Double-arm picking robot for fresh fruits and vegetables

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By designing a two-arm picking robot that includes movement, sliding, lifting and transmission components, the problem of insufficient flexibility and accuracy of picking robots in the prior art is solved, and efficient and safe picking of fruits and vegetables in different areas and locations is achieved.

CN120113472APending Publication Date: 2025-06-10CHONGQING THREE GORGES UNIV

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Patent Information

Application Number: CN202510425792.5
Authority / Receiving Office: CN · China
Patent Type: Applications(China)
Current Assignee / Owner
Filing Date: 2025-04-07
Publication Date: 2025-06-10

AI Technical Summary

Technical Problem

The existing double-arm picking robots for fresh fruits and vegetables are less flexible and cannot adapt to fruit and vegetable picking in different areas and locations, resulting in low picking efficiency, low accuracy, and easy to damage fruits and vegetables, low safety, large size, complex use, and small adaptation range.

Method used

A two-arm picking robot including moving components, sliding components, lifting components and transmission components is designed. Through the mutual cooperation of these components, the range of motion and accuracy of the clamping components are adjusted to achieve flexible picking of fruits and vegetables at different locations and areas.

Benefits of technology

It improves the adaptability and picking accuracy of the picking robot, enhances flexibility and safety in complex environments, improves the picking efficiency, reduces damage to fruits and vegetables, and has a wider adaptation range.

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Abstract

The invention relates to the technical field of fruit and vegetable picking tool application, in particular to a double-arm picking robot for fresh fruits and vegetables, which comprises a moving assembly, two sliding assemblies, two lifting assemblies and two transmission assemblies, according to the fruit and vegetable picking device, the two sliding assemblies, the two lifting assemblies, the two transmission assemblies and the two driving assemblies on the two supports work in a matched mode, the height, the front-back position and the angle of pneumatic clamping devices on the two clamping assemblies are adjusted, picking operation on fruits and vegetables on the two sides is facilitated, on one hand, the fruit and vegetable picking work efficiency is improved, and on the other hand, the labor intensity of workers is lowered; on the other hand, the pneumatic clamping device rotates around the X-axis, the Y-axis and the Z-axis, more movement modes and flexibility are achieved, and the fruit and vegetable picking robot can be used for picking fruits and vegetables at the correct positions, improving the picking accuracy and reducing damage to the surfaces of the fruits and vegetables, so that the picking robot is higher in safety during use, and the working efficiency is greatly improved by rotating the pneumatic clamping device around the X-axis, the Y-axis and the Z-axis. Therefore, the picking robot can work in a complex environment.

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Description

Technical Field

[0001] The present invention relates to the technical field of the application of fruit and vegetable picking tools, and particularly to a two-arm picking robot for fresh fruits and vegetables. Background Art

[0002] In fruit and vegetable production, the harvesting of fresh fruits and vegetables is the most time-consuming, laborious, and labor-intensive link. Research and development of fruit and vegetable picking robots to achieve the automation and intelligence of fruit harvesting is of great significance for liberating productivity, improving labor productivity, and reducing production costs.

[0003] However, the existing two-arm picking robots for fresh fruits and vegetables still have great defects when in use. The existing two-arm picking robots for fresh fruits and vegetables have low flexibility in use, and cannot perform picking operations on the fruits and vegetables on both sides planted in different regions and positions, resulting in low picking efficiency of fruits and vegetables. Moreover, the existing two-arm picking robots for fresh fruits and vegetables have low picking accuracy, not only cannot adapt to complex picking environments, but also easily cause unnecessary damage to fruits and vegetables during picking, with low safety. In addition, the existing two-arm picking robots for fresh fruits and vegetables are large in volume, complex in use, and have a small adaptation range. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems that the existing two-arm picking robots for fresh fruits and vegetables have low flexibility in use, cannot perform picking operations on the fruits and vegetables on both sides planted in different regions and positions, resulting in low picking efficiency of fruits and vegetables; the existing two-arm picking robots for fresh fruits and vegetables have low picking accuracy, not only cannot adapt to complex picking environments, but also easily cause unnecessary damage to fruits and vegetables during picking, with low safety; and the existing two-arm picking robots for fresh fruits and vegetables are large in volume, complex in use, and have a small adaptation range, and to provide a two-arm picking robot for fresh fruits and vegetables.

