49, and the air inlet end of the first air pump 13 is provided with a second control valve 14. In the process of picking the fruit by the manipulator, the manipulator can be used to completely wrap the fruit inside, thereby avoiding the problem that the branches of the fruit tree will scratch the surface of the fruit in the process of the manipulator recovering the fruit; The cutting assembly 15 is arranged on the side wall of the upper picking assembly 7 and is used to separate the forest fruits and the fruit stems. The cutting assembly 15 includes a connecting seat 151 fixedly connected to the side wall of the upper arc-shaped cover 71. The lower side wall of the connecting seat 151 is provided with a placement groove 152. The upper inner wall of the placement groove 152 is fixedly connected with a small electric push rod 16. The movable end of the small electric push rod 16 is fixedly connected with a cutting knife 17. The side wall of the lower arc-shaped cover 71 is fixedly connected with a knife groove seat 18 that matches the cutting knife 17. The inner wall of the placement groove 152 is provided with a detection and repair assembly 19, which can cut the fruit stems, avoiding the tearing of the fruit tissue around the fruit stem in the process of twisting the fruit and separating the fruit stem, resulting in abrasions and scratches on the skin, which seriously affects the appearance and commercial value of the fruit. The adsorption component 33 is arranged on the left side of the clamping mechanism 5 and is used for guiding the direction when picking fruits. The adsorption component 33 includes an adsorption electric push rod 331 fixedly connected to the left side of the clamping mechanism 5. The moving end of the adsorption electric push rod 331 is fixedly connected to an adsorption seat 332. The left side wall of the adsorption seat 332 is fixedly connected to an adsorption box 34. The left side wall of the adsorption box 34 is fixedly connected to a suction cup 35. A second air pressure sensor 36 is arranged inside the adsorption box 34. The front side wall of the adsorption seat 332 is fixedly connected to a second air pump 37. The air inlet end of the second air pump 37 is fixedly connected to an air intake pipe 38. The left end of the air intake pipe 38 is connected to the adsorption box 332. 4 is connected, a short pipe 39 is fixedly connected to the wall of the air inlet pipe 38, a first regulating valve 40 is arranged in the air inlet pipe 38, a second regulating valve 41 is arranged in the short pipe 39, the adsorption seat 332 is a hollow structure, the air outlet end of the second vacuum pump 37 is connected to the adsorption seat 332, two blowing pipes 42 are fixedly connected to the left wall of the adsorption seat 332, and a blowing head 43 is fixedly connected to the left end of the blowing pipe 42. When the manipulator is used to pick the fruits, the fruits can be adsorbed before the manipulator clamps the fruits to separate the fruits from the surrounding fruits, thereby avoiding the problem of the manipulator clamping other fruits and ensuring the picking quality of the manipulator.

[0021] The detection and repair component 19 includes a screw linear module 191 fixedly connected to the inner wall of the placement groove 152, the moving end of the screw linear module 191 is fixedly connected to a moving plate 192, the upper side wall of the moving plate 192 is fixedly connected to a first micro electric push rod 20, the moving end of the first micro electric push rod 20 is fixedly connected to a detection box 21 through a pressure sensor, the rear inner wall of the detection box 21 is connected to a movable plate 22 through a spring, the upper side wall of the movable plate 22 is fixedly connected to a support plate 23, the upper side wall of the detection box 21 is provided with a sliding opening 24 that matches the support plate 23, the upper side wall of the support plate 23 is fixedly connected to a detection seat 25, the upper side wall of the detection seat 25 is provided with a first V-shaped groove that matches the cutting knife 17, and the inner wall of the first V-shaped groove is fixedly connected to a friction plate 26, the rear side wall of the movable plate 22 is fixed A conductive frame 27 is fixedly connected, and the conductive frame 27 is electrically connected to an external power supply. A conductive plate 28 is inlaid on the lower inner wall of the detection box 21, and the conductive plate 28 is electrically connected to the PLC controller 3. A supporting plate 29 is fixedly connected to the rear side wall of the detection box 21, and a second micro-electric push rod 30 is fixedly connected to the upper side wall of the supporting plate 29. The moving end of the second micro-electric push rod 30 is fixedly connected to a repair seat 31 through a pressure sensor. A second V-shaped groove is provided on the upper side wall of the repair seat 31, and a repair grinding plate 32 is fixedly connected to the inner wall of the second V-shaped groove. After the cutting knife 17 is used to cut the fruit handle for a long time, the degree of wear of the cutting knife 17 can be automatically detected. When the detection finds that the cutting knife 17 is severely worn, the surface of the cutting knife 17 can be automatically polished and repaired to ensure the cutting quality of the cutting knife 17.

