A greenhouse tomato picking robot

Abstract

The present invention discloses a greenhouse tomato picking robot, which belongs to the technical field of picking equipment. It includes a picking vehicle body, the top of the picking vehicle body is fixedly connected to a support base, the top of the support base is installed with a picking mechanical arm, the end of the picking mechanical arm is installed with a picking claw, the conveying component includes an elastic plastic net bag, the side wall of the elastic plastic net bag is installed with a protective component, the protective component is used for stably conveying tomatoes of different sizes in the elastic plastic net bag to avoid damage caused by excessive impact. The present invention facilitates the direct conveyance of picked tomatoes to the picking frame without the need for up and down transportation to delay working time. It can not only provide buffering protection for tomatoes during transportation to avoid damage caused by excessive impact, but also expand and contract the conveying channel, which is convenient for stable protective conveyance of tomatoes of different sizes, flexible in use, and improves the technical effect of picking efficiency.

Description

Technical Field

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

[0002] With the expansion of cities and the rapid increase in urban population, the market demand for fresh tomatoes is increasing, and the scale of greenhouse tomato cultivation will also expand further. With the maturity of robot technology, the reduction of costs and the promotion and application of robots, robots have gradually entered the agricultural field and will promote the development of modern agriculture towards industrialized production, unmanned and intelligent production. The picking of fruits and vegetables is characterized by strong seasonality, high labor intensity, and high environmental and operational requirements. Robotic operations are urgently needed in agricultural production.

[0003] To this end, Chinese patent No. CN118749299A discloses a greenhouse tomato intelligent picking robot and picking method, including a chassis and a digital display control panel. Two or more vertical poles are provided on the upper side of the chassis, and the upper ends of the vertical poles are connected to each other with crossbeams. A lower picking basket is provided between the lower ends of the vertical poles. A robotic arm is provided on each vertical pole for movement in the up and down directions, and a robotic claw and a detection probe are provided on the robotic arm respectively. Through the mutual coordination and cooperation between the robotic arm, the first lifting drive assembly, the robotic claw, the hanging rotation assembly and the upper picking basket, the upper picking basket can be moved up and down with the robotic claw. Therefore, after the robotic claw picks the tomatoes, the tomatoes can be unloaded without lowering the robotic claw, thereby improving the picking efficiency and avoiding damage caused by the tomatoes falling from too high a height.

[0004] In order to avoid damage to tomatoes due to excessive impact when tomatoes enter the picking basket, the above-mentioned device solves the problem by transferring the tomatoes from the upper picking basket to the lower picking basket. However, the robotic arm and mechanical gripper need to wait for the completion of this transfer process before they can start picking again, which delays the continuity of the picking work and affects the efficiency of the picking work. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a greenhouse tomato picking robot, which is convenient for transporting picked tomatoes directly to the picking frame without the need for up and down transportation to delay working time. It can not only cushion and protect the tomatoes during transportation to prevent them from being damaged by excessive impact, but also expand and contract the transportation channel to facilitate stable protection and transportation of tomatoes of different sizes. It is flexible to use and has the advantages of improving picking efficiency. It solves the problem in the prior art that tomatoes are transferred from the upper picking basket to the lower picking basket, and the mechanical arm and mechanical gripper need to wait for the completion of this transportation process before they can pick again, which delays the continuity of the picking work and affects the picking efficiency.

[0006] The present invention is implemented as follows: a greenhouse tomato picking robot includes a picking body, the top of the picking body is fixedly connected to a support base, the top of the support base is installed with a picking mechanical arm, the end of the picking mechanical arm is installed with a picking claw, the picking claw is used to pick tomatoes, a conveying component is provided on the picking body corresponding to the lower part of the picking claw, a picking basket is placed inside the picking body, the conveying component is used to guide the picked tomatoes directly into the picking basket, the conveying component includes an elastic plastic net bag, the side wall of the elastic plastic net bag is installed with a protective component, the protective component is used to stably convey tomatoes of different sizes in the elastic plastic net bag to avoid damage caused by excessive impact.

[0007] With this arrangement, the height and angle of the picking claws can be adjusted by the picking robot arm, which facilitates the picking of tomatoes in the greenhouse. The picked tomatoes can be directly transported to the picking frame through the conveying component, without the need for up and down transportation to delay working time. The protective component can not only cushion and protect the tomatoes during transportation to prevent them from being damaged by excessive impact, but also expand and contract the conveying channel, thereby facilitating stable protective transportation of tomatoes of different sizes, with high flexibility in use. Moreover, when the conveying channel is blocked, the conveying channel is shaken through a certain degree of reciprocating expansion and contraction movement, which facilitates the rapid transportation of tomatoes to the picking frame below, thereby effectively improving the picking efficiency.

