Tomato string picking robot and picking method thereof

Abstract

The invention discloses a skewered tomato picking robot and a picking method thereof. The skewered tomato picking robot comprises a transport vehicle, a stand column, a mechanical arm, a picking manipulator, a transfer device and a storage device. Wherein the rotating air cylinder drives the inner support to rotate through the small gear and the large gear, and the blade can cut off fruit stems of bunched tomatoes; the transfer device is arranged on the front portion of the upper plane of the transport vehicle, located behind the stand columns and used for transferring and transporting the collecting baskets. The storage device is arranged on the rear portion of the upper plane of the transport vehicle and located behind the transfer device, and the storage device is used for storing the collecting baskets. According to the skewered tomato picking robot and the picking method thereof, tomato information collection, tomato picking, collection, collection basket replacement, collection basket three-dimensional storage and automatic walking can be integrated, the automation degree is high, the automatic operation time of the picking robot can be effectively prolonged through the collection basket transfer device and the collection basket storage device, and the picking efficiency is improved. The tomato picking efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural fruit and vegetable automatic picking technology development, and particularly to a cluster tomato picking robot and a picking method thereof. Background Art

[0002] Fruits and vegetables are rich in nutrients and are necessities in human life. Cluster tomatoes are important cash crops with beautiful appearance, sweet taste and high nutritional value. However, the picking of cluster tomatoes is a labor-intensive task and is the most time-consuming and laborious link in the entire production chain. The existing cluster tomato picking operations mainly rely on manual labor, which has problems such as low efficiency, high cost and high labor intensity. The existing tomato picking robots have a low picking success rate and are prone to damaging fruits. In recent years, due to the problem of population aging, the human resources are severely scarce, and the cost of manual tomato picking operations accounts for a relatively high proportion in the entire production cost. Therefore, realizing the automation of picking operations has become an urgent need and a key technical bottleneck in the deep development of agriculture. Research on intelligent fruit picking based on agricultural robots has become a major focus in agricultural development in recent years. As an important type of agricultural robot, picking robots can reduce the labor intensity of workers and production costs, improve labor productivity and product quality, and ensure the timely harvesting of fruits, thus having great development potential. The growth environment of cluster tomatoes is relatively complex, in a highly unstructured and uncertain unknown environment. Although facility agriculture has achieved standardized operations to a certain extent, due to the random and diverse natural growth states of crops, the spatial layout of crop branches (vines), true leaves, brackets, etc. and fruits and vegetables is complex, and their shapes are also complex and diverse. When a picking robot is picking, it should have a high adaptability to the picking object, have less disturbance and damage to the surrounding environment and the fruit object, and be able to better cope with the vulnerability of the picking object and the difference in individual shapes.

[0003] Traditional clamping end manipulators generally clamp the fruit stalks of cluster tomatoes. The fruit stalks of cluster tomatoes are mostly blocked by fruits or vines, making it difficult to locate the fruit stalks, resulting in a low picking success rate and being prone to damaging the fruits.

[0004] Therefore, there is an urgent need to develop an automatic picking robot that can overcome the above problems in the prior art to fill the gap.

[0005] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0006] The object of the present invention is to provide a cluster tomato picking robot, which can integrate functions of tomato information collection, tomato picking, collection, replacement of collection baskets, three-dimensional storage of collection baskets, and automatic walking, with a high degree of automation. The collection basket transfer device and the collection basket storage device can effectively extend the automatic operation time of the picking robot and improve the tomato picking efficiency.

[0007] Another object of the present invention is to provide a picking method for the cluster tomato picking robot.

[0008] To achieve the above object, the present invention provides a cluster tomato picking robot, including a transport vehicle, a column, a robotic arm, a picking manipulator, a transfer device, and a storage device; the transport vehicle has an automatic navigation and walking function; the column is arranged at the front part of the upper plane of the transport vehicle; the lower end of the robotic arm is pivotally connected to the top end of the column, and the robotic arm can be bent and rotated at multiple angles; the lower part of the picking manipulator is connected to the upper part of the robotic arm, and the picking manipulator includes an outer bracket, an outer ring, a bearing, an inner bracket, a rotary cylinder, a small gear, and a large gear; the connecting plate at the lower part of the outer bracket is used for connecting to the upper part of the robotic arm; a part of the outer arc of the outer ring is fixedly connected to the front end of the cross plate of the outer bracket; the outer ring of the bearing is concentrically connected to the inner arc of the outer ring; the inner bracket has an annular structure, the outer arc of the inner bracket is concentrically connected to the inner ring of the bearing, and a plurality of blades are evenly distributed on the top surface of the inner bracket; the rotary cylinder is arranged at the front end of the cross plate; the small gear is connected to the rotary cylinder; the inner side of the large gear is concentrically connected to the inner bracket, and the large gear meshes with the small gear; wherein the rotary cylinder drives the inner bracket to rotate through the small gear and the large gear, and the blades can cut off the fruit stalks of the cluster tomatoes; the transfer device is arranged at the front part of the upper plane of the transport vehicle and behind the column, and the transfer device is used for the transfer and transportation of the collection baskets; the storage device is arranged at the rear part of the upper plane of the transport vehicle and behind the transfer device, and the storage device is used for the storage of the collection baskets.

[0009] In a preferred embodiment, the outer ring includes a plurality of fingers evenly arranged at the outer edge of the top surface of the outer ring. The top of each finger has a triangular structure, and each finger is a concentric arc structure along one end of the outer edge of the top surface of the outer ring. Each finger includes a knife hiding groove, a cutting groove, and a clamping surface; the knife hiding groove is arranged on the inner side surface of the finger, and the knife hiding groove opens towards the counterclockwise direction; the cutting groove is arranged at the outer edge of the finger on the clockwise side surface; the clamping surface is arranged on the clockwise side of the finger and inside the cutting groove, and patterns are arranged on the clamping surface.

[0010] In a preferred embodiment, the inner bracket further includes a plurality of tool holders evenly distributed on the top surface of the inner bracket. Each tool holder includes a tool clamping groove and a pressing surface. The tool clamping groove is arranged on the outer side of the tool holder facing the counterclockwise side surface, and the tool clamping groove is used for installing a blade. The pressing surface is arranged inside the tool clamping groove, and patterns are arranged on the pressing surface. The tool holder and the blade can be completely embedded into the tool storage groove. When the inner bracket rotates counterclockwise, the blade can be inserted into the cutting groove to cut the fruit stalk. At the same time, when the blade has not completely cut the fruit stalk, the pressing surface and the clamping surface can clamp the fruit stalk to prevent the cluster tomatoes from falling off.

[0011] In a preferred embodiment, the cluster tomato picking robot further includes a camera, which is arranged on the vertical plate at the rear end of the outer bracket, and the camera can detect the specific position of the cluster tomatoes.

