Robot for picking greenhouse tomatoes

Abstract

The invention discloses a greenhouse tomato picking robot, and belongs to the technical field of picking equipment, the greenhouse tomato picking robot comprises a picking vehicle body, the top of the picking vehicle body is fixedly connected with a supporting seat, the top of the supporting seat is provided with a picking mechanical arm, the end of the picking mechanical arm is provided with a picking claw, and a conveying assembly comprises an elastic plastic net bag. A protection assembly is installed on the side wall of the elastic plastic net bag and used for stably conveying tomatoes of different sizes in the elastic plastic net bag, damage caused by too large impact of the tomatoes is avoided, the picked tomatoes can be directly conveyed into the picking frame conveniently, it is not needed to transfer the tomatoes up and down to delay the working time, and the picking efficiency is improved. The tomato conveying device has the advantages that tomatoes in the conveying process can be buffered and protected, damage caused by too large impact of the tomatoes is avoided, the conveying channel can be expanded and contracted, stable protection conveying of the tomatoes of different sizes is facilitated, use is flexible, and the picking efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking equipment, and particularly relates to a robot for picking greenhouse tomatoes. Background Art

[0002] With the expansion of cities and the sharp increase in the urban population, the market demand for fresh tomatoes is increasing day by day, and the scale of greenhouse tomato cultivation will also be further expanded. With the maturity of robot technology, the reduction of costs and the popularization and application, robots have gradually entered the agricultural field and will promote the development of modern agriculture towards industrial production, unmanned and intelligent directions. The picking of fruits and vegetables has the characteristics of strong seasonality, high labor intensity, high environmental and operation requirements, etc. Robotized operation is urgently needed in agricultural production.

[0003] For this reason, Chinese Patent No. CN118749299A discloses a greenhouse tomato intelligent picking robot and a picking method, including a chassis and a digital display control panel. Two or more vertical rods are arranged on the upper side of the chassis, a cross beam is connected between the upper ends of the vertical rods, a lower picking basket is arranged between the lower ends of the vertical rods, and a robotic arm is movably arranged on each vertical rod in the up and down direction. A mechanical claw and a detection probe are respectively arranged on the robotic arm; through the mutual cooperation and coordination between the robotic arm, the first lifting drive assembly, the mechanical claw, the hanging and rotating assembly and the upper picking basket, etc., the upper picking basket can move up and down with the mechanical claw, so that after the mechanical claw picks the tomatoes, the tomatoes can be unloaded without the need to lower the position of the mechanical claw, improving the picking efficiency while also avoiding damage caused by excessive falling height of the tomatoes.

[0004] For the above device, in order to avoid the phenomenon of tomato damage caused by excessive impact during the process of tomatoes entering the picking basket, the solution of transferring the tomatoes from the upper picking basket to the lower picking basket is adopted, but the robotic arm and the mechanical claw need to wait for this transfer process to be completed before they can carry out the picking work again, delaying the continuity of the picking work and affecting the picking work efficiency. Summary of the Invention

[0005] Aiming at the problems existing in the prior art, the present invention provides a robot for picking greenhouse tomatoes, which has the advantages of being convenient to directly convey the picked tomatoes into the picking basket without delaying the working time due to up and down transfer, not only being able to buffer and protect the tomatoes during the conveying process to avoid damage caused by excessive impact, but also being able to expand and contract the conveying channel to facilitate the stable protective conveying of tomatoes of different sizes, being flexible in use and improving the picking efficiency, and solves the problem that in the prior art, the tomatoes are transferred from the upper picking basket to the lower picking basket, and the robotic arm and the mechanical claw need to wait for this transfer process to be completed before they can carry out the picking work again, delaying the continuity of the picking work and affecting the picking work efficiency.

[0006] The present invention is implemented as follows. A robot for picking tomatoes in a greenhouse includes a picking vehicle body. A support seat is fixedly connected to the top of the picking vehicle body. A picking robotic arm is installed on the top of the support seat. A picking claw is installed at the end of the picking robotic arm. The picking claw is used for picking tomatoes. A conveying component is arranged on the picking vehicle body corresponding to the lower part of the picking claw. A picking basket is placed inside the picking vehicle body. The conveying component is used to directly convey the picked tomatoes into the picking basket. The conveying component includes an elastic plastic mesh bag. A protection component is installed on the side wall of the elastic plastic mesh bag. The protection component is used to stably convey tomatoes of different sizes in the elastic plastic mesh bag to avoid damage caused by excessive impact.