[0005] The object of the present invention can be achieved by the following technical solutions: A two-arm picking robot for fresh fruits and vegetables, comprising a moving component, two sliding components, two lifting components and two transmission components. A frame is arranged in the middle of the moving component. The two sliding components are respectively arranged on both sides of the top of the frame. A first slide plate is arranged on one side of each of the two sliding components far from the frame. The two lifting components are respectively arranged on one side of the two first slide plates. A second slide plate is arranged on one side of each of the two lifting components. The two transmission components are respectively arranged on one side of the two second slide plates. A small arm connecting frame is arranged on one side of each of the two transmission components far from the second slide plate. A bracket is arranged at one end of each of the two small arm connecting frames. Driving components are arranged on both sides of one end of each of the two brackets. A single-stage gear is arranged at one end of the driving component. A clamping component is arranged on one side of each of the two brackets close to the two driving components. A spherical gear is arranged at one end of the clamping component.

[0006] Preferably, a chassis is arranged on the moving component. Collection boxes are connected to both sides of the chassis by bolts. The frame has an inverted "U" shape structure. The bottom of the frame is connected to the middle of the chassis by bolts. Rolling units are arranged at the four corners of the bottom of the chassis.

[0007] Preferably, a support plate is arranged on the top of the rolling unit. The support plate is connected to the chassis by bolts. A first motor is installed at the bottom of the support plate. A rotating plate is movably connected to the bottom of the first motor through a rotating shaft. Shock-absorbing springs are connected to both sides of the bottom of the rotating plate by bolts. The two shock-absorbing springs are connected to the hub of a rolling wheel through rotating shafts at both sides of the bottom. A second motor is installed in the middle of the hub.

[0008] Preferably, a first stop frame is arranged on one side of the sliding component. The first stop frame is connected to the frame by bolts. A third motor is installed at one end of the first stop frame. A first lead screw is movably connected to the end of the third motor through a rotating shaft. A first threaded hole adapted to the first lead screw is formed in the first slide plate. First slide rails are connected to both sides of one side of the first stop frame close to the first lead screw by bolts. First sliders are connected to both of the two first slide rails in a matching manner. Both of the two first sliders are connected to the first slide plate by bolts.

[0009] Preferably, a second stop frame is arranged on one side of the lifting component. The second stop frame is connected to the first slide plate by bolts. A fourth motor is installed at the top of the second stop frame. A second lead screw is movably connected to the bottom of the fourth motor through a rotating shaft. A second threaded hole adapted to the second lead screw is formed in one side of the second slide plate. Second slide rails are connected to both ends of one side of the second stop frame close to the second lead screw by bolts. Second sliders are connected to both of the two second slide rails in a matching manner. Both of the two second sliders are connected to the second slide plate by bolts.

[0010] Preferably, a support frame is provided on one side of the transmission assembly. The support frame is connected to the second sliding plate by bolts. Fifth motors are installed on both the upper and lower sides of the support frame. One end of each of the two fifth motors is connected to a small synchronous belt through a rotating shaft. One end of each of the two small synchronous belts is connected to a small pulley. A large arm connecting frame is connected to the two small pulleys through a rotating shaft. Both ends of the large arm connecting frame are connected to large pulleys through rotating shafts. One of the two small pulleys is connected to one of the large pulleys. A large synchronous belt is connected between the two large pulleys. The bottom of the large pulley away from the small pulley is connected to a rotating rod through a rotating shaft. A small arm connecting frame is connected to the rotating rod. The bracket is connected to one end of the small arm connecting frame by bolts.

[0011] Preferably, a retaining frame is provided on the driving assembly. The retaining frame is connected to the bracket by bolts. A machine base is connected to one side of the retaining frame away from the bracket by bolts. A sixth motor is installed on one side of the machine base. One end of the sixth motor is movably connected to a first small helical gear through a rotating shaft. The first small helical gear is meshed and connected to a first helical gear on one side. A seventh motor is installed on one side of the machine base close to the sixth motor. One end of the seventh motor is connected to a second small helical gear through a rotating shaft. The second small helical gear is meshed and connected to a second helical gear on one side. The single-pole gears on the two driving assemblies are both meshed and connected to the spherical gear.

[0012] Preferably, a differential internal worm is provided on one side of the retaining frame close to the second helical gear. A differential pinion is connected to the differential internal worm through a rotating shaft. The differential pinion is meshed and connected to the single-pole gear. An internal rotor is provided at one end of the differential internal worm close to the single-pole gear. The single-pole gear is connected to the internal rotor through a rotating shaft.

[0013] Preferably, the spherical gear is provided in the middle of one side of the bracket. A pneumatic gripper is installed on the spherical gear.

