A picking robot mechanical arm and picking robot

Abstract

The present application provides a kind of picking robot mechanical arm, comprising: main shaft, sequentially arranged with each other on the side of main shaft extension component, mechanical arm body, clamping assembly;Wherein, extension component includes first connecting piece, second connecting piece and first telescopic structure assembled to first connecting piece, first telescopic structure is connected with second connecting piece;Clamping assembly includes mounting bracket, second telescopic structure, first sliding part and second sliding part, first sliding part further includes sequentially connected first sliding block, first connecting bracket, third telescopic structure and first contact block, second sliding part further includes sequentially connected second sliding block, second connecting bracket, third telescopic structure and second contact block, mounting bracket has slot, first sliding block and second sliding block are arranged in slot, second telescopic structure is connected with mounting bracket, first sliding block and second sliding block.

Description

Technical Field

[0001] This invention relates to the field of harvesting robots, and particularly to the field of a harvesting robot robotic arm. Background Technology

[0002] Harvesting robots are mainly used in the agricultural field to perform fruit and vegetable harvesting tasks. By integrating high-precision robotic arms, advanced sensors, and intelligent control systems, they achieve an automated, precise, and efficient harvesting process.

[0003] The grippers on existing robotic arms cannot cushion the fruit during harvesting, resulting in marks on the fruit's surface after harvesting. This affects the fruit's appearance and may even damage the fruit, affecting its shelf life. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention discloses a robotic arm for harvesting, comprising:

[0005] A main rotating shaft, on one side of which are sequentially arranged interconnected extension components, a robotic arm body, and a clamping component; wherein...

[0006] The extension component includes a first connector, a second connector, and a first telescopic structure assembled on the first connector, wherein the first telescopic structure is connected to the second connector.

[0007] The clamping assembly includes a mounting bracket, a second telescopic structure, a first sliding part, and a second sliding part. The first sliding part further includes a first slider, a first connecting bracket, a third telescopic structure, and a first contact block connected in sequence. The second sliding part further includes a second slider, a second connecting bracket, a third telescopic structure, and a second contact block connected in sequence. The mounting bracket has a slot, in which the first and second sliders are disposed. The second telescopic structure is connected to the mounting bracket, the first slider, and the second slider. The second telescopic structure can be displaced along a length direction parallel to the first or second connecting bracket, thereby causing the first and second sliders to displace within the slot. When the second telescopic structure is displaced to a clamping position, the first and second contact blocks clamp the target harvested object.

[0008] In one embodiment of the harvesting robot arm of the present invention, the third telescopic structure is movably connected to the corresponding connecting bracket and fixedly connected to the corresponding contact block.

[0009] In one embodiment of the harvesting robot arm of the present invention, the third telescopic structure further includes: a movable rod and an elastic element, one end of the movable rod being fixedly connected to the first contact block and the other end being movably connected to the first connecting bracket, the elastic element passing through the movable rod and located between the first connecting bracket and the first contact block; another movable rod having one end fixedly connected to the second contact block and the other end being movably connected to the second connecting bracket, the elastic element passing through the movable rod and located between the second connecting bracket and the second contact block.

[0010] In one embodiment of the harvesting robot arm of the present invention, the first connecting member and the second connecting member include: a plurality of limiting sleeves, the first of the plurality of limiting sleeves being fixedly assembled with the outer edge of the first connecting member, the plurality of limiting sleeves being slidably connected to each other, and the last of the plurality of limiting sleeves being connected to the second connecting member.

[0011] In one embodiment of the harvesting robot arm of the present invention, the first telescopic structure further includes: a motor assembled on the first connecting member, and a first telescopic member disposed on the output shaft of the motor, wherein the first telescopic member is connected to the second connecting member.

[0012] In one embodiment of the harvesting robot arm of the present invention, the second telescopic structure further includes: a second telescopic member and a push-pull block, the second telescopic member and the push-pull block are connected by a connecting rod, the second telescopic member is fixedly mounted on the mounting bracket, and the push-pull block is slidably connected to the first slider and the second slider through slots in the first slider and the second slider.

[0013] In one embodiment of the harvesting robot arm of the present invention, the second telescopic component is any one of a telescopic cylinder, a hydraulic cylinder, a linear motor, or an electric push rod.