[0007] With this setting, the height and angle of the picking claw can be adjusted by the picking robotic arm, which is convenient for picking tomatoes in the greenhouse. The picked tomatoes can be directly conveyed into the picking box through the conveying component, without the need for up and down transfer to delay working time. Moreover, the protection component can not only buffer and protect the tomatoes during the conveying process to avoid damage caused by excessive impact, but also expand and contract the conveying channel, thereby facilitating the stable protection and conveying of tomatoes of different sizes, with high flexibility in use. Furthermore, when the conveying channel is blocked, the conveying channel can be shaken through a certain degree of reciprocating expansion and contraction movement, which is convenient for quickly conveying the tomatoes into the picking box below, thus effectively improving the picking efficiency.

[0008] Preferably, the picking robotic arm includes a first arm rod and a second arm rod. Shaft rods are fixedly connected to both ends of the first arm rod, and the shaft rods are connected to the support seat and the second arm rod through bearings. A first motor is fixedly connected to the back of the support seat. A second motor is fixedly connected to the back of the first arm rod. The output ends of the first motor and the second motor are respectively fixedly connected to the corresponding shaft rods.

[0009] With this setting, it is convenient to rotate and adjust the first arm rod and the second arm rod, and then to adjust the height and angle of the picking claw, which is convenient for picking.

[0010] Preferably, the picking claw includes a plurality of uniformly distributed gripping plates. A telescopic cylinder is fixedly installed inside the second arm rod. The output end of the telescopic cylinder penetrates to the end of the second arm rod and is fixed with a fixed seat. Uniformly distributed bottom hinge seats are fixedly connected to the middle end face of the fixed seat. Uniformly distributed electric push rods are fixedly installed on the edge end face of the fixed seat. One end of the gripping plate is hinged to the corresponding bottom hinge seat. Side hinge seats are fixedly connected to the outer wall of the gripping plate. The output end of the electric push rod is hinged to the corresponding side hinge seat.

[0011] With this setting, it is convenient to drive the picking claws to move telescopically, facilitating picking. It is also convenient to drive the gripper plates to move away from and towards each other, and then to grip tomatoes for picking, which is easy to use.

[0012] Preferably in the present invention, a camera is fixedly installed at the other end face of the fixed seat by bolts.

[0013] With this setting, the camera is electrically connected to the controller, facilitating video recognition of the picking situation and enabling the picking claws to perform precise picking work.

[0014] Preferably in the present invention, the elastic plastic mesh bag is arranged in a vertical tubular structure. The top of the elastic plastic mesh bag is fixedly connected to a corrugated rubber hopper. The top of the corrugated rubber hopper is fixedly connected to a support plate. A support rod is fixedly connected to the side wall of the support seat, and the support rod is fixedly connected to the support plate by bolts.

[0015] With this setting, it is convenient to pick up the picked tomatoes through the corrugated rubber hopper. Through the support plate and the support rod, it is convenient for the installation and disassembly of the conveying component, and then it is convenient for the disassembly, cleaning, installation and replacement of the corrugated rubber hopper and the elastic plastic mesh bag, which is flexible and convenient to use.

[0016] Preferably in the present invention, the protection component includes an adjustable protection plate. Uniformly distributed positioning rings are fixedly connected to the outer wall of the elastic plastic mesh bag. The adjustable protection plate passes through the positioning rings. The adjustable protection plate can drive the elastic plastic mesh bag to expand and contract. Uniformly distributed sponge protection strips are fixedly connected to the inner wall of the elastic plastic mesh bag.

[0017] With this setting, it is convenient for the stable installation between the elastic plastic mesh bag and the adjustable protection plate, which is easy to use. Through the sponge protection strips, it is convenient to buffer and protect the tomatoes conveyed in the elastic plastic mesh bag. By driving the elastic plastic mesh bag to expand and contract through the adjustable protection plate, it is convenient to stably protect and buffer the conveyance of tomatoes of different sizes, with high flexibility in use. When the elastic plastic mesh bag is blocked, by performing a certain degree of reciprocating expansion and contraction movement, the elastic plastic mesh bag can be shaken, facilitating the rapid conveyance of tomatoes to the picking frame below, thus effectively improving the picking efficiency.