[0014] Preferably, the working method of the picking robot specifically includes the following steps: Step 1: Turn on the first motors and the second motors on the four rolling units to adjust the position of the picking robot; Step 2: Turn on the third motors on the two sliding assemblies. The third motors drive the first sliding plate on the first lead screw to move back and forth. The pneumatic gripper on the clamping assembly picks the fruits and vegetables at the front and back positions. The picked fruits and vegetables are stored in the collection box. At the same time, turn on the fourth motors on the two lifting assemblies. The fourth motors drive the second sliding plate on the second lead screw to move up and down. The pneumatic gripper on the clamping assembly picks the fruits and vegetables at different height positions; Step 3: Start the two fifth motors on the two support frames. The fifth motors drive the small pulleys on the small synchronous belts, and the small pulleys drive the large pulleys to rotate, adjusting the movement angle of the small arm connecting frame, so that the movement range of the pneumatic gripper is wider, and fruits and vegetables in different areas can be picked. At the same time, cooperate with starting the sixth motors and the seventh motors on the two drive components on the two brackets. The single-stage gears drive the spherical gears to rotate, adjusting the movement angle of the pneumatic gripper, and the pneumatic gripper picks fruits and vegetables at different positions.

[0015] Advantages of the present invention: 1. By starting the third motors on the two sliding components, the third motors drive the first sliding plates on the first lead screws to move back and forth, facilitating the pneumatic grippers on the clamping components to pick fruits and vegetables at front and rear positions. And cooperate with starting the fourth motors on the two lifting components, the fourth motors drive the second sliding plates on the second lead screws to move up and down, facilitating the pneumatic grippers on the clamping components to pick fruits and vegetables at different height positions. Through the mutual cooperation of the two sliding components and the two lifting components, the front and rear positions and left and right positions of the pneumatic grippers on the clamping components are adjusted, which is beneficial to a wider movement range of the pneumatic grippers. Not only is it beneficial to the picking operation of fruits and vegetables growing in different positions, but also it ensures higher adaptability of the picking robot during use; 2. By starting the two fifth motors on the two support frames, the fifth motors drive the small pulleys on the small synchronous belts, and the small pulleys drive the large pulleys to rotate, adjusting the movement angle of the small arm connecting frame to pick fruits and vegetables in different areas. Secondly, cooperate with starting the sixth motors and the seventh motors on the two drive components on the two brackets. The single-stage gears drive the spherical gears to rotate, adjusting the movement angle of the pneumatic gripper, which is convenient for better picking operations of fruits and vegetables with inconsistent growth. At the same time, through the mutual cooperation of the transmission components, the two drive components and the clamping components, on the one hand, it is beneficial for the pneumatic gripper to rotate around the X, Y, and Z axes respectively, realizing more movement modes and flexibility, which is beneficial for the picking robot to operate in a complex environment. On the other hand, the single-stage gear drives the spherical gear to rotate, ensuring that the rotation angle of the pneumatic gripper is more accurate, which is beneficial for a more accurate picking operation of fruits and vegetables; 3. Through the mutual cooperation of the two sliding components, the two lifting components, the two transmission components and the two drive components on the two brackets, the height, front and rear positions and angles of the pneumatic grippers on the two clamping components are adjusted, which is beneficial for the pneumatic grippers on the two clamping components to pick fruits and vegetables on both sides at the same time, ensuring a higher degree of automation of the picking robot. On the one hand, it is not only beneficial to improve the picking work efficiency of fruits and vegetables, but also beneficial to save manpower. On the other hand, by picking fruits and vegetables at the correct positions by the picking robot, it can greatly reduce the damage to the surface of fruits and vegetables, further ensuring higher safety of the picking robot during use; 4. By turning on the first motors and the second motors on the four rolling units, it is convenient to adjust the position of the picking robot, which is beneficial to the picking operation of fruits and vegetables planted in different positions. Secondly, the four rolling units have the characteristic of independent driving of each single wheel hub. Whether it is front-wheel drive, rear-wheel drive or four-wheel drive, it can be easily achieved. This not only reduces the occupied space of the traditional transmission system, makes the chassis structure more compact, but also facilitates direct energy transfer, reduces losses, improves efficiency, realizes omnidirectional free movement, and is convenient for operation in complex environments. At the same time, by arranging shock-absorbing springs on both sides of the wheel hub, it is beneficial for the picking robot to be more stable during the traveling process on complex picking roads and avoid the situation of the robot tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of the moving component in the present invention.

[0019] Figure 3 It is a front view of the rolling unit in the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the sliding component in the present invention.

[0021] Figure 5 In the present invention Figure 4 An enlarged schematic diagram of area A.