[0014] In one embodiment of the harvesting robot arm of the present invention, a shearing component disposed on the clamping assembly is further included. The shearing component includes a third sliding portion and a fourth sliding portion. The third sliding portion includes a first shearing device, and the fourth sliding portion includes a second shearing device.

[0015] In one embodiment of the harvesting robot arm of the present invention, the shearing component further includes: a rotary linear displacement component, which is disposed between the first shearing device and the second shearing device.

[0016] In one embodiment of the robotic arm of the harvesting robot of the present invention, the rotary linear displacement component includes an internal threaded block and an external threaded rod that cooperates with and is connected to the internal threaded block. The internal threaded block disposed on the first shearing device is fixedly connected to the first shearing device, and the internal threaded block disposed on the second shearing device is fixedly connected to the second shearing device. The thread direction of the internal threaded block disposed on the first shearing device is opposite to the thread direction of the internal threaded block disposed on the second shearing device.

[0017] In one embodiment of the harvesting robot arm of the present invention, an external toothed connecting rod is fixedly assembled on the inner wall of the external threaded rod of one of the rotary linear displacement components, and the outer edge of the external toothed connecting rod is movably connected to the inner wall of the external threaded rod of another rotary linear displacement component.

[0018] In one embodiment of the harvesting robot arm of the present invention, one end of the external threaded rod is fixedly assembled with an external tooth connecting rod, and the other end of the external threaded rod is fixedly assembled with an external tooth limiting rod. The outer edge of the external tooth limiting rod is movably sleeved with a turbine, and the outer edge of the turbine meshes with a worm gear.

[0019] In one embodiment of the harvesting robot arm of the present invention, both the third sliding part and the fourth sliding part include a groove and a slide rail disposed in the groove. The first shearing device is disposed at the top of the groove of the third sliding part, and the second shearing device is disposed at the top of the groove of the fourth sliding part. The slide rail and the groove can be fixed together by a fastener.

[0020] In one embodiment of the harvesting robot arm of the present invention, a plurality of uniformly distributed third telescopic structures are included between the first connecting bracket and the first contact block, and between the second connecting bracket and the second contact block.

[0021] In one embodiment of the harvesting robot arm of the present invention, the slide rail of the third sliding part and the slide rail of the fourth sliding part are respectively disposed on the top of the first connecting bracket and the second connecting bracket.

[0022] The present invention also provides a harvesting robot, including a body, a controller and a drive device disposed on the body, and the aforementioned harvesting robot robotic arm, wherein the controller is communicatively connected to the harvesting robot robotic arm and the drive device, and the robotic arm is connected to the body.

[0023] This invention proposes a harvesting robot arm and a harvesting robot that harvests fruit using a gripping assembly with a buffer function. The gripping assembly includes a mounting bracket, a second telescopic structure, and two sliding parts. Each sliding part includes a slider, a connecting bracket, a third telescopic structure, and contact blocks connected in sequence. The two sliders are disposed in slots in the mounting bracket. The second telescopic structure extends and retracts, causing the two sliders to move within the slots. When the second telescopic structure moves to a gripping position, the two contact blocks, under the action of the two third telescopic structures, grip the target harvested fruit. Because the two third telescopic structures provide buffering, the problem of the gripping assembly leaving marks on the fruit surface after gripping, thus affecting the fruit's appearance, causing damage, and affecting its shelf life, is solved. Attached Figure Description

[0024] Figure 1 This is a frontal perspective view of an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of an extension component structure according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the clamping component and shearing component according to an embodiment of the present invention;

[0027] Figure 4 for Figure 3 Enlarged structural diagram at point A in the diagram;

[0028] Figure 5 This is a schematic diagram of a clamping component structure according to an embodiment of the present invention;

[0029] Figure 6 for Figure 5 Enlarged structural diagram at point B in the diagram;

[0030] Figure 7 This is a schematic diagram of a shearing component structure according to an embodiment of the present invention;

[0031] Figure 8 for Figure 7 A magnified structural diagram at point C in the diagram.

[0032] Figure 9 This is a schematic block diagram of the harvesting robot of the present invention.