[0022] The rod wall of the clamping rod 6 is fixedly connected to an analysis box 44, the left inner wall of the analysis box 44 is connected to a piston plate 45 through a spring, the right inner wall of the analysis box 44 is fixedly connected to a trigger switch 46, the trigger switch 46 is electrically connected to the PLC controller 3, and an air pressure hole is opened on the right side wall of the analysis box 44. The analysis box 44 and the arc cover 71 on the same side are fixedly connected with the same analysis tube 47, which can detect whether the rubber sheet 72 is damaged.

[0023] The left side wall of the arc-shaped cover 71 is provided with two clamping grooves 48 , which are semicircular hole-shaped structures and can reserve space for storing fruit stalks.

[0024] The operating principle of the present invention is now described as follows: through the set acquisition camera 4, the housing 1 is brought to a position close to the fruit trees by a mechanical arm, and the suction cup 35 is aligned with the fruit trees, and then the PLC controller 3 controls the adsorption electric push rod 331 to work, so that the adsorption electric push rod 331 drives the adsorption seat 332 and the suction cup 35 to move in the direction close to the fruit trees, so that the suction cup 35 and the fruit trees are in contact. When the PLC controller 3 observes the contact between the suction cup 35 and the fruit trees through the acquisition camera 4, the PLC controller 3 will control the second air pump 37 and the first regulating valve 40 to work at the same time, and the second air pump 37 will extract the air between the suction cup 35 and the fruit trees, so that the suction cup 35 adsorbs the fruit trees, and when the second air pressure sensor 36 detects that the adsorption force inside the suction cup 35 reaches 50N, the second air pressure sensor 36 will control the second air pump 37 to stop working through the PLC controller 3, and control the first regulating valve 40 to close. Then the PLC controller 3 controls the adsorption electric push rod 331 to drive the suction cup 35 and the fruit to move to the right, so that the fruit falls between the two arc covers 71, and then the PLC controller 3 controls the clamping mechanism 5 to work (the clamping mechanism 5 is composed of a clamping box and an internal two-way threaded rod, the two-way threaded rod is connected to the inside of the clamping box by rotation, and the power source inside the clamping box is connected to the two-way threaded rod by transmission, the rod wall of the two-way threaded rod is threadedly sleeved with two threaded cylinders, and the side walls of the threaded cylinders are fixedly connected by a bracket and a clamping rod 6), the clamping mechanism 5 drives the two arc covers 71 to move in mutual directions through the two clamping rods 6, and the arc covers 71 are used to clamp the fruit, and in the process of the two arc covers 71 moving towards the direction of approaching the fruit, the PLC controller 3 will also control the second regulating valve 41 and the first regulating valve 40 to open, so that the external air enters the suction cup 35 through the short tube 39 and the air inlet pipe 38, thereby separating the suction cup 35 from the fruit; When the two arc covers 71 are closed, the fruit stalks of the fruits will be placed between the two clamping grooves 48, and the fruits will be located between the two arc covers 71. Due to the different sizes of the fruits, after the arc cover 71 clamps the smaller fruits, the PLC controller 3 will control the first control valve 10 to open, and the external gas will enter between the arc cover 71 and the rubber sheet 72 through the vent pipe 9. The central area of ​​the rubber sheet 72 will move toward the direction close to the fruits under the action of its own elastic force and contact the fruits. After the flexible pressure element 8 arranged inside the rubber sheet 72 detects that the squeezing force between the rubber sheet 72 and the fruits reaches 30N, the flexible pressure element 8 will control the first control valve 10 to close through the PLC controller 3, so that the arc cover 71 and the rubber sheet 72 inside can be used to clamp the fruits. After the first control valve 10 is opened, P The LC controller 3 will also control the small electric push rod 16 to drive the cutting knife 17 to move up and down once, and the fruit stalk is cut through the cooperation between the cutting knife 17 and the knife groove seat 18. When the mechanical arm drives the arc cover 71 to move to the fruit collection place, the PLC controller 3 controls the clamping mechanism 5 to work in reverse, so that the internal fruit can fall to the collection place. Then the PLC controller 3 will control the first vacuum pump 13 and the second control valve 14 to work at the same time. The first vacuum pump 13 will extract the gas between the arc cover 71 and the rubber sheet 72 through the U-shaped tube 12 and the hose 49. After the negative pressure between the arc cover 71 and the rubber sheet 72 reaches 2000 Pa, the first air pressure sensor 11 will control the first vacuum pump 13 to stop working and control the second control valve 14 to close, so as to facilitate the subsequent clamping work; When the cutting knife 17 finishes working for a day, the PLC controller 3 will control the screw linear module 191 to work, so that the screw linear module 191 drives the movable plate 192 and the detection seat 25 to move to the bottom of the cutting knife 17, and then the PLC controller 3 controls the first micro electric push rod 20 to work, and the first micro electric push rod 20 drives the detection seat 25 to move upward and contact the cutting edge of the cutting knife 17 through the pressure sensor. When the pressure sensor detects that the extrusion force between the detection seat 25 and the cutting edge reaches 10N, the pressure sensor will control the first micro electric push rod 20 to stop working through the PLC controller 3, and then the PLC controller 3 controls the screw linear module 191 to continue working, and the screw linear module 191 moves forward together through the movable plate 192, the first micro electric push rod 20 and the detection box 21. When the cutting edge is worn out, the friction between the cutting edge and the friction plate 26 will increase, and the increased friction will drive the movable plate 22 and the conductive frame 27 to move backward through the support plate 23, so that the conductive frame 27 and the conductive plate 28 are in contact, and the conductive plate 28 is conductive. The frame 27 is electrically connected to the external power supply, and the conductive plate 28 is electrically connected to the PLC controller 3. When the conductive frame 27 and the conductive plate 28 are in contact, an electrical signal will be transmitted to the PLC controller 3. When the PLC controller 3 receives the electrical signal from the conductive plate 28, it means that the cutting knife 17 is worn out and needs to be polished. The PLC controller 3 will control the first micro-electric push rod 20 to drive the detection seat 25 to move downward to the initial position. At the same time, the PLC controller 3 will also control the second micro-electric push rod 30 to work, so that the second micro-electric push rod 30 drives the repair seat 31 to move upward through the pressure sensor, so that the repair seat 31 and the repair polishing plate 32 are in contact, and after the pressure sensor detects that the pressure between the repair polishing plate 32 and the cutting knife 17 reaches 30N, the pressure sensor will control the screw linear module 191 to work through the PLC controller 3, and the screw linear module 191 will mobilize the repair polishing plate 32 to move back and forth for thirty seconds, and use the repair polishing plate 32 to polish and repair the worn cutting knife 17 edge.