[0012] In a preferred embodiment, the transfer device includes multiple pairs of hinges, two pairs of active swing rods and two pairs of driven swing rods, a driven shaft, a driving shaft, two active shafts, two first connecting rods, two second connecting rods, a first pulley, a first circular belt, a second pulley, a second circular belt and a third connecting rod. The multiple pairs of hinges are arranged in the front and rear on the upper plane of the transport vehicle and are located behind the column. The lower ends of each pair of active swing rods and driven swing rods are hinged to a pair of hinges. The two ends of the driven shaft are pivotally connected to the upper parts of a pair of driven swing rods. The two ends of the driving shaft are pivotally connected to the upper parts of the other pair of driven swing rods. The two ends of the two active shafts are respectively pivotally connected to the upper parts of a pair of active swing rods. The active shaft, the driven shaft and the driving shaft are arranged at intervals in the front and rear. The two ends of the two first connecting rods are respectively pivotally connected to the two ends of a driven shaft and the two ends of an active shaft located at the front of the transport vehicle. The two ends of the two second connecting rods are respectively pivotally connected to the two ends of a driven shaft and the two ends of an active shaft located at the rear of the transport vehicle, and the length of the second connecting rod is less than that of the first connecting rod. The first pulley is arranged at the two ends of the active shaft and the driven shaft pivotally connected to the first connecting rod and is located inside the first connecting rod. The first circular belt is arranged between the first pulleys at the front and rear positions. The second pulley is arranged at the two ends of the active shaft and the driving shaft pivotally connected to the second connecting rod and is located inside the second connecting rod. The second circular belt is arranged between the second pulleys at the front and rear positions. The third connecting rod is pivotally connected between the active swing rods and the driven swing rods of the adjacent active shaft and driving shaft in the middle.

[0013] In a preferred embodiment, the transfer device further includes a swing cylinder, two transfer motors, a pallet, and a weighing sensor; one end of the swing cylinder is pivotally connected to the upper plane of the transport vehicle, and the other end is pivotally connected to the middle of a driving shaft or a drive shaft; the telescopic movement of the swing cylinder can drive two pairs of active swing rods and two pairs of driven swing rods to swing through the driving shaft or drive shaft pivotally connected thereto, the first connecting rod, the second connecting rod, and the third connecting rod; the two transfer motors are respectively arranged on the upper plane of the transport vehicle and are respectively located between the first connecting rod and the second connecting rod; the transfer motors are connected to the driving wheels on the driving shaft through belts, and drive the first circular belt, the second circular belt, the driven shaft, and the drive shaft to rotate through the driving shaft; the pallet is arranged at the front part between the two first connecting rods; the weighing sensor is arranged below the pallet and abuts against the pallet.

[0014] In a preferred embodiment, the storage device includes a first side plate, a second side plate, a transmission shaft, a driving small sprocket, a fourth short shaft, a third short shaft, a second short shaft, a first short shaft, and a fifth short shaft; the first side plate is arranged on one side of the middle rear part of the upper plane of the transport vehicle; the second side plate is arranged on the other side of the rear part of the upper plane of the transport vehicle; the first side plate and the second side plate are located outside the active swing rod and the driven swing rod; one end of the transmission shaft is pivotally connected to the lower part of the first side plate, and the other end is connected to one end of the speed reducer of the storage motor; the driving small sprocket is arranged at the outer end of the transmission shaft located on the first side plate and the other end of the speed reducer; the fourth short shaft is arranged at the lower part of the first side plate and is located above the transmission shaft. A fourth driven small sprocket is arranged at the outer end of the fourth short shaft located on the first side plate, and it is connected to a driving small sprocket through a third chain. A fourth large sprocket is arranged at the inner end of the fourth short shaft located on the first side plate; the third short shaft is arranged at the lower part of the second side plate. A third driven small sprocket and a second driven small sprocket are coaxially arranged at the outer end of the third short shaft located on the second side plate. The third driven small sprocket is connected to a driving small sprocket through a second chain; the second short shaft is arranged at the lower part of the second side plate and is located above the third short shaft. A first driven small sprocket is arranged at the outer end of the second short shaft located on the second side plate. The first driven small sprocket is connected to the second driven small sprocket through a first chain. A first large sprocket is arranged at the inner end of the second short shaft located on the second side plate; the first short shaft is arranged at the upper part of the second side plate. A second large sprocket is arranged at the inner end of the first short shaft located on the second side plate. The second large sprocket is connected to the second short shaft through a shift lever chain; the fifth short shaft is arranged at the upper part of the first side plate. A third large sprocket is arranged at the inner end of the fourth short shaft located on the first side plate. The third large sprocket is connected to the fourth large sprocket through another shift lever chain; a plurality of shift levers are evenly distributed on the inner side of the shift lever chain. The central axis of the shift lever is perpendicular to the side surface of the shift lever chain, and the distance between the shift levers is greater than the height of the collection basket.

[0015] In a preferred embodiment, the storage device further includes a support frame in a rectangular frame structure. The four sides of the rectangular frame structure extend vertically upward for a certain distance, and there is a square hole at the bottom. The size of the square hole is smaller than the outer contour size of the collection basket. The support frame further includes driving holes, which are provided on the front and rear side edges of the rectangular frame structure. A lever on the lever chain disposed at the first side plate is inserted into a driving hole of a support frame from one side of the first side plate, and a lever on the lever chain disposed at the second side plate is inserted into another driving hole of a support frame from one side of the second side plate. The two levers inserted into the same support frame can keep the support frame in a horizontal posture all the time.

[0016] To achieve the above-mentioned another object, the present invention further provides a picking method for a cluster tomato picking robot, which uses the cluster tomato picking robot as described above for picking. The picking method includes: the transport vehicle automatically navigates to the cluster tomato picking area, the depth camera collects the position information and maturity information of the tomatoes, the robotic arm drives the picking manipulator to reach the bottom of the cluster tomato to be picked, the circular ring area of the picking manipulator sleeves the cluster tomato from the bottom up, when reaching the top of the cluster tomato, the picking manipulator drags in the opposite direction of the main stem, so that the fruit stalk enters the cutting area. Under the action of the bearing, the rotating cylinder drives the inner bracket to rotate counterclockwise, and at the same time, multiple tool holders drive each blade to rotate. When the blade completely enters the cutting groove of the finger, the fruit stalk of the cluster tomato is cut off. At the same time, the pattern on the pressing surface of the tool holder and the clamping surface of the finger clamp the fruit stalk of the cut cluster tomato. The robotic arm drives the picking manipulator to send the cluster tomato into the collection basket in the fruit placing area, the rotating cylinder drives the inner bracket to rotate clockwise, and the cluster tomato drops into the interior of the collection basket, completing one picking of the cluster tomato.