[0033] The attached figures are labeled as follows:

[0034] 1. Main spindle;

[0035] 2. Extension components;

[0036] 21. First sliding part

[0037] 22. Second sliding part

[0038] 23. First telescopic structure

[0039] 201. First connecting component;

[0040] 202. Telescopic servo motor;

[0041] 203. Telescopic screw;

[0042] 204. Second connecting component;

[0043] 205. First limiting sleeve;

[0044] 206. Second limiting sleeve;

[0045] 207. Third limiting sleeve;

[0046] 3. Robotic arm body;

[0047] 41. Clamping assembly;

[0048] 411. Second telescopic structure

[0049] 412. Third telescopic structure

[0050] 4101. Install the bracket;

[0051] 4102, 4105, Grooving;

[0052] 4103, First slider;

[0053] 4104, Second slider;

[0054] 4106. Push-pull block;

[0055] 4107. Second telescopic component;

[0056] 4108. First connecting bracket;

[0057] 4109. Second connecting bracket;

[0058] 4110. Movable lever;

[0059] 4111, First contact block;

[0060] 4112. Elastic components;

[0061] 4113, Second contact block;

[0062] 42. Cutting component;

[0063] 4201, 4202, slide rails;

[0064] 4203, 4204, Slides;

[0065] 4205. First shearing device;

[0066] 4206. Second shearing device;

[0067] 4207, 4208, Internal threaded blocks;

[0068] 4209, 4210, External threaded rod;

[0069] 4211. External toothed connecting rod;

[0070] 4212. External toothed limit rod;

[0071] 4213, worm gear 4213;

[0072] 4214. Worm gear;

[0073] 4215. Fasteners;

[0074] 10. Harvesting robot arm;

[0075] 100. Harvesting robots;

[0076] 200. Controller;

[0077] 300. Fuselage;

[0078] 400. Drive unit. Detailed Implementation

[0079] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, so as to further understand the purpose, solution and beneficial technical effects of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0080] It should be noted that in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0081] Certain terms are used in this specification and the appended claims to refer to specific components or parts. Those skilled in the art will understand that users or manufacturers may use different names or terms to refer to the same component or part. This specification and the appended claims do not distinguish components or parts by differences in name, but rather by differences in function.

[0082] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation.

[0083] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0084] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0085] The grippers on existing robotic arms cannot cushion the fruit during harvesting, resulting in marks on the fruit's surface after picking. This affects the fruit's appearance and may even damage it, impacting its shelf life. To solve this technical problem, please refer to [link to relevant documentation / reference]. Figures 1 to 8 The present invention discloses a harvesting robot arm 10, comprising: a main rotating shaft 1, and an extension component 2, a robot arm body 3, and a clamping component 41 sequentially arranged on one side of the main rotating shaft 1; wherein, the extension component 2 includes a first connector 201, a second connector 204, and a first telescopic structure 23 assembled on the first connector 201, and the first telescopic structure 23 is connected to the second connector 204.

[0086] The clamping assembly 41 includes a mounting bracket 4101, a second telescopic structure 411, a first sliding portion 21, and a second sliding portion 22. The first sliding portion 21 further includes a first slider 4103, a first connecting bracket 4108, a third telescopic structure 412, and a first contact block 4111 connected in sequence. The second sliding portion 22 further includes a second slider 4104, a second connecting bracket 4109, a third telescopic structure 412, and a second contact block 4113 connected in sequence. The mounting bracket 4101 has a slot 4102. The first slider 4103 and the second slider 4108... 104 is disposed in the slot 4102. The second telescopic structure 411 is connected to the mounting bracket 4101, the first slider 4103, and the second slider 4104. The second telescopic structure 411 can move along the length direction parallel to the first connecting bracket 4108 or the second connecting bracket 4109, and drive the first slider 4103 and the second slider 4104 to move in the slot 4102. When the second telescopic structure 411 moves to a clamping position, the first contact block 4111 and the second contact block 4113 clamp the target harvested fruit. Because the two third telescopic structures 412 provide cushioning when clamping the fruit, no marks will be left on the surface of the fruit after the clamping assembly 41 clamps it, thus avoiding problems such as affecting the appearance of the fruit, damage, and affecting the preservation time of the fruit.