[0018] Preferably in the present invention, push rods are fixedly connected to the bottom side walls of the adjustable protection plate. The ends of the push rods are fixedly connected to screws. The top of the picking vehicle body is fixedly connected to a fixing plate through a fixing block. An inner support block and an outer support block are fixedly connected to the fixing plate. The push rods are arranged in a square rod shape and slide through the inner support block. The screws slide through the outer support block. A bevel gear is connected to the inner side of the outer support block through a bearing, and the middle of the bevel gear is threadedly connected to the screw.

[0019] With this setting, it is convenient for the stable installation of the push rod and the adjustable protection plate. When the push rod moves telescopically, it drives the telescopic movement of the adjustable protection plate, and then drives the elastic plastic mesh bag to expand and contract.

[0020] Preferably in the present invention, a conveying hole is provided in the middle of the fixed plate. The conveying hole corresponds to the picking basket. The top of the fixed plate is fixedly connected with a fixed ring through a fixed rod. The outer wall of the top of the fixed ring is sleeved with a bevel gear disk through a bearing. The bevel gear disk and the bevel gear are meshed, and a circular gear disk is fixedly connected to the top of the bevel gear disk.

[0021] With this setting, the conveying hole facilitates the conveyance of tomatoes into the picking basket. When the bevel gear disk rotates, through the meshing of the bevel gear disk and the bevel gear, it is convenient to drive the bevel gear to rotate, and then drive the screw rod to move linearly telescopically, so as to drive the push rod to move telescopically.

[0022] Preferably in the present invention, a stepping motor is fixedly installed inside the support base. The output end of the stepping motor is fixedly connected with a circular gear. The circular gear and the circular gear disk are meshed.

[0023] With this setting, when the stepping motor drives the circular gear to rotate, through the meshing of the circular gear and the circular gear disk, the circular gear disk is driven to rotate, and then the bevel gear disk is driven to rotate. The bevel gear disk drives the bevel gear to rotate, realizing the telescopic movement of the screw rod and the push rod, so as to drive the adjustable protection plates to move synchronously closer to each other and away from each other, that is, realizing the expansion and contraction movement of the elastic plastic mesh bag.

[0024] Preferably in the present invention, a reinforcing spring is fixedly connected between the bottoms of the adjustable protection plates.

[0025] With this setting, it is convenient to elastically reinforce the adjustable protection plates, realizing further structural strengthening support for the elastic plastic mesh bag, facilitating the stable buffering and conveyance of tomatoes, and being convenient to use.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: By adjusting the height and angle of the picking claw through the picking robotic arm, it is convenient to pick tomatoes in the greenhouse. Through the close cooperation of the elastic plastic mesh bag, the sponge protection strip, the corrugated rubber hopper, the adjustable protection plate, the push rod, the screw rod, the bevel gear, the bevel gear disc, the circular gear disc and the circular gear, it is convenient to directly transport the picked tomatoes into the picking box without the need for up and down transfer to delay the working time. Moreover, the protection component can not only buffer and protect the tomatoes during the transportation process to avoid damage due to excessive impact, but also expand and contract the transportation channel, and then facilitate the stable protection and transportation of tomatoes of different sizes, with high flexibility in use. Furthermore, when the transportation channel is blocked, the transportation channel is shaken through a certain degree of reciprocating expansion and contraction movement, which is convenient for the tomatoes to be quickly transported into the picking box below, thus effectively improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 FIG. 1 is a schematic diagram of the overall structure provided by an embodiment of the present invention; Figure 2 FIG. 2 is a schematic diagram of a partially enlarged structure provided by an embodiment of the present invention; Figure 3 FIG. 3 is a schematic diagram of the structure of the picking claw provided by an embodiment of the present invention; Figure 4 FIG. 4 is provided by an embodiment of the present invention Figure 2 Schematic diagram of the bottom structure at the fixed plate in FIG. 4; Figure 5 FIG. 5 is a schematic diagram of the structure of the adjusting disc provided by an embodiment of the present invention; Figure 6 FIG. 6 is a schematic diagram of the top structure of the fixed plate provided by an embodiment of the present invention; Figure 7 FIG. 7 is a schematic diagram of the top structure of the corrugated rubber hopper provided by an embodiment of the present invention.