[0022] Figure 6 It is a schematic diagram of the structure of the lifting component in the present invention.

[0023] Figure 7 In the present invention Figure 6 An enlarged schematic diagram of area B.

[0024] Figure 8 It is a schematic diagram of the structure of the transmission component in the present invention.

[0025] Figure 9 In the present invention Figure 8 An enlarged schematic diagram of area C.

[0026] Figure 10 It is a schematic diagram of the connection of the bracket with two driving components and the clamping component in the present invention.

[0027] Figure 11 It is a schematic diagram of the structure of the driving component in the present invention.

[0028] Figure 12 Schematic connection diagram of the first helical gear, the second helical gear, the differential internal worm, the single-pole gear, the inner rotor and the differential pinion in the present invention.

[0029] Figure 13 Schematic structural diagram of the clamping assembly in the present invention.

[0030] In the figure: 1. Moving assembly; 101. Chassis; 102. Rolling unit; 1021. Support plate; 1022. First motor; 1023. Rotating plate; 1024. Shock-absorbing spring; 1025. Second motor; 1026. Wheel hub; 103. Frame; 104. Collection box; 2. Sliding assembly; 201. First stop frame; 202. Third motor; 203. First lead screw; 204. First slide plate; 205. First slide rail; 206. First slider; 3. Lifting assembly; 301. Second stop frame; 302. Fourth motor; 303. Second lead screw; 304. Second slide plate; 305. Second slide rail; 306. Second slider; 4. Transmission assembly; 401. Support frame; 402. Fifth motor; 403. Small synchronous belt; 404. Small pulley; 405. Large pulley; 406. Large synchronous belt; 407. Big arm connecting frame; 408. Rotating rod; 409. Small arm connecting frame; 5. Bracket; 6. Driving assembly; 601. Stop frame; 602. Machine base; 603. Sixth motor; 604. First small helical gear; 605. First helical gear; 606. Seventh motor; 607. Second small helical gear; 608. Second helical gear; 609. Differential internal worm; 610. Single-pole gear; 611. Inner rotor; 612. Differential pinion; 7. Clamping assembly; 701. Spherical gear; 702. Pneumatic gripper. Detailed implementation manners

[0031] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1 - 13As shown in the figure, a two-arm picking robot for fresh fruits and vegetables includes a moving component 1, two sliding components 2, two lifting components 3, and two transmission components 4. A frame 103 is provided in the middle of the moving component 1. The two sliding components 2 are respectively arranged on both sides of the top of the frame 103. A first slide plate 204 is arranged on one side of each of the two sliding components 2 away from the frame 103. The two lifting components 3 are respectively arranged on one side of the two first slide plates 204. A second slide plate 304 is arranged on one side of each of the two lifting components 3. The two transmission components 4 are respectively arranged on one side of the two second slide plates 304. A small arm connecting frame 409 is arranged on one side of each of the two transmission components 4 away from the second slide plate 304. A bracket 5 is arranged at one end of each of the two small arm connecting frames 409. A driving component 6 is arranged on both sides of one end of each of the two brackets 5. A single-pole gear 610 is arranged at one end of the driving component 6. A clamping component 7 is arranged on one side of each of the two brackets 5 close to the two driving components 6. A spherical gear 701 is arranged at one end of the clamping component 7.

[0033] Infrared sensors (model: GUH10, manufacturer: Shandong Zhongmei Mining and Industrial Materials Group Co., Ltd.) are installed on both of the two small arm connecting frames 409. A PLC controller (model: 6ES7288-1ST20-0AA0, manufacturer: Shanghai Binqin Electric Technology Co., Ltd.) is installed on one side of the bottom of the frame 103. The infrared sensors obtain the positions of the fruits and vegetables. The infrared sensors transmit the obtained information to the PLC controller. The PLC controller controls the cooperation among the two sliding components 2, the two lifting components 3, the two transmission components 4, and the two driving components 6 on the two brackets 5 to adjust the height, front-back position, and angle of the pneumatic grippers 702 (model: CH-12050-A, manufacturer: Dongguan Jiagang Electromechanical Technology Development Co., Ltd.) on the two clamping components 7. Thus, it is beneficial for the pneumatic grippers 702 on the two clamping components 7 to pick the fruits and vegetables on both sides simultaneously, ensuring that the automation degree of the picking robot is higher. On the one hand, it is not only beneficial to improve the picking work efficiency of the fruits and vegetables but also beneficial to save labor. On the other hand, by picking the fruits and vegetables at the correct positions by the picking robot, the damage to the surfaces of the fruits and vegetables can be greatly reduced, further ensuring that the safety of the picking robot during use is higher.