[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fruit picking robot, comprising a housing (1), a turntable (2) rotatably connected to the left side of the housing (1), the turntable (2) being electrically connected to a power source inside the housing (1), a PLC controller (3) being fixedly connected to the side wall of the housing (1), a collection camera (4) being fixedly connected to the upper side wall of the housing (1), and a clamping mechanism (5) being connected to the left side of the turntable (2) via bolts, characterized in that: Also includes: Two clamping rods (6) are fixedly connected to the two movable ends of the clamping mechanism (5); the clamping rod (6) is a Z-shaped structure; one end of the clamping rod (6) away from the clamping mechanism (5) is connected to a picking assembly (7); A cutting assembly (15) is arranged on the side wall of the picking assembly (7) on the upper side and is used to separate the fruit from the fruit stalk; The adsorption component (33) is arranged on the left side of the clamping mechanism (5) and is used for guiding the direction when picking fruits.

2. A fruit picking manipulator according to claim 1, characterized in that: The picking assembly (7) comprises an arc-shaped cover (71) fixedly connected to the left end of the clamping rod (6); the arc-shaped cover (71) is a semi-oval structure; a rubber sheet (72) is fixedly connected to the inner wall of the arc-shaped cover (71); a flexible pressure element (8) is arranged in the rubber sheet (72); a venting pipe (9) is fixedly connected to the side wall of the arc-shaped cover (71); a first control valve (10) is arranged in the venting pipe (9); and a first air pressure sensor is fixedly connected to the inner wall of the arc-shaped cover (71). (11), the first air pressure sensor (11) and the PLC controller (3) are electrically connected, the front side wall of the clamping mechanism (5) is fixedly connected with a U-shaped tube (12) and a first air pump (13), the air inlet end of the first air pump (13) is fixedly connected with the U-shaped tube (12), the two ends of the U-shaped tube (12) are respectively fixedly connected with the two arc-shaped covers (71) by a same hose (49), and the air inlet end of the first air pump (13) is provided with a second control valve (14).

