Six-axis mechanical arm for agricultural picking

Abstract

The invention relates to the field of picking mechanical arms, in particular to a six-axis mechanical arm for agricultural picking, which comprises a mechanical arm and a mounting plate arranged on the mechanical arm, and further comprises two clamps which are arranged on the mounting plate in a relatively rotating manner and are used for cutting off fruit stems; according to the six-axis mechanical arm for agricultural picking, the first conveying mechanism is synchronously opened and closed along with the clamp, fruits are clamped and conveyed by the first conveying mechanism while fruit stems are cut off by the clamp, the first conveying mechanism and the second conveying mechanism cooperatively operate, and the fruits are conveyed by the second conveying mechanism. By means of the two-stage conveying mechanism, fruits can be efficiently conveyed to the inner side of the mechanical arm, the effective working depth is increased through the two-stage conveying design, meanwhile, the second conveying mechanism is matched with the first conveying mechanism, the fruits are conveyed into the corrugated pipe, the moving path of the mechanical arm during fruit collection is shortened, the overall working efficiency is improved, and the labor intensity of workers is reduced. The loss of the mechanical arm is reduced, and the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of harvesting mechanical arms, and in particular relates to a six-axis mechanical arm used for agricultural harvesting. Background Art

[0002] The agricultural harvesting robot arm is an advanced agricultural automation equipment that is designed to simulate the movements of human arms and achieve accurate harvesting of various crops. The six-axis robot arm can easily shuttle between tree branches and use the onboard visual recognition system to accurately locate ripe fruits. The intelligent control system controls the coordinated operation of each joint based on feedback information, driving the end effector to gently and accurately grasp and pick the target crops.

[0003] At present, the end effector of the harvesting robot arm generally picks fruits by shearing, clamping and other methods. The clamping and pulling method can easily cause excessive vibration of the fruit tree, which in turn causes the adjacent fruits to fall off. At the same time, regardless of the shearing or clamping method, the picked fruits need to be moved a long distance by the robot arm for placement. This not only affects the picking efficiency, but also increases the wear and tear of the robot arm and shortens its service life. For this reason, a six-axis robot arm for agricultural picking is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a six-axis robotic arm for agricultural picking that can move short distances and penetrate into narrow areas in order to solve the above-mentioned problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A six-axis mechanical arm for agricultural picking, comprising a mechanical arm body and a mounting plate arranged on the mechanical arm body, and also comprising:

[0007] Clamps, two of which are rotatably mounted on the mounting plate, and the fruit stems are cut off by the clamps;

[0008] A reciprocating mechanism, the reciprocating mechanism being arranged on a mounting plate and driving the clamp to open and close via the mounting plate;

[0009] a first conveying mechanism, wherein the first conveying mechanism is arranged on the clamp and the fruit is moved to the inner side of the robot arm body by the first conveying mechanism;

[0010] The second conveying mechanism is arranged below the mounting plate and connected to the first conveying mechanism, and the fruit conveying distance is extended by the second conveying mechanism.

[0011] As a further optimization scheme of the present invention, the first conveying mechanism includes two connecting shells, and the two connecting shells are respectively arranged on the clamps, and a vertical rod 1 is arranged on the connecting shell, and the vertical rod 1 passes through and is rotatably arranged on the connecting shell. At the same time, the vertical rod 1 passes through the mounting plate, and first pulleys are arranged on the vertical rod 1 and the connecting shell, the first pulley is fixedly connected to the vertical rod 1, and the other first pulley is rotatably connected to the connecting shell, a first belt is arranged between the first pulleys, and the outer surfaces of the two first belts are provided with teeth and grooves that cooperate with each other.

[0012] As a further optimization scheme of the present invention, the second conveying mechanism includes two vertical poles 2, and the vertical poles 2 are rotatably set on the mounting plate. The vertical poles 2 and the vertical pole 1 are both fixedly provided with second pulleys, a second belt is provided between the second pulleys, and a connecting gear is fixedly provided on the upper end of the vertical pole 2, the two connecting gears are meshed with each other, and the two second belts are provided with teeth grooves that match each other.