[0087] In one embodiment of the harvesting robot arm 10 of the present invention, the third telescopic structure 412 is movably connected to the corresponding connecting bracket and fixedly connected to the corresponding contact block. Because one end of the third telescopic structure 412 is movably connected while the other end is fixedly connected, the force provided by the connecting bracket can be buffered by the movable end, thus better clamping the fruit.

[0088] In one embodiment of the harvesting robot arm 10 of the present invention, the third telescopic structure 412 further includes: a movable rod 4110 and an elastic element 4112. One end of the movable rod 4110 is fixedly connected to the first contact block 4111, and the other end is movably connected to the first connecting bracket 4108. The elastic element 4112 passes through the movable rod 4110 and is located between the first connecting bracket 4108 and the first contact block 4111. Another movable rod 4110 has one end fixedly connected to the second contact block 4113 and the other end movably connected to the second connecting bracket 4109. The elastic element 4112 passes through the movable rod 4110 and is located between the second connecting bracket 4109 and the second contact block 4113. In one embodiment, the elastic element 4112 can be made of elastic materials such as springs, rubber, silicone, and polyurethane, but the present invention is not limited thereto. When the clamping assembly 41 clamps the fruit, the elastic element 4112 buffers the clamping force, so that the fruit is not directly subjected to the force from the second telescopic structure 411, and the fruit is not damaged during clamping.

[0089] In one embodiment of the harvesting robot arm 10 of the present invention, a plurality of limiting sleeves are included between the first connecting member 201 and the second connecting member 204. The first of the plurality of limiting sleeves is fixedly assembled to the outer edge of the first connecting member 201, the plurality of limiting sleeves are slidably connected to each other, and the last of the plurality of limiting sleeves is connected to the second connecting member 204. In one embodiment, the number of limiting sleeves can be three (see...). Figure 2 The first limiting sleeve 205, the second limiting sleeve 206, and the third limiting sleeve 207 are included, but the present invention is not limited thereto. Multiple limiting sleeves increase the overall length of the robotic arm while enhancing its strength. Further, in one embodiment, the aforementioned multiple limiting sleeves are grouped together, and multiple groups (e.g., four groups, but not limited thereto) are evenly arranged between the first connecting member 201 and the second connecting member 204, for example... Figure 2 As shown, this further strengthens the bond between the first connector 201 and the second connector 204.

[0090] In one embodiment of the harvesting robot arm 10 of the present invention, the first telescopic structure 23 further includes: a motor assembled on the first connecting member 201, and a first telescopic member disposed on the output shaft of the motor, the first telescopic member being connected to the second connecting member 204. The first telescopic member can be a telescopic lead screw 203, which is threadedly connected to the second connecting member 204. The first telescopic member can also be a spring telescopic member or a multi-segment telescopic connecting rod. The connection between the first telescopic member and the second connecting member 204 can also be through other common connection methods besides threaded connections, and the present invention is not limited thereto. This can increase the length of the entire robot arm, making the robot arm more applicable and improving the flexibility of the device. In one embodiment, the motor can be a telescopic servo motor 202, a stepper motor, or a geared motor, but is not limited thereto.

[0091] In one embodiment of the harvesting robot arm 10 of the present invention, the second telescopic structure 411 further includes: a second telescopic member 4107 and a push-pull block 4106. The second telescopic member 4107 and the push-pull block 4106 are connected by a connecting rod. The second telescopic member 4107 is fixedly mounted on the mounting bracket 4101. The push-pull block 4106 is slidably connected to the first slider 4103 and the second slider 4104 through the slots 4105 of the first slider 4103 and the second slider 4104. Through the telescopic movement of the second telescopic structure 411, the coordinated movement of the push-pull block 4106 and the slots 4105 of the first slider 4103 and the second slider 4104, the first slider 4103 and the second slider 4104 can repeatedly move within a limited range, facilitating the subsequent components to clamp and unload the fruit.