[0008] As a preferred embodiment of the present invention, the picking robot arm includes a first arm and a second arm, both ends of the first arm are fixedly connected to a shaft and the shaft is connected to the support seat and the second arm through a bearing, the back of the support seat is fixedly connected to a first motor, the back of the first arm is fixedly connected to a second motor, and the output ends of the first motor and the second motor are respectively fixedly connected to the corresponding shafts.

[0009] This arrangement facilitates the rotation adjustment of the first arm and the second arm, and then facilitates the adjustment of the height and angle of the picking claws, making picking more convenient.

[0010] As a preferred embodiment of the present invention, the picking claw includes several evenly distributed grabbing plates, a telescopic cylinder is fixedly installed inside the second arm, the output end of the telescopic cylinder passes through the end of the second arm and is fixed with a fixed seat, the middle end face of the fixed seat is fixedly connected with an evenly distributed bottom hinge seat, the side end face of the fixed seat is fixedly installed with an evenly distributed electric push rod, one end of the grabbing plate is hingedly connected to the corresponding bottom hinge seat, a side hinge seat is fixedly connected to the outer wall of the grabbing plate, and the output end of the electric push rod is hingedly connected to the corresponding side hinge seat.

[0011] This arrangement facilitates the telescopic movement of the picking claws, facilitates picking, and facilitates the movement of the gripping plates away from and towards each other, thereby facilitating the gripping of tomatoes for picking, and is convenient to use.

[0012] As a preferred embodiment of the present invention, a camera is fixedly mounted on the other end surface of the fixing seat by bolts.

[0013] Through this setting, the camera is electrically connected to the controller, which facilitates the camera recognition of the picking situation and facilitates the picking claws to perform accurate picking work.

[0014] As a preferred embodiment of the present invention, the elastic plastic net bag is arranged in a vertical tubular structure, the top of the elastic plastic net bag is fixedly connected to a pleated rubber hopper, the top of the pleated rubber hopper is fixedly connected to a support plate, the side wall of the support seat is fixedly connected to a support rod, and the support rod is fixedly connected to the support plate by bolts.

[0015] With this arrangement, the pleated rubber hopper is used to facilitate the collection of picked tomatoes, and the support plate and support rod facilitate the installation and disassembly of the conveying component, thereby facilitating the disassembly, cleaning, installation and replacement of the pleated rubber hopper and the elastic plastic net bag, making the use flexible and convenient.

[0016] As a preferred embodiment of the present invention, the protective component includes an adjusting protective plate, the outer wall of the elastic plastic net bag is fixedly connected with evenly distributed positioning rings, the adjusting protective plate is passed through the positioning rings, the adjusting protective plate can drive the elastic plastic net bag to expand and contract, and the inner wall of the elastic plastic net bag is fixedly connected with evenly distributed sponge protective strips.

[0017] This arrangement facilitates stable installation between the elastic plastic net bag and the adjustable protective plate, and is easy to use. The sponge protective strip facilitates buffering and protection of tomatoes transported in the elastic plastic net bag, and the adjustable protective plate drives the elastic plastic net bag to expand and contract, thereby facilitating stable protection and buffering of tomatoes of different sizes. The arrangement has high flexibility in use. When the elastic plastic net bag is blocked, the elastic plastic net bag is shaken by a certain degree of reciprocating expansion and contraction movement, thereby facilitating rapid transport of tomatoes to the picking frame below, thereby effectively improving picking efficiency.

[0018] As a preferred embodiment of the present invention, the bottom side walls of the adjusting protective plate are fixedly connected with a push rod, the ends of the push rods are fixedly connected with screws, the top of the picking vehicle body is fixedly connected with a fixed plate through a fixed block, the fixed plate is fixedly connected with an inner support block and an outer support block, the push rod is arranged in a square rod-shaped structure and slides through the inner support block, the screw slides through the outer support block, the inner side of the outer support block is connected with a bevel gear through a bearing, and the middle part of the bevel gear is threadedly connected to the screw.

[0019] This arrangement facilitates the secure installation of the push rod and the adjustment guard plate. When the push rod telescopes, the adjustment guard plate is driven to telescope, which in turn drives the elastic plastic net bag to expand and contract.