[0013] As a further optimization scheme of the present invention, a mounting cover 1 is fixedly provided on the upper surface of the mounting plate, a mounting cover 2 is fixedly provided on one side of the mounting cover 1, a mounting cover 3 is fixedly provided on the lower surface of the mounting plate, a fruit stalk moving groove is opened on the mounting plate, a connecting plate is fixedly provided at one end of the mounting plate, the mounting plate is fixedly connected to one end of the robot arm body through the connecting plate, and a visual inspection device is provided on the connecting plate.

[0014] As a further optimization scheme of the present invention, the reciprocating movement mechanism includes a reciprocating rod, which is slidably arranged on a mounting cover 2, a slotted plate is arranged at one end of the reciprocating rod away from the clamp, a transverse groove is opened on the slotted plate, a driving rod is rotatably arranged through the mounting plate, a rotating plate is fixedly arranged on the upper end of the driving rod, a protrusion 1 is arranged on the rotating plate near the edge, the protrusion 1 is embedded in the slotted plate and slidably arranged, a driving motor 2 is arranged on the mounting plate, bevel gears are arranged on the output end of the driving motor 2 and the driving rod, the two bevel gears are meshed with each other, and the bevel gears are arranged in the mounting cover 3.

[0015] As a further optimization solution of the present invention, a rotating shaft is fixedly provided on the clamp, blades cooperating with each other are provided on the two clamps, and an oblique groove is opened on the clamp.

[0016] As a further optimization solution of the present invention, a U-shaped plate is provided at the other end of the reciprocating rod, and two protrusions are provided at both ends of the U-shaped plate, and the two protrusions are respectively embedded and slidably arranged in two inclined grooves.

[0017] As a further optimization solution of the present invention, the clamp is rotatably arranged on the second mounting cover via a rotating shaft, and the first vertical rod is coaxially arranged with the rotating shaft.

[0018] As a further optimization scheme of the present invention, a driving motor 1 is fixedly arranged on the mounting cover 1, and a driving gear is arranged on the output end of the driving motor 1 after passing through the mounting cover 1, and the driving gear is meshed with one of the connecting gears.

[0019] As a further optimization scheme of the present invention, a rotating connecting seat is arranged at the lower end of the driving rod, and the rotating connecting seat is arranged below the second conveying mechanism. A hole is opened at one end of the rotating connecting seat, and a bellows is arranged on the rotating connecting seat through the hole.

[0020] The beneficial effects of the present invention are:

[0021] 1. Different from the existing technology, in actual use, the first conveying mechanism opens and closes synchronously with the clamp. While the clamp cuts the fruit stem, the first conveying mechanism clamps and conveys the fruit. The first conveying mechanism and the second conveying mechanism work together to efficiently convey the fruit to the inside of the mechanical arm. In this way, the effective working depth is increased through the double-stage conveying design, so that the clamp can go deep into the narrow space for picking operations.

[0022] 2. Different from the existing technology, in actual use, the second conveying mechanism cooperates with the first conveying mechanism to convey the fruit to the corrugated tube, shortening the moving path of the robotic arm when collecting the fruit, which not only speeds up the overall work efficiency, but also reduces the wear and tear of the robotic arm and extends its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the connection structure of the mechanical arm of the present invention;

[0025] Figure 3 It is a schematic diagram of the connection structure of the mounting plate of the present invention;

[0026] Figure 4 The present invention Figure 3 Another perspective structural diagram;

[0027] Figure 5 It is a schematic diagram of the partial cross-sectional structure of the mounting plate of the present invention;

[0028] Figure 6 It is a schematic diagram of the clamp structure of the present invention;

[0029] Figure 7 This is a schematic diagram of the cross-sectional structure of the connected shell of the present invention;

[0030] Figure 8 It is a schematic diagram of the clamp connection structure of the present invention.