[0092] In one embodiment, the slots 4105 of the first slider 4103 and the second slider 4104 are T-shaped slots, and the push-pull block 4106 is a trapezoidal block. The connection points between the trapezoidal block and the first slider 4103 and the second slider 4104 on both sides are also T-shaped structures corresponding to the T-shaped slots. When the trapezoidal block moves upward (the second telescopic member retracts), it can drive the first slider 4103 and the second slider 4104 to move towards the middle. When the trapezoidal block moves downward (the second telescopic member extends), it can drive the first slider 4103 and the second slider 4104 to move towards both sides of the slot 4102. It should be noted that the coordinated movement of the push-pull block 4106 and the slots 4105 of the first slider 4103 and the second slider 4104, so that the first slider 4103 and the second slider 4104 can move repeatedly within a limited range, can also be achieved by other common methods, such as the push-pull block 4106 being linked to the first slider 4103 and the second slider 4104, but the present invention is not limited thereto.

[0093] In one embodiment of the harvesting robot arm 10 of the present invention, the second telescopic member 4107 is any one of a telescopic cylinder, a hydraulic cylinder, a linear motor, or an electric push rod.

[0094] In one embodiment of the harvesting robot arm 10 of the present invention, a shearing component 42 is further included on the gripping assembly 41. The shearing component 42 includes a third sliding part and a fourth sliding part. The third sliding part includes a first shearing device 4205, and the fourth sliding part includes a second shearing device 4206. By moving the first shearing device 4205 and the second shearing device 4206 towards the center, the stem of the fruit can be cut off, facilitating the harvesting of the fruit. It should be noted that the movement of the third sliding part and the fourth sliding part can be achieved by devices such as slide rails and grooves, pulleys and slide rails, and linear motors.

[0095] In one embodiment of the harvesting robot arm 10 of the present invention, the shearing component 42 further includes a rotary linear displacement component, which is disposed on the first shearing device 4205 and the second shearing device 4206.

[0096] In one embodiment of the harvesting robot arm 10 of the present invention, the rotary linear displacement component includes an internal threaded block and an external threaded rod that cooperates with and connects to the internal threaded block. The internal threaded block 4207 disposed on the first shearing device 4205 is fixedly connected to the first shearing device 4205, and the internal threaded block 4208 disposed on the second shearing device 4206 is fixedly connected to the second shearing device 4206. The thread direction of the internal threaded block 4207 disposed on the first shearing device 4205 is opposite to the thread direction of the internal threaded block 4208 disposed on the second shearing device 4206. Since the diameter of each type of fruit is different, the first shearing device 4205 and the second shearing device 4206 need to be moved towards the center by the synchronous rotation of the external threaded rod and another external threaded rod. This allows the distance between the first shearing device 4205 and the second shearing device 4206 to be adjusted, making the device applicable to different varieties of fruit. It should be noted that the synchronous rotation of the two external threaded rods can be achieved by motor control or by other methods in the prior art.

[0097] In one embodiment of the harvesting robot arm 10 of the present invention, an external toothed connecting rod 4211 is fixedly mounted on the inner wall of the external threaded rod 4210 of one of the rotary linear displacement components. The outer edge of the external toothed connecting rod 4211 is movably connected to the inner wall of the external threaded rod 4209 of another rotary linear displacement component. This allows the two external threaded rods to rotate synchronously, improving the stability of the device when the first shearing device 4205 and the second shearing device 4206 move towards the center.

[0098] In one embodiment of the harvesting robot arm 10 of the present invention, one end of the external threaded rod 4210 is fixedly assembled with the external tooth connecting rod 4211, and the other end of the external threaded rod 4210 is fixedly assembled with an external tooth limiting rod 4212. The outer edge of the external tooth limiting rod 4212 is movably sleeved with a turbine, and the outer edge of the turbine meshes with a worm gear 4214. The worm gear 4214 can drive the worm wheel to rotate, and the rotation of the worm wheel drives the external threaded rod 4210 to rotate, so that the external threaded rod 4210, another external threaded rod 4209, and the external tooth connecting rod 4211 can rotate. At the same time, the worm wheel is fixed to the two external threaded rods and the external tooth connecting rod 4211, so that the two external threaded rods and the external tooth connecting rod 4211 cannot rotate during the operation of the device, thereby improving the stability of the device.