[0028] In the figure: 1, picking vehicle body; 101, support seat; 2, picking robotic arm; 201, first arm rod; 202, first motor; 203, second motor; 204, second arm rod; 205, telescopic cylinder; 3, picking claw; 301, fixed seat; 302, electric push rod; 303, grasping plate; 304, bottom hinge seat; 305, side hinge seat; 4, elastic plastic mesh bag; 401, corrugated rubber hopper; 402, support plate; 403, support rod; 404, positioning ring; 405, sponge protection strip; 5, fixed ring; 501, bevel gear disc; 502, circular gear disc; 503, fixed rod; 6, adjustable protection plate; 601, push rod; 602, screw rod; 603, bevel gear; 604, reinforcing spring; 7, fixed plate; 701, inner support block; 702, outer support block; 703, fixed block; 704, conveying hole; 8, stepper motor; 801, circular gear; 9, camera; 10, picking basket. Detailed Implementation Modes

[0029] To further understand the content, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings as follows.

[0030] The structure of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Reference Figures 1 to 7 As shown, a robot for picking greenhouse tomatoes provided by an embodiment of the present invention includes a picking vehicle body 1. A support seat 101 is fixedly connected to the top of the picking vehicle body 1. A picking robotic arm 2 is installed on the top of the support seat 101. A picking claw 3 is installed at the end of the picking robotic arm 2. The picking claw 3 is used for picking tomatoes. A conveying assembly is provided on the picking vehicle body 1 corresponding to the lower part of the picking claw 3. A picking basket 10 is placed inside the picking vehicle body 1. The conveying assembly is used to directly convey the picked tomatoes into the picking basket 10. The conveying assembly includes an elastic plastic mesh bag 4. A protective assembly is installed on the side wall of the elastic plastic mesh bag 4. The protective assembly is used to stably convey tomatoes of different sizes in the elastic plastic mesh bag 4 to avoid damage caused by excessive impact.

[0032] With the above scheme, by adjusting the height and angle of the picking claw 3 through the picking robotic arm 2, it is convenient to pick tomatoes in the greenhouse. Through the conveying assembly, it is convenient to directly convey the picked tomatoes into the picking basket, without the need for up and down transfer to delay working time. Moreover, the protective assembly can not only buffer and protect the tomatoes during the conveying process to avoid damage caused by excessive impact, but also expand and contract the conveying channel, and then facilitate the stable protective conveying of tomatoes of different sizes, with high flexibility in use. Furthermore, when the conveying channel is blocked, through a certain degree of reciprocating expansion and contraction movement, the shaking of the conveying channel is realized, which is convenient for the tomatoes to be quickly conveyed into the picking basket below, thus effectively improving the picking efficiency.

[0033] Specifically, the picking robotic arm 2 includes a first arm rod 201 and a second arm rod 204. Shaft rods are fixedly connected to both ends of the first arm rod 201, and the shaft rods are connected to the support seat 101 and the second arm rod 204 through bearings. A first motor 202 is fixedly connected to the back of the support seat 101. A second motor 203 is fixedly connected to the back of the first arm rod 201. The output ends of the first motor 202 and the second motor 203 are respectively fixedly connected to the corresponding shaft rods.

[0034] With the above scheme, it is convenient to rotate and adjust the first arm rod 201 and the second arm rod 204, and then it is convenient to adjust the height and angle of the picking claw 3, which is convenient for picking.

[0035] Specifically, the picking claw 3 includes a number of uniformly distributed gripping plates 303. A telescopic cylinder 205 is fixedly installed inside the second arm rod 204. The output end of the telescopic cylinder 205 penetrates to the end of the second arm rod 204 and is fixed with a fixed seat 301. The middle end face of the fixed seat 301 is fixedly connected with uniformly distributed bottom hinge seats 304. The edge end face of the fixed seat 301 is fixedly installed with uniformly distributed electric push rods 302. One end of the gripping plate 303 is hinged to the corresponding bottom hinge seat 304. A side hinge seat 305 is fixedly connected to the outer wall of the gripping plate 303. The output end of the electric push rod 302 is hinged to the corresponding side hinge seat 305.