3. The fruit picking robot according to claim 1, characterized in that: The cutting assembly (15) comprises a connecting seat (151) fixedly connected to the side wall of the upper arc-shaped cover (71); a placement groove (152) is provided on the lower side wall of the connecting seat (151); a small electric push rod (16) is fixedly connected to the upper inner wall of the placement groove (152); a cutting knife (17) is fixedly connected to the movable end of the small electric push rod (16); a knife groove seat (18) matching the cutting knife (17) is fixedly connected to the side wall of the arc-shaped cover (71) located at the lower side; and a detection and repair assembly (19) is provided on the inner wall of the placement groove (152).

4. The fruit picking manipulator according to claim 3, characterized in that: The detection and repair component (19) comprises a lead screw linear module (191) fixedly connected to the inner wall of the placement groove (152); the movable end of the lead screw linear module (191) is fixedly connected to a movable plate (192); the upper side wall of the movable plate (192) is fixedly connected to a first micro electric push rod (20); the movable end of the first micro electric push rod (20) is fixedly connected to a detection box (21) via a pressure sensor; the rear inner wall of the detection box (21) is connected to a movable plate (22) via a spring; the upper side wall of the movable plate (22) is fixedly connected to a support plate (23); the detection box (21) ) is provided with a sliding opening (24) matching with the support plate (23), the upper side wall of the support plate (23) is fixedly connected with a detection seat (25), the upper side wall of the detection seat (25) is provided with a first V-shaped groove matching with the cutting knife (17), and the inner wall of the first V-shaped groove is fixedly connected with a friction plate (26), the rear side wall of the movable plate (22) is fixedly connected with a conductive frame (27), the conductive frame (27) is electrically connected to an external power supply, and the lower inner wall of the detection box (21) is inlaid with a conductive plate (28), and the conductive plate (28) is electrically connected to the PLC controller (3).

5. The fruit picking robot according to claim 4, characterized in that: The rear side wall of the detection box (21) is fixedly connected to a carrying plate (29), the upper side wall of the carrying plate (29) is fixedly connected to a second micro electric push rod (30), the movable end of the second micro electric push rod (30) is fixedly connected to a repair seat (31) via a pressure sensor, the upper side wall of the repair seat (31) is provided with a second V-shaped groove, and the inner wall of the second V-shaped groove is fixedly connected to a repair polishing plate (32).

6. The fruit picking robot according to claim 1, characterized in that: The adsorption assembly (33) comprises an adsorption electric push rod (331) fixedly connected to the left side of the clamping mechanism (5); the movable end of the adsorption electric push rod (331) is fixedly connected to an adsorption seat (332); the left side wall of the adsorption seat (332) is fixedly connected to an adsorption box (34); the left side wall of the adsorption box (34) is fixedly connected to a suction cup (35); a second air pressure sensor (36) is provided inside the adsorption box (34); the front side wall of the adsorption seat (332) is fixedly connected to a second air pump (37); the air inlet end of the second air pump (37) is fixedly connected to a suction cup (35); An air intake pipe (38) is provided, the left end of the air intake pipe (38) is connected to the adsorption box (34), a short pipe (39) is fixedly connected to the pipe wall of the air intake pipe (38), a first regulating valve (40) is provided in the air intake pipe (38), a second regulating valve (41) is provided in the short pipe (39), the adsorption seat (332) is a hollow structure, the air outlet end of the second air pump (37) is connected to the adsorption seat (332), two air blowing pipes (42) are fixedly connected to the left side wall of the adsorption seat (332), and an air blowing head (43) is fixedly connected to the left end of the air blowing pipe (42).

7. The fruit picking robot according to claim 1, characterized in that: The rod wall of the clamping rod (6) is fixedly connected to an analysis box (44), the left inner wall of the analysis box (44) is connected to a piston plate (45) via a spring, the right inner wall of the analysis box (44) is fixedly connected to a trigger switch (46), the trigger switch (46) is electrically connected to a PLC controller (3), a pressure hole is provided on the right wall of the analysis box (44), and the analysis box (44) and the arc cover (71) on the same side are fixedly connected to a same analysis tube (47).

8. The fruit picking robot according to claim 2, characterized in that: The left side wall of the arc-shaped cover (71) is provided with two clamping grooves (48), and the clamping grooves (48) are semicircular hole-shaped structures.

Images