[0099] In one embodiment of the harvesting robot arm 10 of the present invention, both the third and fourth sliding portions include grooves (4203, 4204) and slide rails (4201, 4202) disposed in the grooves. The first shearing device 4205 is disposed at the top of the groove of the third sliding portion, and the second shearing device 4206 is disposed at the top of the groove of the fourth sliding portion. The slide rails and the grooves are fixed together by a fixing member 4215. In one embodiment, the fixing member 4215 can be a fixing bolt, but is not limited thereto. Figure 8 As shown, the pulley and slide rail can be further fixed by the fixing member 4215. When it is necessary to adjust the distance between the first cutting device 4205 and the second cutting device 4206, the fixing member 4215 can be loosened for adjustment. In this way, the cutting assembly can adapt to different types of fruits and vegetables, and it is convenient to adjust the distance between the first cutting device 4205 and the second cutting device 4206, making the device more reasonable.

[0100] In one embodiment of the harvesting robot arm 10 of the present invention, a plurality of uniformly distributed third telescopic structures 412 are included between the first connecting bracket 4108 and the first contact block 4111, and between the second connecting bracket 4109 and the second contact block 4113. In one embodiment, the number of the plurality of uniformly distributed third telescopic structures 412 is three, but not limited to this. By setting three third telescopic structures 412, the fruit can be well cushioned when it is clamped between the first connecting bracket 4108 and the second connecting bracket 4109.

[0101] In one embodiment of the harvesting robot arm 10 of the present invention, the slide rail (4201) of the third sliding part and the slide rail (4202) of the fourth sliding part are respectively disposed on the top of the first connecting bracket 4108 and the second connecting bracket 4109. With this connection method, when the first connecting bracket 4108 and the second connecting bracket 4109 move towards the center, they will drive the two slide rails to move towards the center. The first shearing device 4205 on the slide rail of the third sliding part and the second shearing device 4206 on the slide rail of the fourth sliding part move towards the center, thus allowing the stem or root of the fruit to be cut off.

[0102] Please see Figure 9 The present invention also provides a harvesting robot 100, including a body 300, a controller 200 and a drive device 400 disposed on the body 300, and the aforementioned harvesting robot robotic arm 10. The controller 200 is communicatively connected to the harvesting robot robotic arm 10 and the drive device 400, and the harvesting robotic arm 10 is connected to the body 300.

[0103] This invention proposes a harvesting robot arm 10 and a harvesting robot, which harvests fruit using a clamping assembly 41 with a buffer function. The clamping assembly 41 includes a mounting bracket 4101, a second telescopic structure 411, and two sliding parts. Each sliding part includes a slider, a connecting bracket, a third telescopic structure 412, and contact blocks connected in sequence. The two sliders are disposed in slots in the mounting bracket 4101. The second telescopic structure 411 extends and retracts, causing the two sliders to move within the slots. When the second telescopic structure 411 moves to a clamping position, the two contact blocks clamp the target harvested fruit under the action of the two third telescopic structures 412. Because the two third telescopic structures 412 provide buffering, the problem of the clamping assembly 41 leaving marks on the surface of the fruit after clamping it, which affects the appearance and damage of the fruit and affects its shelf life, is solved.

[0104] In summary, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can devise various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the protection scope of the patent application of the present invention.

Claims

1. A robotic arm for harvesting, characterized in that, include: A main rotating shaft, on one side of which are sequentially arranged interconnected extension components, a robotic arm body, and a gripping component; wherein... The extension component includes a first connector, a second connector, and a first telescopic structure assembled to the first connector, wherein the first telescopic structure is connected to the second connector. The clamping assembly includes a mounting bracket, a second telescopic structure, a first sliding portion, and a second sliding portion. The first sliding portion further includes a first slider, a first connecting bracket, a third telescopic structure, and a first contact block connected in sequence. The second sliding portion further includes a second slider, a second connecting bracket, a third telescopic structure, and a second contact block connected in sequence. The mounting bracket has a slot, in which the first and second sliders are disposed. The second telescopic structure is connected to the mounting bracket, the first slider, and the second slider. The second telescopic structure can move along a length direction parallel to the first or second connecting bracket, thereby moving the first and second sliders within the slot. When the second telescopic structure moves to a clamping position, the first and second contact blocks clamp the target harvested object. The third telescopic structure is movably connected to the corresponding connecting bracket and fixedly connected to the corresponding contact block; The third telescopic structure further includes: a movable rod and an elastic element, one end of the movable rod being fixedly connected to the first contact block and the other end being movably connected to the first connecting bracket, the elastic element passing through the movable rod and located between the first connecting bracket and the first contact block; another movable rod having one end fixedly connected to the second contact block and the other end movably connected to the second connecting bracket, the elastic element passing through the movable rod and located between the second connecting bracket and the second contact block.