[0031] In the figure: In the figure: 1. Robot arm body; 2. Mounting plate; 21. Mounting cover 1; 22. Mounting cover 2; 23. Mounting cover 3; 24. Connecting plate; 25. Fruit stem moving groove; 3. Clamp; 31. Blade; 32. Bevel groove; 33. Rotating shaft; 4. First conveying mechanism; 41. First belt; 42. Vertical pole 1; 43. First pulley; 44. Connecting shell; 5. Second conveying mechanism; 51. Second belt; 52. Vertical pole 2; 53. Second pulley; 54. Connecting gear; 6. Driving motor 1; 61. Driving gear; 7. Reciprocating mechanism; 71. Reciprocating rod; 72. Slot plate; 73. Driving rod; 731. Rotating plate; 732. Bump 1; 74. Driving motor 2; 741. Bevel gear; 8. U-shaped plate; 81. Bump 2; 9. Rotating connecting seat; 10. Bellows; 11. Collecting basket; 12. Track moving seat. DETAILED DESCRIPTION

[0032] The present application is further described in detail below in conjunction with the accompanying drawings. It is necessary to point out here that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technical personnel in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0033] Example 1

[0034] like Figure 1 - Figure 8 As shown, a six-axis robot arm for agricultural picking includes a robot arm body 1 and a mounting plate 2 arranged on the robot arm body 1. The robot arm body 1 is mounted on a crawler mobile seat 12 to achieve field maneuverability, and also includes: two clamps 3 arranged on the mounting plate 2 for relative rotation, and the fruit stems are cut off by the opening and closing action of the clamps 3, and a reciprocating mechanism 7 arranged on the mounting plate 2, which drives the clamps 3 to open and close through the mounting plate 2, and a first conveying mechanism 4 arranged on the clamps 3, which moves the fruit to the inside of the robot arm body 1 through the first conveying mechanism 4, and a second conveying mechanism 5 is arranged below the mounting plate 2 and connected to the first conveying mechanism 4, and the fruit conveying distance is extended by the second conveying mechanism 5.

[0035] like Figure 6 - Figure 7As shown, the first conveying mechanism 4 includes two connecting shells 44, and the two connecting shells 44 are respectively arranged on the clamps 3. A vertical rod 42 is arranged on the connecting shell 44, and the vertical rod 42 passes through and is rotatably arranged on the connecting shell 44. At the same time, the vertical rod 42 passes through the mounting plate 2. A first pulley 43 is arranged on the vertical rod 42 and the connecting shell 44. The first pulley 43 is fixedly connected to the vertical rod 42, and the other first pulley 43 is rotatably connected to the connecting shell 44. A first belt 41 is arranged between the first pulleys 43, and the outer surfaces of the two first belts 41 are provided with tooth grooves that cooperate with each other. After the clamps 3 are closed, the two first belts 41 are also completely closed, thereby clamping the cut fruit stalks and transporting the fruits. The first belt 41 that follows the clamp 3 to cut deeply is protected by the connecting shell 44 to prevent leaves from interfering with the first belt 41.

[0036] like Figure 4 - Figure 5 As shown, the second conveying mechanism 5 includes two vertical rods 52, and the vertical rod 52 is rotatably set on the mounting plate 2. The vertical rod 52 and the vertical rod 1 42 are both fixedly provided with second pulleys 53, and a second belt 51 is arranged between the second pulleys 53, so that the vertical rod 52 and the vertical rod 1 42 form a linkage, so that the first belt 41 and the second belt 51 perform the transportation action synchronously, and a connecting gear 54 is fixedly set on the upper end of the vertical rod 52, and the two connecting gears 54 are meshed with each other, and the two vertical rods 52 are rotated in the opposite direction through the connecting gear 54, and the two second belts 51 are provided with tooth grooves that cooperate with each other, so that the fruit stems can be clamped and transported. When the fruit has not separated from the first belt 41, the second belt 51 has already clamped the fruit stems, so that under the relay transportation of the first conveying mechanism 4 and the second conveying mechanism 5, the transportation distance of the fruit is further extended, ensuring that the fruit can be safely and stably transported to the collection position.

[0037] like Figure 3 As shown, a mounting cover 1 21 is fixedly provided on the upper surface of the mounting plate 2, a mounting cover 22 is fixedly provided on one side of the mounting cover 1 21, and a mounting cover 3 23 is fixedly provided on the lower surface of the mounting plate 2. The transmission components arranged on the mounting plate 2 are shielded and protected by the mounting cover 1 21, the mounting cover 22 and the mounting cover 3 23 to prevent branches and leaves from interfering with the transmission components. A fruit stalk moving groove 25 is provided on the mounting plate 2 to provide space for the movement of the fruit stalk. A connecting plate 24 is fixedly provided at one end of the mounting plate 2, and a visual inspection device (which may be an industrial camera or a 3D camera, etc.) is provided on the connecting plate 24 to select the fruit to be picked. The mounting plate 2 is fixedly connected to one end of the robot arm body 1 through the connecting plate 24.