[0017] In a preferred embodiment, the picking method of the cluster tomato picking robot further includes: the cylinder of the transfer device drives a pair of active swing rods through a drive shaft, and then drives another pair of active swing rods through a second connecting rod. At the same time, the two pairs of active swing rods drive two pairs of driven swing rods through the first connecting rod and the second connecting rod respectively. The telescopic movement of the cylinder drives the first belt pulleys and the second belt pulleys on the active swing rods and the driven swing rods to rise and fall. When the swing cylinder retracts, the transfer motor stops rotating, and all the active swing rods and the driven swing rods are inclined. At this time, the first belt pulley, the second belt pulley, the first round belt and the second round belt fall. The collection basket at the basket-changing position A is supported by the support frame, and the collection basket at the fruit-placement position B falls on the weighing pallet. The weighing sensor real-time monitors the weight of the cluster tomatoes in the collection basket. When the collection basket at the fruit-placement position B reaches the set weight, the collection basket transfer device and the collection basket storage device cooperate to change the basket. When the swing cylinder extends, it drives all the active swing rods and the driven swing rods to be vertical. The first belt pulley drives the first round belt and the second belt pulley drives the second round belt to rise. The front and rear transfer motors start. The front and rear transfer motors drive the driven shaft and the drive shaft to rotate simultaneously through the drive shaft, the first belt pulley, the first round belt, the second belt pulley and the second round belt. At this time, the collection basket at the basket-changing position B is supported and lifted by the first belt pulley and driven backward by the first round belt. At the same time, there is no collection basket at the basket-changing position A. The collection basket 10 at the fruit-placement position B moves to the empty support frame of the collection basket storage device and is supported by the second belt pulley and driven to continue moving by the second round belt until it completely enters the empty support frame. At this time, the transfer motor stops, the swing cylinder retracts, the collection basket transfer device lowers, the bottom of the collection basket is separated from the second round belt, and the collection basket falls into the empty support frame. At this time, the storage motor drives the collection basket storage device to rotate, and moves the next empty collection basket to the basket-changing position A. The swing cylinder of the collection basket transfer device extends again, and the collection basket at the basket-changing position A is supported and lifted by the second belt pulley again. At this time, the transfer motor rotates reversely, and the second round belt drives the empty collection basket to move from the basket-changing position A to the empty fruit-placement position B. The bottom of the collection basket is higher than the height of the front edge of the support frame, and the first belt pulley and the first round belt continue to drive the collection basket forward. When the empty collection basket is moved forward to the fruit-placement position B, the transfer motor stops, the swing cylinder retracts, and the collection basket transfer device lowers again so that it falls on the pallet, completing one operation of changing the collection basket.

[0018] Compared with the prior art, the cluster tomato picking robot and its picking method of the present invention have the following beneficial effects: This solution integrates tomato information collection, tomato picking, collection, replacement of the collection basket, three-dimensional storage of the collection basket, and automatic walking into one, with a high degree of automation. The invented collection basket transfer device and collection basket storage device can effectively extend the automatic operation time of the picking robot and improve the tomato picking efficiency; The picking manipulator is provided with multiple fruit stalk cutting finger gaps and adopts a sleeving method from bottom to top. Without positioning the fruit stalk, a high picking success rate can be achieved. The width of the fruit stalk cutting gap is slightly larger than the diameter of the fruit stalk and smaller than the diameter of the tomato main stem and the tomato, which can prevent the picking manipulator from damaging the main stem and the tomato; The fruit stalk cutting and clamping are integrally driven, and a single actuator can achieve fruit stalk cutting and clamping. The structure is simple and the performance is reliable, improving the tomato picking success rate and reducing tomato damage; This solution has a simple, compact structure, a high degree of automation, a high fruit picking efficiency, a low damaged fruit rate, and a wide adaptability. It effectively reduces the labor intensity of picking workers and production costs. The picking method of this solution adopts an integrated picking method of sleeving the whole cluster of tomatoes from bottom to top, rotating the inner support, and arranging multiple cutting knives in a circle. The robotic arm sends the picking manipulator to the lower part of the fruit to be picked. The picking manipulator sleevs the cluster of tomatoes from bottom to top and drags it in the opposite direction of the main stem, so that the fruit stalk enters the finger gap. The inner support with multiple cutting knives rotates counterclockwise to cut and clamp the fruit stalk of the cluster of tomatoes. The robotic arm drives the picking manipulator to move to the collection basket. The inner support of the picking manipulator rotates clockwise, and the cluster of tomatoes falls into the collection basket to complete the picking of a cluster of tomatoes. This picking method does not require detecting the position of the fruit stalk. The design of the fingers makes it difficult for the blade to slip when cutting the fruit stalk, with a high picking success rate and being less likely to damage the fruit and the main stem; Multiple fruit stalk cutting units adopt an arc design, and the fruit stalk cutting and clamping at multiple positions are integrally driven. A single actuator can achieve the cutting of the fruit stalk and the clamping of the fruit stalk on one side of the fruit. The structure is simple and the performance is reliable; The tomato picking robot has functions such as automatic replacement of the collection basket, automatic transfer and storage of the collection basket, and automatic navigation and walking. The tomato picking robot can fill multiple collection baskets in one operation and achieve continuous long-time automatic picking operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structure schematic diagram of the picking robot according to the present invention;

[0020] Figure 2 is a rear axonometric structure schematic diagram of the picking manipulator according to the present invention;

[0021] Figure 3 is a bottom view structure schematic diagram of the picking manipulator according to the present invention;

[0022] Figure 4 is an outer support structure schematic diagram of the picking manipulator according to the present invention;

[0023] Figure 5 Schematic diagram of the inner support structure of the picking manipulator according to the present invention;

[0024] Figure 6 Schematic diagram of the fruit stalk truncation structure of the picking manipulator according to the present invention;

[0025] Figure 7 (a) to (d) Schematic diagrams of the tomato picking process of the picking manipulator according to the present invention;

[0026] Figure 8 Schematic diagram of the structure of the transfer device and storage device according to the present invention;

[0027] Figure 9 Schematic diagram of the structure of the transfer device in the landing state according to the present invention;

[0028] Figure 10 Schematic diagram of the structure of the transfer device in the lifting state according to the present invention;

[0029] Figure 11 Schematic diagram of the structure of the storage device according to the present invention;

[0030] Figure 12 Schematic diagram of the transmission system structure of the storage device according to the present invention;

[0031] Figure 13 Axonometric structure schematic diagram of the collection basket support frame according to the present invention;

[0032] Figure 14 Bottom view structure schematic diagram of the collection basket support frame according to the present invention;

[0033] Figure 15 Top view structure schematic diagram of the transfer device and storage device according to the present invention;

[0034] Figure 16 Axonometric structure schematic diagram of the transfer device and storage device according to the present invention;

[0035] Figure 17 Schematic diagram of the structure of the transfer device and storage device in the landing state according to the present invention;

[0036] Figure 18 Schematic diagram of the structure of the transfer device and storage device in the lifting state according to the present invention.

[0037] Description of the main reference numerals:

[0038] 1 - Cluster tomato, 2 - Picking manipulator, 21 - Camera, 22 - Outer bracket, 221 - Connecting plate, 222 - Cross plate, 2221 - Cylinder mounting part, 223 - Vertical plate, 224 - Outer ring, 23 - Rotary cylinder, 24 - Small gear, 25 - Large gear, 26 - Bearing, 27 - Inner bracket, 28 - Blade, 29 - Tool holder, 2901 - Knife slot, 2902 - Extrusion surface, 210 - Finger, 2101 - Knife storage groove, 2102 - Cutting groove, 2103 - Clamping surface, 3 - Robot arm, 4 - Column, 5 - Transfer device, 51 - Hinge, 521 - First pulley, 522 - Second pulley, 53 - Driven shaft, 541 - Driven swing rod, 542 - Driving swing rod, 551 - First connecting rod, 552 - Second connecting rod, 561 - First round belt, 562 - Second round belt, 57 - Transfer motor, 58 - Driving shaft, 59 - Swing cylinder, 510 - Driving shaft, 511 - Second connecting rod, 512 - Support plate, 513 - Weighing sensor, 514 - Third connecting rod, 6 - Transport vehicle, 7 - Front baffle, 8 - Side baffle, 9 - Storage device, 91 - Storage motor, 9101 - Reducer, 92 - Transmission shaft, 921 - Driving small sprocket, 922 - First driven small sprocket, 923 - Second driven small sprocket, 924 - Third driven small sprocket, 925 - Fourth driven small sprocket, 93 - Poking rod, 941 - First side plate, 942 - Second side plate, 95 - Support frame, 9501 - Driving hole, 96 - Poking rod chain, 971 - First large sprocket, 972 - Second large sprocket, 973 - Third large sprocket, 974 - Fourth large sprocket, 98 - Bearing seat, 99 - First short shaft, 910 - Second short shaft, 911 - First chain, 912 - Third short shaft, 913 - Second chain, 914 - Fourth short shaft, 915 - Fifth short shaft, 916 - Third chain, 10 - Collection basket. Detailed implementation manners