[0020] As a preferred embodiment of the present invention, a conveying hole is opened in the middle of the fixed plate, and the conveying hole corresponds to the picking basket. The top of the fixed plate is fixedly connected to a fixing ring through a fixing rod, and the top outer wall of the fixing ring is connected to a bevel gear through a bearing sleeve. The bevel gear and the bevel gear are meshed and connected, and the top of the bevel gear is fixedly connected to a circular gear.

[0021] With this arrangement, the conveying hole facilitates the conveying of tomatoes into the picking basket. When the bevel gear disc rotates, the engagement of the bevel gear disc with the bevel gear facilitates the rotation of the bevel gear, thereby facilitating the linear telescopic movement of the screw rod, thereby driving the push rod to telescopic movement.

[0022] As a preferred embodiment of the present invention, a stepper motor is fixedly installed inside the support seat, and an output end of the stepper motor is fixedly connected to a circular gear, and the circular gear is meshed with the circular gear disk.

[0023] Through this setting, when the stepper motor drives the circular gear to rotate, the engagement of the circular gear and the circular gear plate drives the circular gear plate to rotate, and then drives the bevel gear plate to rotate. The bevel gear plate drives the bevel gear to rotate, realizing the telescopic movement of the screw and the push rod, thereby facilitating the synchronous movement of the adjustment protective plates towards and away from each other, that is, realizing the expansion and contraction movement of the elastic plastic net bag.

[0024] As a preferred embodiment of the present invention, a reinforcement spring is fixedly connected between the bottoms of the adjustment protection plates.

[0025] This arrangement facilitates elastic reinforcement of the adjustable protective plate, achieves further structural reinforcement support for the elastic plastic net bag, facilitates stable buffering and guiding of tomatoes, and is easy to use.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: the height and angle of the picking claws are adjusted by the picking mechanical arm, which facilitates the picking of tomatoes in the greenhouse; the elastic plastic net bag, sponge protective strip, pleated rubber hopper, adjustment protective plate, push rod, screw, bevel gear, bevel gear plate, circular gear plate and circular gear are closely matched, so that the picked tomatoes can be directly transported to the picking frame without the need for up and down transportation to delay working time; and the protective component can not only buffer and protect the tomatoes during transportation to prevent them from being damaged by excessive impact, but also expand and contract the transportation channel, thereby facilitating stable protection and transportation of tomatoes of different sizes, and having high flexibility in use; furthermore, when the transportation channel is blocked, the transportation channel is shaken by a certain degree of reciprocating expansion and contraction movement, which facilitates the rapid transportation of tomatoes to the picking frame below, thereby effectively improving the picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of a partially enlarged structure provided by an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of a picking claw provided by an embodiment of the present invention;

[0030] Figure 4 The embodiment of the present invention provides Figure 2 Schematic diagram of the bottom structure at the middle fixed plate;

[0031] Figure 5 This is a schematic diagram of the structure of the adjustment disk provided by an embodiment of the present invention;

[0032] Figure 6 is a schematic diagram of the top structure of the fixing plate provided in an embodiment of the present invention;

[0033] Figure 7 It is a schematic diagram of the top structure of the pleated rubber hopper provided by an embodiment of the present invention.

[0034] Figure: 1. Picking vehicle body; 101. Support base; 2. Picking robot arm; 201. First arm; 202. First motor; 203. Second motor; 204. Second arm; 205. Telescopic cylinder; 3. Picking claw; 301. Fixed base; 302. Electric push rod; 303. Grab plate; 304. Bottom hinge base; 305. Side hinge base; 4. Elastic plastic net bag; 401. Pleated rubber hopper; 402. Support plate; 403. Support rod ; 404, positioning ring; 405, sponge protection strip; 5, fixing ring; 501, bevel gear disc; 502, circular gear disc; 503, fixing rod; 6, adjustment protection plate; 601, push rod; 602, screw; 603, bevel gear; 604, reinforcement spring; 7, fixing plate; 701, inner support block; 702, outer support block; 703, fixing block; 704, conveying hole; 8, stepping motor; 801, circular gear; 9, camera; 10, picking basket. DETAILED DESCRIPTION

[0035] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0036] The structure of the present invention is described in detail below with reference to the accompanying drawings.