[0038] like Figure 3 and Figure 5As shown, the reciprocating mechanism 7 includes a reciprocating rod 71, which is slidably arranged on the mounting cover 22, and a slotted plate 72 is arranged at one end of the reciprocating rod 71 away from the clamp 3, and a transverse groove is provided on the slotted plate 72. A driving rod 73 is rotatably arranged on the mounting plate 2, and a rotating plate 731 is fixedly arranged on the upper end of the driving rod 73. A protrusion 732 is arranged near the edge of the rotating plate 731, and the protrusion 732 is embedded and slidably arranged in the slotted plate 72, so that the reciprocating rod 71 can be driven to move when the protrusion 732 rotates. A driving motor 2 74 is provided on the mounting plate 2. The driving motor 2 74 performs 180° reciprocating rotation on the mounting plate 2. Bevel gears 741 are provided on the output end of the driving motor 2 74 and the driving rod 73. The bevel gears 741 mesh with each other. The bevel gears 741 are provided in the mounting cover 3 23. The driving motor 2 74 is used as a power source. The driving rod 73 is driven to rotate through the bevel gear 741. The protrusion 1 732 on the rotating plate 731 cooperates with the slotted plate 72 to drive the reciprocating rod 71 to move stably on the mounting cover 2 22.

[0039] like Figure 6 As shown, a rotating shaft 33 is fixedly provided on the clamp 3, and the clamp 3 is rotatably provided on the mounting cover 22 via the rotating shaft 33. The two clamps 3 are provided with blades 31 that cooperate with each other. The blades 31 are driven by the clamp 3 to open and close to accurately cut the fruit stems. The operation precision is high, ensuring the integrity of the fruit stems when picking the fruits.

[0040] like Figure 8 As shown, a U-shaped plate 8 is provided at the other end of the reciprocating rod 71, and two protrusions 81 are provided at both ends of the U-shaped plate 8. An inclined groove 32 is provided on the clamp 3, and the two protrusions 81 are respectively embedded and slidably set in the two inclined grooves 32. The U-shaped plate 8 moves synchronously with the reciprocating rod 71. When the U-shaped plate 8 moves, the protrusion 81 moves in the inclined groove 32, driving the clamp 3 to rotate on the mounting cover 22, thereby causing the clamp 3 to form an opening and closing action.

[0041] like Figure 6 As shown, the vertical rod 1 42 is coaxially arranged with the rotating shaft 33 , so that when the clamp 3 drives the connecting shell 44 to rotate, the vertical rod 1 42 can still be in a rotating state and will not interfere with the first belt 41 .

[0042] like Figure 5 As shown, a driving motor 6 is fixedly arranged on the mounting cover 21, and a driving gear 61 is arranged on the output end of the driving motor 6 after passing through the mounting cover 21. The driving gear 61 is meshed with one of the connecting gears 54. The driving motor 6 serves as the starting end of the power transmission between the first conveying mechanism 4 and the second conveying mechanism 5. The driving gear 61 at the output end is meshed with the connecting gear 54 to accurately drive the entire conveying system to operate, thereby providing continuous and stable power for the transportation of fruits and ensuring the efficiency and smoothness of the transportation process.

[0043] like Figure 2 and Figure 4 - Figure 5 As shown, a rotating connecting seat 9 is provided at the lower end of the driving rod 73, and the rotating connecting seat 9 is arranged below the second conveying mechanism 5. A hole is opened at one end of the rotating connecting seat 9, and a bellows 10 is provided through the hole. A collecting basket 11 is provided on the crawler moving seat 12, and the collecting basket 11 is connected to the other end of the bellows 10, so that the fruit enters the collecting basket 11 to be collected after being buffered and decelerated by the bellows 10. At the same time, the bellows 10 is driven by the rotating connecting seat 9 to swing synchronously, and the posture of the bellows 10 is changed by the swing of the bellows 10, so as to accelerate the falling of the fruit and avoid the fruit from accumulating at the bending part of the bellows 10.