[0039] The following combines the accompanying drawings to describe the detailed implementation manners of the present invention in detail, but it should be understood that the protection scope of the present invention is not limited by the detailed implementation manners.

[0040] Unless otherwise clearly stated, in the whole specification and claims, the term "comprising" or its variations such as "including" or "including with" etc. will be understood to include the stated elements or components, and other elements or other components are not excluded.

[0041] As Figures 1 to 6As shown in the figure, a cluster tomato picking robot according to a preferred embodiment of the present invention includes a transport vehicle 6, a column 4, a robotic arm 3, a picking manipulator 2, a transfer device 5, and a storage device 9; the transport vehicle 6 has an automatic navigation and walking function; the column 4 is arranged at the front part of the upper plane of the transport vehicle 6; the lower end of the robotic arm 3 is pivotally connected to the top end of the column 4, and the robotic arm 3 can be bent and rotated at multiple angles; the lower part of the picking manipulator 2 is connected to the upper part of the robotic arm 3, and the picking manipulator 2 includes an outer bracket 22, an outer ring 224, a bearing 26, an inner bracket 27, a rotary cylinder 23, a small gear 24, and a large gear 25; a connecting plate 221 at the lower part of the outer bracket 22 is used for connecting to the upper part of the robotic arm 3; a part of the outer arc of the outer ring 224 is fixedly connected to the front end of the cross plate 222 of the outer bracket 22; the outer ring of the bearing 26 is concentrically connected to the inner arc of the outer ring 224; the inner bracket 27 has an annular structure, the outer arc of the inner bracket 27 is concentrically connected to the inner ring of the bearing 26, and a plurality of blades 28 are evenly distributed on the top surface of the inner bracket 27; the rotary cylinder 23 is arranged at the front end of the cross plate 222; the small gear 24 is connected to the rotary cylinder 23; the inner side of the large gear 25 is concentrically connected to the inner bracket 27, and the large gear 25 meshes with the small gear 24; wherein the rotary cylinder 23 drives the inner bracket 27 to rotate through the small gear 24 and the large gear 25, and the blade 28 can cut off the fruit stalk of the cluster tomato 1; the transfer device 5 is arranged at the front part of the upper plane of the transport vehicle 6 and behind the column 4, and the transfer device 5 is used for the transfer and transportation of the collection basket 10; the storage device 9 is arranged at the rear part of the upper plane of the transport vehicle 6 and behind the transfer device 5, and the storage device 9 is used for the storage of the collection basket 10.

[0042] Please refer to Figures 2 to 6 , in some embodiments, the outer ring 224 includes a plurality of fingers 210 evenly distributed at the outer edge of the top surface of the outer ring 224. The top of each finger 210 has a triangular structure, and each finger 210 is a concentric arc structure along one end of the outer edge of the top surface of the outer ring 224. Each finger 210 includes a knife hiding groove 2101, a cutting groove 2102, and a clamping surface 2103; the knife hiding groove 2101 is arranged on the inner side surface of the finger 210, and the knife hiding groove 2101 opens towards the counterclockwise direction; the cutting groove 2102 is arranged at the outer edge of the finger 210 on the clockwise side surface; the clamping surface 2103 is arranged on the clockwise side of the finger 210 and inside the cutting groove 2102, and the clamping surface 2103 is provided with patterns.

[0043] In some embodiments, the knife storage groove 2101 is an arc-shaped groove provided on the inner side surface of the finger 210, which is mainly used to store the knife holder 29 and the blade 28. When the rotary cylinder 23 is not rotating, the knife holder 29 and the blade 28 are stored in the knife storage groove 2101 to prevent the blade 28 from cutting the fruit stalk and causing the cluster tomatoes 1 to fall off prematurely when the picking manipulator 2 pulls the cluster tomatoes 1 outward. The cutting groove 2102 is provided at the outer edge of the finger 210 on the clockwise-facing side. The cutting groove 2102 can be a groove completely embedded inside the finger 210 or a depression on the outer arc surface of the finger 210, so that the cutting groove 2102 and the blade 28 can form a shearing effect similar to that of scissors.

[0044] In some embodiments, the inner bracket 27 further includes a plurality of knife holders 29 evenly distributed on the top surface of the inner bracket 27. Each knife holder 29 includes a knife clamping groove 2901 and a pressing surface 2902. The knife clamping groove 2901 is provided on the outer side of the knife holder 29 on the counterclockwise-facing side, and the knife clamping groove 2901 is used to mount the blade 28. The pressing surface 2902 is provided inside the knife clamping groove 2901, and patterns are provided on the pressing surface 2902. The knife holder 29 and the blade 28 can be completely embedded in the knife storage groove 2101. When the inner bracket 27 rotates counterclockwise, the blade 28 can be inserted into the cutting groove 2102 to cut the fruit stalk. At the same time, before the blade 28 completely cuts the fruit stalk, the pressing surface 2902 and the clamping surface 2103 can clamp the fruit stalk to prevent the cluster tomatoes 1 from falling off. For the specific reference process, please refer to Figure 7 (a) to (d) as shown.

[0045] Please refer to Figure 1 and Figure 3 In some embodiments, the cluster tomato picking robot further includes a depth camera 21. The depth camera 21 is provided on the vertical plate 223 at the rear end of the outer bracket 22, and the depth camera 21 can detect the specific position of the cluster tomatoes 1.