[0036] Adopting the above scheme, it is convenient to drive the picking claw 3 to move telescopically, which is convenient for picking. It is also convenient to drive the gripping plates 303 to move away from and close to each other, and then it is convenient to clamp tomatoes for picking, and it is easy to use.

[0037] Specifically, a camera 9 is fixedly installed on the other end face of the fixed seat 301 through bolts.

[0038] Adopting the above scheme, the camera 9 is electrically connected to the controller, which is convenient for shooting and identifying the picking condition, and is convenient for the picking claw 3 to perform accurate picking work.

[0039] Specifically, the elastic plastic mesh bag 4 is arranged in a vertical tubular structure. The top of the elastic plastic mesh bag 4 is fixedly connected with a corrugated rubber hopper 401. The top of the corrugated rubber hopper 401 is fixedly connected with a support plate 402. A support rod 403 is fixedly connected to the side wall of the support seat 101. The support rod 403 is fixedly connected to the support plate 402 through bolts.

[0040] Adopting the above scheme, it is convenient to pick up the picked tomatoes through the corrugated rubber hopper 401. Through the support plate 402 and the support rod 403, it is convenient for the installation and disassembly of the conveying component, and then it is convenient for the disassembly, cleaning, installation and replacement of the corrugated rubber hopper 401 and the elastic plastic mesh bag 4, and it is flexible and convenient to use.

[0041] Specifically, the protection component includes an adjustable protection plate 6. Uniformly distributed positioning rings 404 are fixedly connected to the outer wall of the elastic plastic mesh bag 4. The adjustable protection plate 6 passes through the positioning rings 404. The adjustable protection plate 6 can drive the elastic plastic mesh bag 4 to expand and contract. Uniformly distributed sponge protection strips 405 are fixedly connected to the inner wall of the elastic plastic mesh bag 4.

[0042] Adopting the above scheme facilitates the stable installation between the elastic plastic mesh bag 4 and the adjustable protection plate 6, is convenient to use, and facilitates the buffer protection of the tomatoes conveyed in the elastic plastic mesh bag 4 through the sponge protection strip 405. The adjustable protection plate 6 drives the elastic plastic mesh bag 4 to perform expansion and contraction movements, which is convenient for the stable protection and buffer transportation of tomatoes of different sizes, and has high flexibility in use. When the elastic plastic mesh bag 4 is blocked, the elastic plastic mesh bag 4 is shaken through a certain degree of reciprocating expansion and contraction movements, which is convenient for quickly conveying the tomatoes to the picking basket below, thereby effectively improving the picking efficiency.

[0043] Specifically, push rods 601 are fixedly connected to the bottom side walls of the adjustable protection plate 6, a screw rod 602 is fixedly connected to the end of each push rod 601, a fixing plate 7 is fixedly connected to the top of the picking vehicle body 1 through a fixing block 703, inner support blocks 701 and outer support blocks 702 are fixedly connected to the fixing plate 7, the push rods 601 are arranged in a square rod shape and slide through the inner support blocks 701, the screw rod 602 slides through the outer support blocks 702, and a bevel gear 603 is connected to the inner side of the outer support blocks 702 through a bearing, and the middle of the bevel gear 603 is threadedly connected to the screw rod 602.

[0044] Adopting the above scheme facilitates the stable installation of the push rods 601 and the adjustable protection plate 6. When the push rods 601 perform telescopic movements, the telescopic movements of the adjustable protection plate 6 are realized, and then it is convenient to drive the elastic plastic mesh bag 4 to perform expansion and contraction movements.

[0045] Specifically, a conveying hole 704 is formed in the middle of the fixing plate 7, the conveying hole 704 corresponds to the picking basket 10, a fixing ring 5 is fixedly connected to the top of the fixing plate 7 through a fixing rod 503, a bevel gear disk 501 is sleeved on the top outer wall of the fixing ring 5 through a bearing, the bevel gear disk 501 and the bevel gear 603 are meshed and connected, and a circular gear disk 502 is fixedly connected to the top of the bevel gear disk 501.