[0034] In an alternative embodiment of the present invention, a chassis 101 is provided on the moving component 1. Collection boxes 104 are connected to both sides of the chassis 101 by bolts. The collection boxes 104 are used to store the picked fruits and vegetables. The frame 103 is in an inverted "U" shape structure. The frame 103 is made of aluminum alloy material, making the overall structure simple, light in weight, and economical in price. The bottom of the frame 103 is connected to the middle of the chassis 101 by bolts. Rolling units 102 are arranged at the four corners of the bottom of the chassis 101.

[0035] In an alternative embodiment of the present invention, a support plate 1021 is provided at the top of the rolling unit 102. The support plate 1021 is connected to the chassis 101 by bolts. A first motor 1022 is installed at the bottom of the support plate 1021. The bottom of the first motor 1022 is movably connected to a rotating plate 1023 through a rotating shaft. Shock-absorbing springs 1024 are connected to both sides of the bottom of the rotating plate 1023 by bolts. The bottom sides of the two shock-absorbing springs 1024 are connected to a rolling wheel hub 1026 through a rotating shaft. A second motor 1025 is installed in the middle of the hub 1026. The second motor 1025 installed on the hub 1026 is composed of components such as a permanent magnet rotor, a stator coil, and a clutch. By turning on the first motors 1022 and the second motors 1025 on the four rolling units 102, it is convenient to adjust the position of the picking robot, which is beneficial to the picking operation of fruits and vegetables planted in different positions. Secondly, the four rolling units 102 have the characteristic of independent driving of a single wheel hub 1026. Whether it is front-wheel drive, rear-wheel drive, or four-wheel drive, it can be achieved relatively easily. This not only reduces the occupied space of the traditional transmission system, makes the chassis structure more compact, but also is beneficial to direct energy transfer, reduces losses, improves efficiency, realizes omnidirectional free movement, and is convenient for operation in complex environments. At the same time, by providing shock-absorbing springs 1024 on both sides of the wheel hub 1026, it is beneficial for the picking robot to be more stable during the traveling process on complex picking roads and avoid the situation of the robot tipping over.

[0036] In an alternative embodiment of the present invention, a first retaining frame 201 is provided on one side of the sliding assembly 2. The first retaining frame 201 is connected to the frame 103 by bolts. A third motor 202 is installed at one end of the first retaining frame 201. One end of the third motor 202 is movably connected to a first lead screw 203 through a rotating shaft. A first screw hole adapted to the first lead screw 203 is provided on the first sliding plate 204. By turning on the third motors 202 on the two sliding assemblies 2, the third motors 202 drive the first sliding plate 204 on the first lead screw 203 to move back and forth, which is convenient for the pneumatic gripper 702 on the clamping assembly 7 to pick fruits and vegetables at the front and rear positions. On both sides of one side of the first retaining frame 201 close to the first lead screw 203, first slide rails 205 are connected by bolts. Two first sliders 206 are connected to the two first slide rails 205 in a matching manner. Both of the two first sliders 206 are connected to the first sliding plate 204 by bolts, ensuring that the clamping assembly 7 stably picks fruits and vegetables at the front and rear positions.

[0037] In an alternative embodiment of the embodiment of the present invention, a second stop frame 301 is provided on one side of the lifting assembly 3. The second stop frame 301 is connected to the first sliding plate 204 by bolts. A fourth motor 302 is installed on the top of the second stop frame 301. A second lead screw 303 is movably connected to the bottom of the fourth motor 302 through a rotating shaft. A second screw hole adapted to the second lead screw 303 is provided on one side of the second sliding plate 304. By starting the fourth motors 302 on the two lifting assemblies 3, the fourth motors 302 drive the second sliding plates 304 on the second lead screws 303 to move up and down, facilitating the pneumatic gripper 702 on the clamping assembly 7 to pick fruits and vegetables at different height positions. At both ends of one side of the second stop frame 301 close to the second lead screw 303, second slide rails 305 are connected by bolts. Second sliders 306 are connected in cooperation on the two second slide rails 305. The two second sliders 306 are both connected to the second sliding plate 304 by bolts, ensuring that the clamping assembly 7 stably picks fruits and vegetables at different heights. By the mutual cooperation of the two sliding assemblies 2 and the two lifting assemblies 3, the front-back position and left-right position of the pneumatic gripper 702 on the clamping assembly 7 are adjusted, which is beneficial for the pneumatic gripper 702 to have a wider movement range. This not only facilitates the picking operation of fruits and vegetables growing in different positions, but also ensures higher adaptability of the picking robot during use.