[0046] As Figures 8 to 16As shown, in some embodiments, the transfer device 5 includes multiple pairs of hinges 51, two pairs of active swing rods 542 and two pairs of driven swing rods 541, a driven shaft 53, a drive shaft 510, two active shafts 58, two first connecting rods 551, two second connecting rods 552, a first pulley 521, a first circular belt 561, a second pulley 522, a second circular belt 562, and a third connecting rod 514; the multiple pairs of hinges 51 are arranged in the front and rear on the upper plane of the transport vehicle 6 and are located behind the upright column 4; the lower ends of each pair of active swing rods 542 and driven swing rods 541 are hinged to a pair of hinges 51; both ends of the driven shaft 53 are pivotally connected to the upper parts of a pair of driven swing rods 541; both ends of the drive shaft 510 are pivotally connected to the upper parts of another pair of driven swing rods 541; both ends of the two active shafts 58 are respectively pivotally connected to the upper parts of a pair of active swing rods 542; wherein the active shaft 58, the driven shaft 53, and the drive shaft 510 are arranged at intervals in the front and rear; both ends of the two first connecting rods 551 are respectively pivotally connected to both ends of a driven shaft 53 and both ends of an active shaft 58 located at the front of the transport vehicle 6; both ends of the two second connecting rods 552 are respectively pivotally connected to both ends of a driven shaft 53 and both ends of an active shaft 58 located at the rear of the transport vehicle 6, and the length of the second connecting rod 552 is less than the length of the first connecting rod 551; the first pulley 521 is arranged at both ends of the active shaft 58 and the driven shaft 53 pivotally connected to the first connecting rod 551 and is located inside the first connecting rod 551; the first circular belt 561 is arranged between the first pulleys 521 at the front and rear positions; the second pulley 522 is arranged at both ends of the active shaft 58 and the drive shaft 510 pivotally connected to the second connecting rod 552 and is located inside the second connecting rod 552; the second circular belt 562 is arranged between the second pulleys 522 at the front and rear positions; the third connecting rod 514 is pivotally connected between the active swing rods 542 and the driven swing rods 541 of the adjacent active shaft 58 and drive shaft 510 in the middle.

[0047] Please refer to Figure 9 and Figure 10 , in some embodiments, the so-called active and driven are relative. In this embodiment, the two active shafts 58 are driven by the transfer motor 57. Actually, the driven shaft 53 can also be driven. The two transfer motors 57 in this embodiment must ensure synchronization during operation, with both the speed and the steering being consistent, so as to ensure the successful frame replacement.

[0048] In some embodiments, the transfer device 5 further includes a swing cylinder 59, two transfer motors 57, a pallet 512, and a weighing sensor 513; one end of the swing cylinder 59 is pivotally connected to the upper plane of the transport vehicle 6, and the other end is pivotally connected to the middle of a driving shaft 58 or a drive shaft 510; wherein the telescopic movement of the swing cylinder 59 can drive two pairs of driving swing rods 542 and two pairs of driven swing rods 541 to swing through the driving shaft 58 or the drive shaft 510, the first connecting rod 551, the second connecting rod 552, and the third connecting rod 514 which are pivotally connected thereto; the two transfer motors 57 are respectively arranged on the upper plane of the transport vehicle 6 and are respectively located between the first connecting rod 551 and the second connecting rod 552; wherein the transfer motor 57 is connected to a driving wheel on the driving shaft 58 through a belt, and drives the first circular belt 561, the second circular belt 562, the driven shaft 53, and the drive shaft 510 to rotate through the driving shaft 58; the pallet 512 is arranged at the front part between the two first connecting rods 551; the weighing sensor 513 is arranged below the pallet 512 and abuts against the pallet 512.

[0049] Please refer to Figure 1 , in some embodiments, the cherry tomato picking robot of the present invention further includes side baffles 8 arranged on both sides of the first connecting rod 551 and a front baffle 7 behind the column 4 and in front of the driven shaft 53. The functions of the front baffle 7 and the side baffles 8 are to limit the position of the collection basket 10 so that it cannot be too biased to both sides or too far forward, and can also prevent the collection basket 10 from falling off the pallet 512. However, the arrangement of the front baffle 7 and the side baffles 8 should not interfere with the swinging of the swing rods.

[0050] Please refer to Figure 9 and Figure 10 , in some embodiments, the drive shaft 510 of this embodiment drives the swing rods to swing because it is connected to the swing cylinder 59. In fact, the swing cylinder 59 can also directly drive the driven shaft 53, and the effect is the same. The present invention is not limited thereto and can be changed according to actual needs and the requirements of the layout space.

[0051] Please refer to Figure 11 and Figure 12, in some embodiments, the storage device 9 includes a first side plate 941, a second side plate 942, a transmission shaft 92, a driving small sprocket 921, a fourth short shaft 914, a third short shaft 912, a second short shaft 910, a first short shaft 99, and a fifth short shaft 915; the first side plate 941 is disposed on one side of the middle and rear part of the upper plane of the transport vehicle 6; the second side plate 942 is disposed on the other side of the rear part of the upper plane of the transport vehicle 6; wherein the first side plate 941 and the second side plate 942 are located outside the driving swing rod 542 and the driven swing rod 541; one end of the transmission shaft 92 is pivotally connected to the lower part of the first side plate 941, and the other end is connected to one end of the speed reducer 9101 (worm and worm gear with hole type speed reducer) of the storage motor 91; the driving small sprocket 921 is disposed at the outer end of the transmission shaft 92 located on the first side plate 941 and the other end of the speed reducer 9101; the fourth short shaft 914 is disposed at the lower part of the first side plate 941 and above the transmission shaft 92. A fourth driven small sprocket 925 is disposed at the outer end of the fourth short shaft 914 located on the first side plate 941, which is connected to a driving small sprocket 921 through a third chain 916. A fourth large sprocket 974 is disposed at the inner end of the fourth short shaft 914 located on the first side plate 941; the third short shaft 912 is disposed at the lower part of the second side plate 942. A third driven small sprocket 924 and a second driven small sprocket 923 are coaxially disposed at the outer end of the third short shaft 912 located on the second side plate 942. The third driven small sprocket 924 is connected to a driving small sprocket 921 through a second chain; the second short shaft 910 is disposed at the lower part of the second side plate 942 and above the third short shaft 912. A first driven small sprocket 922 is disposed at the outer end of the second short shaft 910 located on the second side plate 942. The first driven small sprocket 922 is connected to the second driven small sprocket 923 through a first chain 911. A first large sprocket 971 is disposed at the inner end of the second short shaft 910 located on the second side plate 942; the first short shaft 99 is disposed at the upper part of the second side plate 942. A second large sprocket 972 is disposed at the inner end of the first short shaft 99 located on the second side plate 942. The second large sprocket 972 is connected to the second short shaft 910 through a lever chain 96; the fifth short shaft 915 is disposed at the upper part of the first side plate 941. A third large sprocket 973 is disposed at the inner end of the fourth short shaft 914 located on the first side plate 941. The third large sprocket 973 is connected to the fourth large sprocket 974 through another lever chain 96; wherein a plurality of levers 93 are evenly distributed on the inner side of the lever chain 96. The central axis of the lever 93 is perpendicular to the side surface of the lever chain 96, and the distance between the levers 93 is greater than the height of the collection basket 10.

[0052] In some embodiments, the storage device 9 further includes a support frame 95 in a rectangular frame structure. Four sides of the rectangular frame structure extend vertically upward for a certain distance, and there is a square hole at the bottom. The size of the square hole is smaller than the outer contour size of the collection basket 10. The support frame 95 further includes a driving hole 9501, which is arranged on the front and rear side edges of the rectangular frame structure. A lever 93 on the lever chain 96 arranged at the first side plate 941 is inserted into a driving hole 9501 of a support frame 95 from one side of the first side plate 941, and a lever 93 on the lever chain 96 arranged at the second side plate 942 is inserted into another driving hole 9501 of a support frame 95 from one side of the second side plate 942. The two levers 93 inserted into the same support frame 95 can keep the support frame 95 in a horizontal posture during movement.