[0037] refer to Figures 1 to 7 As shown, an embodiment of the present invention provides a greenhouse tomato picking robot, including a picking body 1, the top of the picking body 1 is fixedly connected to a support base 101, the top of the support base 101 is installed with a picking mechanical arm 2, the end of the picking mechanical arm 2 is installed with a picking claw 3, the picking claw 3 is used to pick tomatoes, and a conveying component is provided on the picking body 1 corresponding to the lower portion of the picking claw 3, a picking basket 10 is placed inside the picking body 1, the conveying component is used to guide the picked tomatoes directly into the picking basket 10, the conveying component includes an elastic plastic net bag 4, the side wall of the elastic plastic net bag 4 is installed with a protective component, the protective component is used to stably convey tomatoes of different sizes in the elastic plastic net bag 4 to avoid damage caused by excessive impact.

[0038] By adopting the above scheme, the height and angle of the picking claws 3 are adjusted by the picking robot arm 2, which facilitates the picking of tomatoes in the greenhouse. The picked tomatoes can be directly transported to the picking frame through the conveying component, without the need for up and down transportation to delay working time. The protective component can not only cushion and protect the tomatoes during transportation to prevent them from being damaged by excessive impact, but also expand and contract the conveying channel, thereby facilitating stable protective transportation of tomatoes of different sizes, with high flexibility in use. Moreover, when the conveying channel is blocked, the conveying channel is shaken by a certain degree of reciprocating expansion and contraction movement, which facilitates the rapid transportation of tomatoes to the picking frame below, thereby effectively improving the picking efficiency.

[0039] Specifically, the picking robot arm 2 includes a first arm 201 and a second arm 204, both ends of the first arm 201 are fixedly connected with an axis rod, and the axis rod is connected to the support seat 101 and the second arm 204 through a bearing, the back of the support seat 101 is fixedly connected with a first motor 202, and the back of the first arm 201 is fixedly connected with a second motor 203, and the output ends of the first motor 202 and the second motor 203 are respectively fixedly connected to the corresponding axis rods.

[0040] The above solution facilitates the rotation adjustment of the first arm 201 and the second arm 204, and then facilitates the adjustment of the height and angle of the picking claw 3, thereby facilitating picking.

[0041] Specifically, the picking claw 3 includes several evenly distributed grab plates 303, and a telescopic cylinder 205 is fixedly installed inside the second arm 204. The output end of the telescopic cylinder 205 passes through the end of the second arm 204 and is fixed with a fixed seat 301. The middle end face of the fixed seat 301 is fixedly connected with an evenly distributed bottom hinge seat 304, and the side end face of the fixed seat 301 is fixedly installed with an evenly distributed electric push rod 302. One end of the grab plate 303 is hingedly connected to the corresponding bottom hinge seat 304, and a side hinge seat 305 is fixedly connected to the outer wall of the grab plate 303. The output end of the electric push rod 302 is hingedly connected to the corresponding side hinge seat 305.

[0042] The above solution facilitates the picking claws 3 to move telescopically, facilitating picking, and facilitates the movement of the gripping plates 303 to separate from and approach each other, thereby facilitating the picking of tomatoes by gripping them. The system is easy to use.

[0043] Specifically, a camera 9 is fixedly mounted on the other end surface of the fixing base 301 by means of bolts.

[0044] With the above solution, the camera 9 is electrically connected to the controller, which facilitates the camera recognition of the picking status and facilitates the picking claws 3 to perform accurate picking work.

[0045] Specifically, the elastic plastic net bag 4 is arranged in a vertical tubular structure, the top of the elastic plastic net bag 4 is fixedly connected to a pleated rubber hopper 401, the top of the pleated rubber hopper 401 is fixedly connected to a support plate 402, and the side wall of the support seat 101 is fixedly connected to a support rod 403, and the support rod 403 is fixedly connected to the support plate 402 by bolts.

[0046] By adopting the above scheme, the pleated rubber hopper 401 is used to facilitate the collection of picked tomatoes, and the support plate 402 and the support rod 403 are used to facilitate the installation and disassembly of the conveying component, thereby facilitating the disassembly, cleaning, installation and replacement of the pleated rubber hopper 401 and the elastic plastic net bag 4, which is flexible and convenient to use.

[0047] Specifically, the protective component includes an adjusting protective plate 6, the outer wall of the elastic plastic net bag 4 is fixedly connected with evenly distributed positioning rings 404, the adjusting protective plate 6 is passed through the positioning ring 404, and the adjusting protective plate 6 can drive the elastic plastic net bag 4 to expand and contract, and the inner wall of the elastic plastic net bag 4 is fixedly connected with evenly distributed sponge protective strips 405.