[0046] Adopting the above scheme, the conveying hole 704 facilitates the conveyance of tomatoes into the picking basket 10. When the bevel gear disk 501 rotates, through the meshing of the bevel gear disk 501 and the bevel gear 603, it is convenient to drive the bevel gear 603 to rotate, and then it is convenient to drive the screw rod 602 to perform linear telescopic movements, and further to drive the push rods 601 to perform telescopic movements.

[0047] Specifically, a stepping motor 8 is fixedly installed inside the support base 101, a circular gear 801 is fixedly connected to the output end of the stepping motor 8, and the circular gear 801 and the circular gear disk 502 are meshed and connected.

[0048] With the above solution, when the stepping motor 8 drives the circular gear 801 to rotate, through the meshing of the circular gear 801 and the circular tooth disc 502, the circular tooth disc 502 is then driven to rotate, and further the bevel gear disc 501 is driven to rotate. The bevel gear disc 501 drives the bevel gear 603 to rotate, realizing the telescopic movement of the screw rod 602 and the push rod 601, so as to facilitate the synchronous mutual approaching movement and mutual separation between the adjusting protection plates 6, that is, realizing the expansion and contraction movement of the elastic plastic mesh bag 4.

[0049] Specifically, a reinforcing spring 604 is fixedly connected between the bottoms of the adjusting protection plates 6.

[0050] With the above solution, it is convenient to elastically reinforce the adjusting protection plate 6, realizing further structural strengthening and support for the elastic plastic mesh bag 4, facilitating the stable buffering and conveying of tomatoes, and being convenient to use.

[0051] The working principle of the present invention: When in use, the camera 9 takes pictures of the picking situation, identifies and transmits signals to the controller. The controller turns on the first motor 202 and the second motor 203, controls the height and angle of the picking robotic arm 2 to adjust the picking claw 3. The telescopic cylinder 205 drives the picking claw 3 to telescopically move to an appropriate distance. The electric push rod 302 starts to drive the picking claw 3 to pick the pickable tomatoes and put them into the corrugated rubber hopper 401 below. The tomatoes enter the elastic plastic mesh bag 4, and through the buffering and conveying of the sponge protection strip 405 and the adjusting protection plate 6, the damage caused by excessive impact is avoided, and they quickly enter the picking box below. When conveying tomatoes of different sizes, the stepping motor 8 is started to drive the circular gear 801 to rotate. The circular gear 801 drives the circular tooth disc 502 to rotate, the circular tooth disc 502 drives the bevel gear disc 501 to rotate, and the bevel gear disc 501 drives the bevel gear 603 to rotate, and then drives the screw rod 602 and the push rod 601 to perform linear movement, so that the push rod 601 drives the adjusting protection plates 6 to move, and further facilitates the expansion or contraction movement of the elastic plastic mesh bag 4, so as to stably protect and convey tomatoes of different sizes, with high use flexibility. When the conveying channel is blocked, the elastic plastic mesh bag 4 is shaken through a certain degree of reciprocating expansion and contraction movement, facilitating the tomatoes to be quickly conveyed to the picking box below, thereby effectively improving the picking efficiency.

[0052] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0053] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for picking tomatoes in a greenhouse, comprising a picking vehicle body (1), characterized in that: A support seat (101) is fixedly connected to the top of the picking vehicle body (1). A picking robotic arm (2) is installed on the top of the support seat (101). A picking claw (3) is installed at the end of the picking robotic arm (2). The picking claw (3) is used for picking tomatoes. A conveying assembly is provided on the picking vehicle body (1) corresponding to the lower part of the picking claw (3). A picking basket (10) is placed inside the picking vehicle body (1). The conveying assembly is used to directly convey the picked tomatoes into the picking basket (10). The conveying assembly includes an elastic plastic mesh bag (4). A protection assembly is installed on the side wall of the elastic plastic mesh bag (4). The protection assembly is used to stably convey tomatoes of different sizes in the elastic plastic mesh bag (4) to avoid damage caused by excessive impact.