[0053] Please refer to Figures 15 to 16 , in some embodiments, the distances between the second pulleys 522 on the second connecting rod 552 in the front, rear, left, and right directions should be controlled within the square hole at the bottom of the support frame 95. When the swing rod swings, when the second pulley 522 and the second circular belt 562 can abut against the bottom of the collection basket 10, they should not interfere with the square hole, and the height to which the collection basket 10 is lifted must be higher than the height of the four sides of the support frame 95 extending upward. Otherwise, the collection basket 10 cannot complete the translation from the basket-changing position A to the fruit-placement position B, and vice versa.

[0054] As Figures 16 to 17 shown, and at the same time, please refer to Figure 7 (a) to (d), a picking method of a cluster tomato picking robot according to a preferred embodiment of the present invention. The picking method uses the cluster tomato picking robot as described above for picking. The picking method includes: the transport vehicle 6 automatically navigates to the picking area of the cluster tomatoes 1, the depth camera 21 collects the position information and maturity information of the tomatoes, the robotic arm 3 drives the picking manipulator 2 to reach the bottom of the cluster tomato 1 to be picked, the circular ring area of the picking manipulator 2 sleeves the cluster tomato 1 from the bottom up, when reaching the top of the cluster tomato 1, the picking manipulator 2 drags in the opposite direction of the main stem, so that the fruit stalk enters the cutting area. Under the action of the bearing 26, the rotary cylinder 23 drives the inner bracket 27 to rotate counterclockwise, and at the same time, a plurality of tool holders 29 drive each blade 28 to rotate. When the blade 28 completely enters the cutting groove 2102 of the finger 210, the fruit stalk of the cluster tomato 1 is cut off. At the same time, the pattern on the pressing surface 2902 of the tool holder 29 and the clamping surface 2103 of the finger 210 clamp the cut-off fruit stalk of the cluster tomato 1. The robotic arm 3 drives the picking manipulator 2 to send the cluster tomato 1 into the collection basket 10 in the fruit-placement area. The rotary cylinder 23 drives the inner bracket 27 to rotate clockwise, and the cluster tomato 1 falls into the interior of the collection basket 10, completing one picking of the cluster tomato 1.

[0055] In some embodiments, the picking method of the cluster tomato picking robot further includes: the cylinder of the transfer device 5 drives a pair of active swing rods 542 through the drive shaft 510, and then drives another pair of active swing rods 542 through the second connecting rod 552. At the same time, the two pairs of active swing rods 542 drive two pairs of driven swing rods 541 through the first connecting rod 551 and the second connecting rod 552 respectively. The telescopic movement of the cylinder drives the first belt pulleys 521 and the second belt pulleys 522 on the active swing rods 542 and the driven swing rods 541 to rise and fall. When the swing cylinder 59 retracts, the transfer motor 57 stops rotating, and all the active swing rods 542 and the driven swing rods 541 are inclined. At this time, the first belt pulleys 521 and the second belt pulleys 522, and the first round belts 561 and the second round belts 562 fall. The collection basket 10 at the basket-changing position A is supported by the support frame 95, and the collection basket 10 at the fruit-placement position B falls on the weighing tray 512. The weighing sensor 513 monitors the weight of the cluster tomatoes 1 in the collection basket 10 in real time; when the collection basket 10 at the fruit-placement position B reaches the set weight, the collection basket 10 transfer device 5 and the collection basket 10 storage device 9 cooperate to change the basket. When the swing cylinder 59 extends, it drives all the active swing rods 542 and the driven swing rods 541 to be vertical. The first belt pulley 521 drives the first round belt 561 and the second belt pulley 522 drives the second round belt 562 to rise. The front and rear transfer motors 57 are started. The front and rear transfer motors 57 drive the driven shaft 53 and the drive shaft 510 to rotate simultaneously through the driving shaft 58, the first belt pulley 521, the first round belt 561, the second belt pulley 522, and the second round belt 562. At this time, the collection basket 10 at the basket-changing position B is supported and lifted by the first belt pulley 521 and driven to move backward by the first round belt 561. At the same time, there is no collection basket 10 at the basket-changing position A. The collection basket 10 at the fruit-placement position B moves to the empty support frame 95 of the collection basket 10 storage device 9 and is supported by the second belt pulley 522 and driven to continue moving by the second round belt 562 until it completely enters the empty support frame 95. At this time, the transfer motor 57 stops, the swing cylinder 59 retracts, the collection basket 10 transfer device 5 descends, the bottom of the collection basket 10 is separated from the second round belt 562, and the collection basket 10 falls into the empty support frame 95. At this time, the storage motor 91 drives the collection basket 10 storage device 9 to rotate, and moves the next empty collection basket 10 to the basket-changing position A; the swing cylinder 59 of the collection basket 10 transfer device 5 extends again, and the collection basket 10 at the basket-changing position A is supported and lifted by the second belt pulley 522 again. At this time, the transfer motor 57 rotates in reverse, and the second round belt 562 drives the empty collection basket 10 to move from the basket-changing position A to the empty fruit-placement position B. The bottom of the collection basket 10 is higher than the height of the front edge of the support frame 95, and the first belt pulley 521 and the first round belt 561 continue to drive the collection basket 10 to move forward. When the empty collection basket 10 is moved forward to the fruit-placement position B, the transfer motor 57 stops, the swing cylinder 59 retracts, and the collection basket 10 transfer device 5 descends again so that it falls on the tray 512, completing one operation of changing the collection basket 10.

[0056] In some embodiments, the storage motor 91 of the storage device 9 synchronously drives the rotation of the two side lever chains 96 through the driving small sprockets 921 at both ends of the transmission shaft 92; one end of the transmission shaft 92 drives the rotation of the first large sprocket 971, the lever chain 96 and the second large sprocket 972 through a driving small sprocket 921, a second chain, a first driven sprocket 922, a second driven sprocket 923, a first chain 911, a third driven sprocket 924 and a second short shaft 910, and the right end of the transmission shaft 9292 drives the second chain 913 on the second side plate 942 and the two sprockets on the third short shaft 912912 to drive the rotation of the first chain 911911; at the same time, the other end of the transmission shaft 92 drives the rotation of the fourth large sprocket on the first side plate 941, the lever chain 96 and the third large sprocket 973 through another driving small sprocket 921, a third chain 916, a fourth driven sprocket 925 and a fourth short shaft 914; the levers 93 of the left and right lever chains 96 are respectively inserted into the driving holes 9501 at the bottom of the support frame 95 from both sides, the collection basket 10 is placed in the support frame 9595, and the rotation of the left and right lever chains 96 drives the rotation of the collection basket 10 through the support frame 95. Through the cooperation of devices such as the collection basket 10 transfer device 5, the collection basket 10 storage device 9, the robotic arm 3, and the picking manipulator 2, all the collection baskets 10 of the collection basket 10 storage device 9 are filled with cluster tomatoes 1.