[0044] It should be noted that the working principle of the six-axis robot arm for agricultural picking is as follows: the robot arm body 1 is rigidly connected to the mounting plate 2 through the connecting plate 24, and the whole is mounted on the crawler mobile seat 12 to realize field maneuverability. When the visual detection equipment on the connecting plate 24 recognizes the target fruit, the robot arm body 1 uses multi-joint coordinated movement to accurately position the end effector of the mounting plate 2 to the fruit picking position. At this time, the fruit stalk moving groove 25 is aligned with the axis of the fruit stalk, preparing for subsequent shearing and transportation. Then the driving motor 2 74 drives the driving rod 73 to rotate through the bevel gear 741, and the rotating plate 731 at its top is driven by the protrusion 1 732 cooperates with the slotted plate 72 to drive the reciprocating rod 71 to move back and forth on the mounting cover 22. The U-shaped plate 8 at the end of the reciprocating rod 71 is linked with the inclined groove 32 of the clamp 3 through the protrusion 81 to control the two clamps 3 with blades 31 to open and close around the rotating shaft 33 to complete the fruit stem shearing. When the driving rod 73 rotates, the rotating connecting seat 9 thereon rotates synchronously. In this way, by driving the motor 2 74 to reciprocate 180°, the two clamps 3 with blades 31 can complete the shearing action while the rotating connecting seat 9 drives the corrugated pipe 10 to rotate, and the rotating connecting seat 9 is flipped to the bottom of the second conveying mechanism 5.

[0045] The driving motor 1 6 drives the two connecting gears 54 to rotate synchronously in the opposite direction through the driving gear 61, and drives the second belt 51 and the first belt 41 to operate respectively through the second pulley 53 and the first pulley 43 on the vertical pole 2 52 and the vertical pole 1 42. The toothed belt of the first conveying mechanism 4 conveys the cut fruit to the inside of the robot arm until the cut fruit is separated from the first conveying mechanism 4. After the fruit is separated from the first conveying mechanism 4, the fruit stem is clamped by the second conveying mechanism 5 and continues to be transported until the fruit stem is separated from the second conveying mechanism 5 and falls into the corrugated tube 10 on the rotating connecting seat 9. When encountering a dense branch and leaf environment, the robot arm body 1 drives the mounting plate 2 to adjust its posture. Through the first conveying mechanism 4 and the second conveying mechanism 5, the clamp 3 can penetrate into a narrow space to operate and transport the fruit out. At the same time, the protection system composed of the mounting cover 1 21 and the mounting cover 2 22 can prevent the branches and leaves from interfering with the internal transmission mechanism.

[0046] A collecting basket 11 is provided on the crawler movable seat 12, and the collecting basket 11 is connected to the other end of the bellows 10. The bellows 10 extends into the collecting frame 11. When the fruit stem is separated from the second conveying mechanism 5, the fruit falls accurately into the entrance of the bellows 10 of the rotating connecting seat 9. The flexible bellows 10 and the collecting basket 11 on the crawler movable seat 12 form a closed conveying channel. The fruit slides into the collecting basket 11 after being buffered by the bellows 10 to complete lossless collection.

[0047] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A six-axis robotic arm for agricultural harvesting, comprising a robotic arm body (1) and a mounting plate (2) arranged on the robotic arm body (1), characterized in that: Also included are: A clamp (3), wherein two clamps (3) are provided and are rotatably mounted on the mounting plate (2), and the fruit stems are cut off by the clamps (3); A reciprocating mechanism (7), wherein the reciprocating mechanism (7) is arranged on the mounting plate (2) and drives the clamp (3) to open and close via the mounting plate (2); A first conveying mechanism (4), wherein the first conveying mechanism (4) is arranged on the clamp (3), and the fruit is moved to the inner side of the mechanical arm body (1) through the first conveying mechanism (4); A second conveying mechanism (5), wherein the second conveying mechanism (5) is arranged below the mounting plate (2) and connected to the first conveying mechanism (4), and the fruit conveying distance is extended by the second conveying mechanism (5).