[0038] In an alternative embodiment of the embodiment of the present invention, a support frame 401 is provided on one side of the transmission assembly 4. The support frame 401 is connected to the second sliding plate 304 by bolts. Fifth motors 402 are installed on both the upper and lower sides of the support frame 401. One end of each of the two fifth motors 402 is connected to a small synchronous belt 403 through a rotating shaft. One end of each of the two small synchronous belts 403 is connected to a small pulley 404. A large arm connecting frame 407 is connected to the two small pulleys 404 through a rotating shaft. Large pulleys 405 are connected to both ends of the large arm connecting frame 407 through a rotating shaft. One of the two small pulleys 404 is connected to one of the large pulleys 405. A large synchronous belt 406 is connected between the two large pulleys 405. The bottom of the large pulley 405 away from the small pulley 404 is connected to a rotating rod 408 through a rotating shaft. A small arm connecting frame 409 is connected to the rotating rod 408. The bracket 5 is connected to one end of the small arm connecting frame 409 by bolts. By starting the two fifth motors 402 on the two support frames 401, the fifth motors 402 drive the small pulleys 404 on the small synchronous belts 403, and the small pulleys 404 drive the large pulleys 405 to rotate, adjusting the movement angle of the small arm connecting frame 409 to pick fruits and vegetables in different areas. At the same time, it is also beneficial for the storage of the small arm connecting frame 409, facilitating the picking robot to use picking environments with different widths.

[0039] In an alternative embodiment of the embodiment of the present invention, a retaining frame 601 is provided on the driving assembly 6. The retaining frame 601 is connected to the bracket 5 by bolts. One side of the retaining frame 601 away from the bracket 5 is connected to the machine base 602 by bolts. A sixth motor 603 is installed on one side of the machine base 602. One end of the sixth motor 603 is movably connected to a first small bevel gear 604 through a rotating shaft. A first bevel gear 605 is meshed and connected to one side of the first small bevel gear 604. A seventh motor 606 is installed on one side of the machine base 602 close to the sixth motor 603. One end of the seventh motor 606 is connected to a second small bevel gear 607 through a rotating shaft. A second bevel gear 608 is meshed and connected to one side of the second small bevel gear 607. The single-pole gears 610 on the two driving assemblies 6 are both meshed and connected to the spherical gear 701. By starting the sixth motor 603 and the seventh motor 606 on the two driving assemblies 6 on the two brackets 5, the single-pole gear 610 drives the spherical gear 701 to rotate, adjusting the movement angle of the pneumatic gripper 702, which is convenient for better picking operations on fruits and vegetables with inconsistent growth. At the same time, through the mutual cooperation of the transmission assembly 4, the two driving assemblies 6 and the clamping assembly 7, it is beneficial for the pneumatic gripper 702 to rotate around the X, Y, and Z axes respectively, realizing more movement modes and flexibility, thereby facilitating the operation of the picking robot in a complex environment.

[0040] In an alternative embodiment of the embodiment of the present invention, a differential internal worm 609 is provided on one side of the retaining frame 601 close to the second bevel gear 608. A differential pinion 612 is connected to the differential internal worm 609 through a rotating shaft. The differential pinion 612 is meshed and connected to the single-pole gear 610. An inner rotor 611 is provided at one end of the differential internal worm 609 close to the single-pole gear 610. The single-pole gear 610 is connected to the inner rotor 611 through a rotating shaft. By driving the spherical gear 701 to rotate through the single-pole gear 610, the rotation angle of the pneumatic gripper 702 is ensured to be more accurate, which is beneficial for more accurate picking operations on fruits and vegetables.

[0041] In an alternative embodiment of the embodiment of the present invention, the spherical gear 701 is provided in the middle of one side of the bracket 5, and a pneumatic gripper 702 is installed on the spherical gear 701.