[0057] In summary, the cluster tomato picking robot and its picking method of the present invention have the following advantages: This solution integrates tomato information collection, tomato picking, collection, replacement of the collection basket, three-dimensional storage of the collection basket, and automatic walking, with a high degree of automation. The invented collection basket transfer device and collection basket storage device can effectively extend the automatic operation time of the picking robot and improve the tomato picking efficiency; The picking manipulator is provided with multiple fruit stalk cutting finger gaps and adopts a sleeving method from bottom to top. Without positioning the fruit stalk, a high picking success rate can be achieved. The width of the fruit stalk cutting gap is slightly larger than the diameter of the fruit stalk and smaller than the diameter of the tomato main stem and the tomato, which can prevent the picking manipulator from damaging the main stem and the tomato; The fruit stalk cutting and clamping are integrally driven, and a single actuator can achieve fruit stalk cutting and clamping. The structure is simple and the performance is reliable, improving the tomato picking success rate and reducing tomato damage; This solution has a simple, compact structure, a high degree of automation, a high fruit picking efficiency, a low damaged fruit rate, and a wide adaptability. It effectively reduces the labor intensity of picking workers and production costs. The picking method of this solution adopts an integrated picking method of sleeving the whole cluster of tomatoes from bottom to top, rotating the inner support, and arranging multiple cutting knives in a circular pattern. The manipulator sends the picking manipulator to the lower part of the fruit to be picked. The picking manipulator sleevs the cluster of tomatoes from bottom to top and drags it in the opposite direction of the main stem, so that the fruit stalk enters the finger gap. The inner support with multiple cutting knives rotates counterclockwise to cut and clamp the fruit stalk of the cluster of tomatoes. The manipulator drives the picking manipulator to move to the collection basket. The inner support of the picking manipulator rotates clockwise, and the cluster of tomatoes falls into the collection basket to complete the picking of a cluster of tomatoes. This picking method does not require detecting the position of the fruit stalk. The design of the fingers makes it difficult for the blade to slip when cutting the fruit stalk, with a high picking success rate and not easy to damage the fruit and the main stem; Multiple fruit stalk cutting units adopt an arc design, and the fruit stalk cutting and clamping at multiple positions are integrally driven. A single actuator can achieve the cutting of the fruit stalk and the clamping of the fruit stalk on one side of the fruit. The structure is simple and the performance is reliable; The tomato picking robot has functions such as automatic replacement of the collection basket, automatic transfer and storage of the collection basket, and automatic navigation and walking. The tomato picking robot can fill multiple collection baskets in one operation and achieve continuous long-term automatic picking operations.

[0058] The foregoing description of specific exemplary embodiments of the invention has been presented for purposes of illustration and example. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many modifications and variations are possible in light of the above teaching. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize the various different exemplary embodiments of the invention, as well as various different selections and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A tomato picking robot, characterized in that: include: A transport vehicle having an automatic navigation and walking function; A column disposed at the front of the upper plane of the transport vehicle; A mechanical arm, the lower end of which is pivotally connected to the top end of the column, and the mechanical arm can be bent and rotated at multiple angles; A picking manipulator, the lower part of which is connected to the upper part of the mechanical arm, and the picking manipulator comprises: An outer bracket, a connecting plate at the lower portion of which is used to connect to the upper portion of the mechanical arm; An outer circular ring, a portion of the outer circular arc of which is fixedly connected to the front end of the horizontal plate of the outer bracket; A bearing, the outer ring of which is concentrically connected to the inner arc of the outer ring; The inner bracket is in a circular ring structure, the outer arc of the inner bracket is concentrically connected to the inner ring of the bearing, and a plurality of blades are evenly distributed on the top surface of the inner bracket; A rotary cylinder, which is arranged at the front end of the horizontal plate; A pinion gear connected to the rotary cylinder; and A large gear, the inner side of which is concentrically connected to the inner bracket, and the large gear is meshed with the small gear; The rotating cylinder drives the inner bracket to rotate through the small gear and the large gear, and the blade can cut off the stalk of the tomato on the string; A transfer device, which is arranged at the front of the upper plane of the transport vehicle and located behind the pillar, and is used for transferring and transporting the collection basket; and A storage device is arranged at the rear of the upper plane of the transport vehicle and is located behind the transfer device. The storage device is used for storing the collection basket.

2. The tomato picking robot according to claim 1, characterized in that: The outer ring includes a plurality of fingers, which are evenly distributed at the outer edge of the top surface of the outer ring. The top of each finger is a triangular structure, and each finger is a concentric arc structure along one end of the outer edge of the top surface of the outer ring. Each finger includes: A knife-hiding groove, which is arranged on the inner side of the finger, and the knife-hiding groove opens in a counterclockwise direction; a cutting groove disposed at an outer edge of a clockwise side of the finger; and The clamping surface is arranged on the clockwise side of the finger and is located on the inner side of the cutting groove. The clamping surface is provided with a pattern.

3. The tomato picking robot according to claim 2, characterized in that: The inner bracket further comprises a plurality of tool holders which are evenly distributed and arranged on the top surface of the inner bracket, and each tool holder comprises; A knife clamping groove is arranged on the outer side of the knife holder facing counterclockwise, and the knife clamping groove is used to install the blade; as well as An extrusion surface, which is arranged on the inner side of the knife clamping groove, and the extrusion surface is provided with a pattern; The knife holder and the blade can be completely embedded in the knife storage groove. When the inner bracket rotates counterclockwise, the blade can be inserted into the cutting groove and cut off the fruit stalk. At the same time, when the blade has not completely cut off the fruit stalk, the pressing surface and the clamping surface can clamp the fruit stalk to prevent the tomatoes from falling off.

4. The onion tomato picking robot according to claim 2, characterized in that: It also includes a camera, which is arranged on a vertical plate at the rear end of the outer support, and the camera can detect the specific position of the tomatoes on the string.

5. The onion tomato picking robot according to claim 2, characterized in that: The transfer device comprises: A plurality of pairs of hinges arranged in a front-to-rear arrangement on the upper plane of the transport vehicle and located behind the uprights; Two pairs of active swing rods and two pairs of driven swing rods, the lower ends of each pair of active swing rods and driven swing rods being hinged to a pair of hinges; A driven shaft, both ends of which are pivotally connected to the upper portions of a pair of driven swing rods; A driving shaft, both ends of which are pivotally connected to the upper portions of the other pair of driven swing rods; Two driving shafts, both ends of which are respectively pivotally connected to the upper parts of a pair of driving swing rods; The driving shaft, the driven shaft and the drive shaft are arranged in a front-to-rear spacing; Two first connecting rods, two ends of which are respectively pivotally connected to two ends of the driven shaft and two ends of one driving shaft located at the front of the transport vehicle; Two second connecting rods, two ends of which are respectively pivotally connected to two ends of the drive shaft located at the rear of the transport vehicle and two ends of another driving shaft, and the length of the second connecting rod is less than that of the first connecting rod; A first pulley, which is arranged at both ends of the driving shaft and the driven shaft pivotally connected to the first connecting rod and is located on the inner side of the first connecting rod; a first round belt disposed between the first pulleys at front and rear positions; A second pulley, which is arranged at both ends of the driving shaft and the drive shaft pivotally connected to the second connecting rod and is located on the inner side of the second connecting rod; A second round belt disposed between the second pulleys at front and rear positions; and The third connecting rod is pivotally connected between the active swing rod and the driven swing rod of the adjacent active shaft and the driving shaft.