2. A six-axis robotic arm for agricultural harvesting according to claim 1, characterized in that: The first conveying mechanism (4) comprises two connecting shells (44), the two connecting shells (44) are respectively arranged on the clamp (3), a vertical rod (42) is arranged on the connecting shell (44), the vertical rod (42) is rotatably arranged on the connecting shell (44), and the vertical rod (42) passes through the mounting plate (2), and the vertical rod (42) and the connecting shell (44) are both provided with a first pulley (43), the first pulley (43) is fixedly connected to the vertical rod (42), and the other first pulley (43) is rotatably connected to the connecting shell (44), a first belt (41) is arranged between the first pulleys (43), and the outer surfaces of the two first belts (41) are provided with tooth grooves that match each other.

3. The six-axis robotic arm for agricultural harvesting according to claim 2, characterized in that: The second conveying mechanism (5) comprises two vertical rods (52), the vertical rods (52) are rotatably arranged on the mounting plate (2), the vertical rods (52) and the vertical rods (42) are both fixedly provided with second pulleys (53), a second belt (51) is arranged between the second pulleys (53), a connecting gear (54) is fixedly arranged on the upper end of the vertical rod (52), the two connecting gears (54) are meshed with each other, and the two second belts (51) are provided with tooth grooves that match each other.

4. The six-axis robotic arm for agricultural harvesting according to claim 2, characterized in that: A mounting cover 1 (21) is fixedly provided on the upper surface of the mounting plate (2), a mounting cover 2 (22) is fixedly provided on one side of the mounting cover 1 (21), a mounting cover 3 (23) is fixedly provided on the lower surface of the mounting plate (2), a fruit stem moving groove (25) is provided on the mounting plate (2), a connecting plate (24) is fixedly provided on one end of the mounting plate (2), the mounting plate (2) is fixedly connected to one end of the robot arm body (1) via the connecting plate (24), and a visual detection device is provided on the connecting plate (24).

5. The six-axis robotic arm for agricultural harvesting according to claim 4, characterized in that: The reciprocating mechanism (7) comprises a reciprocating rod (71), the reciprocating rod (71) is slidably arranged on the second mounting cover (22), a slotted plate (72) is arranged at one end of the reciprocating rod (71) away from the clamp (3), a transverse groove is provided on the slotted plate (72), a driving rod (73) is rotatably arranged through the mounting plate (2), a rotating plate (731) is fixedly arranged on the upper end of the driving rod (73), a protrusion (732) is arranged near the edge of the rotating plate (731), the protrusion (732) is embedded in the slotted plate (72) and slidably arranged, a driving motor (74) is arranged on the mounting plate (2), a bevel gear (741) is arranged on the output end of the driving motor (74) and the driving rod (73), the two bevel gears (741) are meshed with each other, and the bevel gear (741) is arranged in the mounting cover (23).

6. The six-axis robotic arm for agricultural harvesting according to claim 5, characterized in that: A rotating shaft (33) is fixedly arranged on the clamp (3), blades (31) that match each other are arranged on the two clamps (3), and an inclined groove (32) is opened on the clamp (3).

7. The six-axis robotic arm for agricultural harvesting according to claim 6, characterized in that: A U-shaped plate (8) is provided at the other end of the reciprocating rod (71), and two protrusions (81) are provided at both ends of the U-shaped plate (8). The two protrusions (81) are respectively embedded and slidably arranged in two inclined grooves (32).

8. The six-axis robotic arm for agricultural harvesting according to claim 6, characterized in that: The clamp (3) is rotatably arranged on the second mounting cover (22) via a rotating shaft (33), and the first vertical rod (42) is coaxially arranged with the rotating shaft (33).

9. The six-axis robotic arm for agricultural harvesting according to claim 3, characterized in that: A driving motor (6) is fixedly mounted on the mounting cover (21), and a driving gear (61) is arranged on the output end of the driving motor (6) after passing through the mounting cover (21), and the driving gear (61) is meshed with one of the connecting gears (54).

10. The six-axis robotic arm for agricultural harvesting according to claim 5, characterized in that: A rotating connection seat (9) is provided at the lower end of the driving rod (73), and the rotating connection seat (9) is arranged below the second conveying mechanism (5). A hole is opened at one end of the rotating connection seat (9), and a bellows (10) is provided through the hole.

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