2. The robot for picking greenhouse tomatoes according to claim 1, characterized in that: The picking robotic arm (2) includes a first arm rod (201) and a second arm rod (204). Shaft rods are fixedly connected to both ends of the first arm rod (201), and the shaft rods are connected to the support seat (101) and the second arm rod (204) through bearings. A first motor (202) is fixedly connected to the back of the support seat (101). A second motor (203) is fixedly connected to the back of the first arm rod (201). The output ends of the first motor (202) and the second motor (203) are respectively fixedly connected to the corresponding shaft rods.

3. The robot for picking greenhouse tomatoes according to claim 2, characterized in that: The picking claw (3) includes a plurality of uniformly distributed gripping plates (303). A telescopic cylinder (205) is fixedly installed inside the second arm rod (204). The output end of the telescopic cylinder (205) penetrates to the end of the second arm rod (204) and is fixed with a fixed seat (301). Uniformly distributed bottom hinge seats (304) are fixedly connected to the middle end face of the fixed seat (301). Uniformly distributed electric push rods (302) are fixedly installed on the edge end face of the fixed seat (301). One end of the gripping plate (303) is hinged to the corresponding bottom hinge seat (304). Side hinge seats (305) are fixedly connected to the outer wall of the gripping plate (303). The output end of the electric push rod (302) is hinged to the corresponding side hinge seat (305).

4. The robot for picking greenhouse tomatoes according to claim 3, characterized in that: A camera (9) is fixedly installed at the other end face of the fixed seat (301) through bolts.

5. The robot for picking greenhouse tomatoes according to claim 1, characterized in that: The elastic plastic mesh bag (4) is arranged in a vertical tubular structure. A corrugated rubber hopper (401) is fixedly connected to the top of the elastic plastic mesh bag (4). A support plate (402) is fixedly connected to the top of the corrugated rubber hopper (401). A support rod (403) is fixedly connected to the side wall of the support seat (101). The support rod (403) is fixedly connected to the support plate (402) through bolts.

6. The robot for picking greenhouse tomatoes according to claim 1, characterized in that: The protective component includes an adjustable protective plate (6). The outer wall of the elastic plastic mesh bag (4) is fixedly connected with evenly distributed positioning rings (404). The adjustable protective plate (6) passes through the positioning rings (404). The adjustable protective plate (6) can drive the elastic plastic mesh bag (4) to expand and contract. The inner wall of the elastic plastic mesh bag (4) is fixedly connected with evenly distributed sponge protective strips (405).

7. The robot for picking greenhouse tomatoes according to claim 6, characterized in that: The bottom side walls of the adjustable protective plate (6) are fixedly connected with push rods (601). The ends of the push rods (601) are fixedly connected with screw rods (602). The top of the picking vehicle body (1) is fixedly connected with a fixing plate (7) through a fixing block (703). An inner support block (701) and an outer support block (702) are fixedly connected to the fixing plate (7). The push rod (601) is arranged in a square rod shape and slidably penetrates through the inner support block (701). The screw rod (602) slidably penetrates through the outer support block (702). A bevel gear (603) is connected to the inner side of the outer support block (702) through a bearing. The middle of the bevel gear (603) is threadedly connected to the screw rod (602).

8. The robot for picking greenhouse tomatoes according to claim 7, wherein: A conveying hole (704) is formed in the middle of the fixing plate (7). The conveying hole (704) corresponds to the picking basket (10). The top of the fixing plate (7) is fixedly connected with a fixing ring (5) through a fixing rod (503). A bevel gear disc (501) is sleeved on the top outer wall of the fixing ring (5) through a bearing. The bevel gear disc (501) and the bevel gear (603) are meshed and connected. A circular gear disc (502) is fixedly connected to the top of the bevel gear disc (501).

9. The robot for picking greenhouse tomatoes according to claim 8, characterized in that: A stepping motor (8) is fixedly installed inside the support seat (101). The output end of the stepping motor (8) is fixedly connected with a circular gear (801). The circular gear (801) and the circular gear disc (502) are meshed and connected.

10. The robot for picking greenhouse tomatoes according to claim 6, wherein: A reinforcing spring (604) is fixedly connected between the bottoms of the adjustable protective plates (6).

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