6. The tomato picking robot according to claim 5, characterized in that: The transfer device also includes: A swing cylinder, one end of which is pivotally connected to the upper plane of the transport vehicle, and the other end of which is pivotally connected to the middle part of one of the driving shafts or one of the drive shafts; The extension and retraction of the swing cylinder can drive the two pairs of active swing arms and the two pairs of driven swing arms to swing through the active shaft or the drive shaft pivotally connected thereto and the first connecting rod, the second connecting rod and the third connecting rod; Two transfer motors, which are respectively arranged on the upper plane of the transport vehicle and respectively located between the first connecting rod and the second connecting rod; The transport motor is connected to the driving wheel on the driving shaft through a belt, and drives the first round belt, the second round belt, the driven shaft and the driving shaft to rotate through the driving shaft; a support plate disposed at the front portion between the two first connecting rods; and A weighing sensor is arranged below the supporting plate and abuts against the supporting plate.

7. The onion tomato picking robot according to claim 6, characterized in that: The storage device comprises: A first side plate, which is arranged on one side of the rear portion of the upper plane of the transport vehicle; A second side plate, which is arranged on the other side of the rear portion of the upper plane of the transport vehicle; The first side plate and the second side plate are located on the outer sides of the active swing rod and the driven swing rod; A transmission shaft, one end of which is pivotally connected to the lower portion of the first side plate, and the other end of which is connected to one end of the reducer of the storage motor; A driving small sprocket, which is arranged at one end of the transmission shaft located on the outer side of the first side plate and the other end of the reducer; a fourth short shaft, which is arranged at the lower part of the first side plate and above the transmission shaft, wherein a fourth driven small sprocket is arranged at one end of the fourth short shaft located on the outer side of the first side plate and connected to the one driving small sprocket through a third chain, and a fourth large sprocket is arranged at one end of the fourth short shaft located on the inner side of the first side plate; A third short shaft, which is arranged at the lower part of the second side plate, a third driven small sprocket and a second driven small sprocket are coaxially arranged at one end of the third short shaft located outside the second side plate, and the third driven small sprocket is connected to one of the driving small sprockets through a second chain; A second short shaft, which is arranged at the lower part of the second side plate and above the third short shaft, a first driven small sprocket is arranged at one end of the second short shaft located on the outer side of the second side plate, the first driven small sprocket is connected to the second driven small sprocket through a first chain, and a first large sprocket is arranged at one end of the second short shaft located on the inner side of the second side plate; A first short shaft, which is arranged on the upper part of the second side plate, a second large sprocket is arranged at one end of the first short shaft located on the inner side of the second side plate, and the second large sprocket is connected to the second short shaft through a lever chain; and a fifth short shaft, which is arranged on the upper part of the first side plate; a third large sprocket is arranged at one end of the fourth short shaft located on the inner side of the first side plate; the third large sprocket is connected to the fourth large sprocket through another lever chain; A plurality of levers are evenly distributed on the inner side of the lever chain, the central axis of the lever is perpendicular to the side of the lever chain, and the distance between the levers is greater than the height of the collecting basket.

8. The onion tomato picking robot according to claim 7, characterized in that: The storage device also includes a support frame, which is a rectangular frame structure. The four sides of the rectangular frame structure extend vertically upward for a distance, and the bottom has a square hole. The size of the square hole is smaller than the external contour size of the collection basket. The support frame also includes a driving hole, which is arranged on the front and rear sides of the rectangular frame structure. One of the levers on the lever chain arranged at the first side panel is inserted into one of the driving holes of the support frame from one side of the first side panel, and one of the levers on the lever chain arranged at the second side panel is inserted into another driving hole of the support frame from one side of the second side panel. The two levers inserted into the same support frame can keep the support frame always in a horizontal posture.

9. A picking method of a tomato-on-a-bush picking robot, which uses the tomato-on-a-bush picking robot as claimed in claims 1 to 8 for picking, characterized in that: The picking method comprises: The transport vehicle automatically navigates to the tomato picking area, and the depth camera collects the location information and maturity information of the tomatoes. The robotic arm drives the picking manipulator to the bottom of the tomato to be picked. The circular area of ​​the picking manipulator picks the tomato from the bottom to the top. When it reaches the top of the tomato, the picking manipulator drags it in the opposite direction of the main stem to make the fruit stalk enter the cutting area. Under the action of the bearing, the rotating cylinder drives the inner bracket to rotate counterclockwise, and at the same time, multiple knife holders drive each blade to rotate. When the blade completely enters the cutting groove of the finger, the fruit stalk of the tomato is cut off. At the same time, the pattern on the extrusion surface of the knife holder and the clamping surface of the finger clamp the cut tomato stalk. The robotic arm drives the picking manipulator to send the tomato to the collection basket in the fruit placement area. The rotating cylinder drives the inner bracket to rotate clockwise, and the tomato falls into the collection basket, completing a tomato picking.

10. The picking method of a vine-picking tomato picking robot according to claim 9, characterized in that: Also includes: The cylinder of the transfer device drives a pair of active swing arms through the driving shaft, and then drives another pair of active swing arms through the second connecting rod. At the same time, the two pairs of active swing arms drive two pairs of driven swing arms through the first connecting rod and the second connecting rod respectively. The first and second pulleys on the active and driven swing arms are driven to rise and fall through the extension and contraction of the cylinder. When the swing cylinder is retracted, the transfer motor stops, and all the active and driven swing arms are tilted. At this time, the first and second pulleys and the first and second round belts fall down, and the collection basket at the basket changing position A is supported by the support frame, and the collection basket at the fruit placing position B falls on the weighing support plate, and the weighing sensor monitors the weight of the tomatoes in the collection basket in real time. When the collection basket at the fruit placement position B reaches the set weight, the collection basket transfer device and the collection basket storage device cooperate to change the basket. When the swing cylinder is pushed out, all the active swing arms and the driven swing arms are driven to be vertical. The first pulley drives the first round belt and the second pulley drives the second round belt to rise. The transfer motors located in the front and rear are started. The front and rear transfer motors drive the driven shaft and the driving shaft to rotate simultaneously through the active shaft, the first pulley, the first round belt, the second pulley and the second round belt. At this time, the collection basket at the basket change position B is lifted up by the first pulley and supported by the first round belt. The belt drives the collection basket to move backward. At the same time, there is no collection basket at the basket changing position A. The collection basket 10 at the fruit placing position B moves to the empty support frame of the collection basket storage device and is supported by the second belt wheel and driven by the second round belt to continue moving until it completely enters the empty support frame. At this time, the transfer motor stops, the swing cylinder retracts, the collection basket transfer device is lowered, the bottom of the collection basket is separated from the second round belt, and the collection basket falls into the empty support frame. At this time, the storage motor drives the collection basket storage device to rotate to move the next empty collection basket to the basket changing position A; and The swing cylinder of the collecting basket transfer device extends out again, and the collecting basket at the basket changing position A is lifted up again by the second pulley. At this time, the transfer motor reverses, and the second round belt drives the empty collecting basket from the basket changing position A to the empty fruit placing position B. The bottom of the collecting basket is higher than the front guard height of the support frame, and the first pulley and the first round belt continue to drive the collecting basket forward. When the empty collecting basket is moved forward to the fruit placing position B, the transfer motor stops, the swing cylinder retracts, and the collecting basket transfer device is lowered again to make it fall on the pallet, completing an operation of replacing the collecting basket.

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