[0042] During use, first, start the first motor 1022 and the second motor 1025 on the four rolling units 102 to adjust the position of the picking robot; Then, turn on the third motors 202 on the two sliding components 2. The third motors 202 drive the first sliding plates 204 on the first lead screws 203 to move back and forth. The pneumatic grippers 702 on the clamping components 7 pick fruits and vegetables at the front and rear positions. The picked fruits and vegetables are stored in the collection box 104. Meanwhile, turn on the fourth motors 302 on the two lifting components 3. The fourth motors 302 drive the second sliding plates 304 on the second lead screws 303 to move up and down. The pneumatic grippers 702 on the clamping components 7 pick fruits and vegetables at different height positions. Through the mutual cooperation of the two sliding components 2 and the two lifting components 3, the front and rear positions and left and right positions of the pneumatic grippers 702 on the clamping components 7 are adjusted, which is beneficial to a wider movement range of the pneumatic grippers 702. This not only facilitates the picking operation of fruits and vegetables growing in different positions but also ensures higher adaptability of the picking robot during use. Finally, turn on the two fifth motors 402 on the two support frames 401. The fifth motors 402 drive the small pulleys 404 on the small synchronous belts 403, and the small pulleys 404 drive the large pulleys 405 to rotate, adjusting the movement angle of the small arm connecting frame 409, so that the movement range of the pneumatic gripper 702 is wider to pick fruits and vegetables in different areas. At the same time, turn on the sixth motors 603 and the seventh motors 606 on the two drive components 6 on the two brackets 5. The single-stage gears 610 drive the spherical gears 701 to rotate, adjusting the movement angle of the pneumatic gripper 702. The pneumatic gripper 702 picks fruits and vegetables at different positions, which is convenient for better picking operations of fruits and vegetables with inconsistent growth. At the same time, through the mutual cooperation of the transmission component 4, the two drive components 6, and the clamping component 7, on the one hand, it is beneficial for the pneumatic gripper 702 to rotate around the X, Y, and Z axes respectively, realizing more movement modes and flexibility, thus facilitating the operation of the picking robot in complex environments. On the other hand, the single-stage gear 610 drives the spherical gear 701 to rotate, ensuring that the rotation angle of the pneumatic gripper 702 is more accurate, which is beneficial for more accurate picking operations of fruits and vegetables.

[0043] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific implementation manners. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical fields can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A dual-arm picking robot for fresh fruits and vegetables, characterized in that: The invention comprises a moving component (1), two sliding components (2), two lifting components (3) and two transmission components (4), wherein a frame (103) is arranged in the middle of the moving component (1), the two sliding components (2) are respectively arranged on both sides of the top of the frame (103), a first slide plate (204) is arranged on one side of the two sliding components (2) away from the frame (103), the two lifting components (3) are respectively arranged on one side of the two first slide plates (204), the two lifting components (3) are respectively arranged on one side of the two second slide plates (304), the two transmission components (4) are respectively arranged on one side of the two first slide plates (204), the two lifting components (3) are respectively arranged on one side of the two second slide plates (304), the two transmission components (4 ) are respectively arranged on one side of the two second slides (304), and a small arm connecting frame (409) is arranged on one side of the two transmission components (4) away from the second slides (304), and a bracket (5) is arranged at one end of the two small arm connecting frames (409), and a driving component (6) is arranged on both sides of one end of the two brackets (5), and a single-pole gear (610) is arranged at one end of the driving component (6), and a clamping component (7) is arranged on one side of the two brackets (5) close to the two driving components (6), and a spherical gear (701) is arranged at one end of the clamping component (7).

2. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: A base frame (101) is arranged on the moving assembly (1), and collection boxes (104) are connected to both sides of the base frame (101) via bolts. The frame (103) is in an inverted "U"-shaped structure, and the bottom of the frame (103) is connected to the middle of the base frame (101) via bolts. Rolling units (102) are arranged at the four corners of the bottom of the base frame (101).

3. A dual-arm picking robot for fresh fruits and vegetables according to claim 2, characterized in that: A support plate (1021) is arranged on the top of the rolling unit (102), the support plate (1021) is connected to the bottom frame (101) via bolts, a first motor (1022) is installed at the bottom of the support plate (1021), a rotating plate (1023) is movably connected to the bottom of the first motor (1022) via a rotating shaft, shock absorbing springs (1024) are connected to the bottom of the rotating plate (1023) on both sides via bolts, the bottoms of the two shock absorbing springs (1024) are connected to roller hubs (1026) via rotating shafts, and a second motor (1025) is installed in the middle of the wheel hubs (1026).

4. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: A first stop frame (201) is provided on one side of the sliding assembly (2), the first stop frame (201) is connected to the frame (103) by bolts, a third motor (202) is installed on one end of the first stop frame (201), one end of the third motor (202) is movably connected to the first screw rod (203) by a rotating shaft, a first screw hole matched with the first screw rod (203) is provided on the first slide plate (204), both sides of one side of the first stop frame (201) close to the first screw rod (203) are connected to the first slide rails (205) by bolts, the two first slide rails (205) are matched and connected to the first sliders (206), and the first sliders (206) are connected to the first slide plate (204) by bolts.

5. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: A second stop frame (301) is provided on one side of the lifting assembly (3), the second stop frame (301) is connected to the first slide plate (204) by bolts, a fourth motor (302) is installed on the top of the second stop frame (301), the bottom of the fourth motor (302) is movably connected to a second screw rod (303) by a rotating shaft, a second screw hole matched with the second screw rod (303) is provided on one side of the second slide plate (304), both ends of one side of the second stop frame (301) close to the second screw rod (303) are connected to second slide rails (305) by bolts, the two second slide rails (305) are matched and connected to second sliders (306), and the two second sliders (306) are connected to the second slide plate (304) by bolts.

6. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: A support frame (401) is provided on one side of the transmission assembly (4), the support frame (401) is connected to the second slide plate (304) by bolts, fifth motors (402) are installed on both upper and lower sides of the support frame (401), one end of the two fifth motors (402) are connected to a small synchronous belt (403) via a rotating shaft, one end of the two small synchronous belts (403) are connected to a small pulley (404), the two small pulleys (404) are connected to a large arm connecting frame (407) via a rotating shaft, and the large arm Both ends of the connecting frame (407) are connected to large pulleys (405) via rotating shafts, two small pulleys (404) are connected to one of the large pulleys (405), a large synchronous belt (406) is connected between the two large pulleys (405), a rotating rod (408) is connected to the bottom of the large pulley (405) away from the small pulley (404) via a rotating shaft, a small arm connecting frame (409) is connected to the rotating rod (408), and the bracket (5) is connected to one end of the small arm connecting frame (409) via bolts.

7. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: A retaining frame (601) is provided on the driving assembly (6), and the retaining frame (601) is connected to the bracket (5) by bolts. A side of the retaining frame (601) away from the bracket (5) is connected to the base (602) by bolts. A sixth motor (603) is installed on one side of the base (602). One end of the sixth motor (603) is movably connected to a first small bevel gear (604) by a rotating shaft. One side of the first small bevel gear (604) is meshingly connected to a first bevel gear (605). A seventh motor (606) is installed on one side of the base (602) close to the sixth motor (603). One end of the seventh motor (606) is connected to a second small bevel gear (607) by a rotating shaft. One side of the second small bevel gear (607) is meshingly connected to a second bevel gear (608). The single-pole gears (610) on the two driving assemblies (6) are both meshingly connected to the spherical gear (701).

8. A dual-arm picking robot for fresh fruits and vegetables according to claim 7, characterized in that: A differential inner worm (609) is disposed on one side of the retaining frame (601) close to the second bevel gear (608); a differential pinion (612) is connected to the differential inner worm (609) via a rotating shaft; the differential pinion (612) is meshingly connected to a single-pole gear (610); an inner rotor (611) is disposed on one end of the differential inner worm (609) close to the single-pole gear (610); and the single-pole gear (610) is connected to the inner rotor (611) via a rotating shaft.

9. A dual-arm picking robot for fresh fruits and vegetables according to claim 1, characterized in that: The spherical gear (701) is arranged in the middle of one side of the bracket (5), and a pneumatic clamp (702) is installed on the spherical gear (701).

10. A dual-arm picking robot for fresh fruits and vegetables according to any one of claims 1 to 9, characterized in that: The working method of the picking robot specifically comprises the following steps: Step 1: Turn on the first motor (1022) and the second motor (1025) on the four rolling units (102) to adjust the position of the picking robot; Step 2: turning on the third motor (202) on the two sliding components (2), the third motor (202) drives the first slide plate (204) on the first screw rod (203) to move forward and backward, the pneumatic clamp (702) on the clamping component (7) picks the fruits and vegetables at the front and rear positions, and the picked fruits and vegetables are stored in the collection box (104), and the fourth motor (302) on the two lifting components (3) is turned on, the fourth motor (302) drives the second slide plate (304) on the second screw rod (303) to move up and down, and the pneumatic clamp (702) on the clamping component (7) picks the fruits and vegetables at different heights; Step 3: Turn on the two fifth motors (402) on the two support frames (401), the fifth motors (402) drive the small pulley (404) on the small synchronous belt (403), the small pulley (404) drives the large pulley (405) to rotate, and adjust the movement angle of the small arm connecting frame (409) so that the pneumatic gripper (702) has a wider movement range, and fruits and vegetables in different areas are picked. At the same time, the sixth motor (603) and the seventh motor (606) on the two driving assemblies (6) on the two brackets (5) are turned on, and the single-pole gear (610) drives the spherical gear (701) to rotate, and the movement angle of the pneumatic gripper (702) is adjusted, and the pneumatic gripper (702) picks fruits and vegetables in different positions.