2. The harvesting robot arm as described in claim 1, characterized in that, The first connector and the second connector include: a plurality of limiting sleeves, the first of the plurality of limiting sleeves being fixedly assembled with the outer edge of the first connector, the plurality of limiting sleeves being slidably connected to each other, and the last of the plurality of limiting sleeves being connected to the second connector.

3. The harvesting robot arm as described in claim 1, characterized in that, The first telescopic structure further includes: a motor assembled on the first connecting member, and a first telescopic member disposed on the output shaft of the motor, wherein the first telescopic member is connected to the second connecting member.

4. The harvesting robot arm as described in claim 1, characterized in that, The second telescopic structure further includes: a second telescopic member and a push-pull block, the second telescopic member and the push-pull block being connected by a connecting rod, the second telescopic member being fixedly mounted on the mounting bracket, and the push-pull block being slidably connected to the first slider and the second slider through slots in the first slider and the second slider.

5. The harvesting robot arm as described in claim 4, characterized in that, The second telescopic component is any one of a telescopic cylinder, a hydraulic cylinder, a linear motor, or an electric actuator.

6. The harvesting robot arm as described in claim 1, characterized in that, It also includes a shearing component disposed on the clamping assembly, the shearing component including a third sliding portion and a fourth sliding portion, the third sliding portion including a first shearing device, and the fourth sliding portion including a second shearing device.

7. The harvesting robot arm as described in claim 6, characterized in that, The shearing assembly further includes a rotary linear displacement assembly, which is disposed between the first shearing device and the second shearing device.

8. The harvesting robot arm as described in claim 7, characterized in that, The rotary linear displacement assembly includes an internal threaded block and an external threaded rod that mates with and is connected to the internal threaded block. The internal threaded block disposed on the first shearing device is fixedly connected to the first shearing device, and the internal threaded block disposed on the second shearing device is fixedly connected to the second shearing device. The thread direction of the internal threaded block disposed on the first shearing device is opposite to the thread direction of the internal threaded block disposed on the second shearing device.

9. The harvesting robot arm as described in claim 8, characterized in that, An external toothed connecting rod is fixedly mounted on the inner wall of the external threaded rod of one of the rotary linear displacement components, and the outer edge of the external toothed connecting rod is movably connected to the inner wall of the external threaded rod of the other rotary linear displacement component.

10. The harvesting robot arm as described in claim 9, characterized in that, One end of the external threaded rod is fixedly assembled with an external tooth connecting rod, and the other end of the external threaded rod is fixedly assembled with an external tooth limiting rod. A worm gear is movably sleeved on the outer edge of the external tooth limiting rod, and a worm is meshed with the outer edge of the worm gear.

11. The harvesting robot arm as described in any one of claims 6 to 10, characterized in that, Both the third sliding part and the fourth sliding part include a groove and a slide rail disposed in the groove. The first shearing device is disposed at the top of the groove of the third sliding part, and the second shearing device is disposed at the top of the groove of the fourth sliding part. The slide rail and the groove can be fixed together by a fastener.

12. The harvesting robot arm as described in claim 8, characterized in that, The first connecting bracket and the first contact block, as well as the second connecting bracket and the second contact block, each include a plurality of uniformly distributed third telescopic structures.

13. The harvesting robot arm as described in claim 11, characterized in that, The slide rails of the third sliding part and the fourth sliding part are respectively disposed on the top of the first connecting bracket and the second connecting bracket.

14. A harvesting robot, comprising a body, a controller and a drive device disposed on the body, characterized in that, It also includes a harvesting robot arm as described in any one of claims 1 to 13, wherein the controller is communicatively connected to the harvesting robot arm and the drive device, and the robot arm is connected to the body.

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