[0048] The above scheme is adopted to facilitate stable installation between the elastic plastic net bag 4 and the adjustable protective plate 6, and is easy to use. The sponge protective strip 405 is used to provide buffering protection for the tomatoes transported in the elastic plastic net bag 4. The elastic plastic net bag 4 is driven to expand and contract by the adjustable protective plate 6, which facilitates stable protection and buffering of tomatoes of different sizes. It has high flexibility in use. When the elastic plastic net bag 4 is blocked, the elastic plastic net bag 4 is shaken by a certain degree of reciprocating expansion and contraction movement, which facilitates the rapid transportation of tomatoes to the picking frame below, thereby effectively improving the picking efficiency.

[0049] Specifically, the bottom side walls of the adjusting protective plate 6 are fixedly connected with a push rod 601, the ends of the push rod 601 are fixedly connected with a screw 602, the top of the picking vehicle body 1 is fixedly connected with a fixed plate 7 through a fixed block 703, the fixed plate 7 is fixedly connected with an inner support block 701 and an outer support block 702, the push rod 601 is arranged in a square rod-shaped structure and slides through the inner support block 701, the screw 602 slides through the outer support block 702, the inner side of the outer support block 702 is connected with a bevel gear 603 through a bearing, and the middle part of the bevel gear 603 is threadedly connected to the screw 602.

[0050] The above solution facilitates the stable installation of the push rod 601 and the adjustment protection plate 6. When the push rod 601 is telescopically moved, the adjustment protection plate 6 is driven to move telescopically, and then the elastic plastic net bag 4 is driven to expand and contract.

[0051] Specifically, a conveying hole 704 is opened in the middle of the fixed plate 7, and the conveying hole 704 corresponds to the picking basket 10. The top of the fixed plate 7 is fixedly connected to the fixing ring 5 through the fixing rod 503. The top outer wall of the fixing ring 5 is connected with a bevel gear disk 501 through a bearing sleeve. The bevel gear disk 501 and the bevel gear 603 are meshed and connected. The top of the bevel gear disk 501 is fixedly connected with a spherical gear disk 502.

[0052] With the above solution, the delivery hole 704 facilitates the delivery of tomatoes to the picking basket 10. When the bevel gear disc 501 rotates, the bevel gear disc 501 engages with the bevel gear 603, thereby driving the bevel gear 603 to rotate, thereby driving the screw rod 602 to move linearly, and further driving the push rod 601 to move telescopically.

[0053] Specifically, a stepper motor 8 is fixedly installed inside the support base 101 , and a circular gear 801 is fixedly connected to the output end of the stepper motor 8 . The circular gear 801 is meshed with the circular gear plate 502 .

[0054] By adopting the above scheme, when the stepping motor 8 drives the circular gear 801 to rotate, the circular gear 801 and the circular toothed disk 502 are engaged, thereby driving the circular toothed disk 502 to rotate, and then driving the bevel toothed disk 501 to rotate, and the bevel toothed disk 501 drives the bevel gear 603 to rotate, realizing the telescopic movement of the screw 602 and the push rod 601, thereby facilitating the synchronous movement of the adjustment protective plates 6 towards and away from each other, that is, realizing the expansion and contraction movement of the elastic plastic net bag 4.

[0055] Specifically, a reinforcement spring 604 is fixedly connected between the bottoms of the adjustment protection plates 6 .

[0056] The above solution facilitates elastic reinforcement of the adjustable protective plate 6, achieves further structural reinforcement support for the elastic plastic net bag 4, facilitates stable buffering and guiding of tomatoes, and is easy to use.

[0057] Working principle of the present invention:

[0058] When in use, the camera 9 takes a picture of the picking status and transmits a signal to the controller. The controller turns on the first motor 202 and the second motor 203, controls the height and angle of the picking robot arm 2 to adjust the picking claw 3, and the telescopic cylinder 205 drives the picking claw 3 to move to a suitable distance. The electric push rod 302 starts to drive the picking claw 3 to pick the tomatoes that can be picked and put them into the pleated rubber hopper 401 below. The tomatoes enter the elastic plastic net bag 4 and are buffered and guided by the sponge protective strip 405 and the adjustment protective plate 6 to avoid damage caused by excessive impact and quickly enter the picking frame below. When transporting tomatoes of different sizes, the stepper motor 8 is started with The movable circular gear 801 rotates, and the circular gear 801 drives the circular toothed disk 502 to rotate, the circular toothed disk 502 drives the bevel toothed disk 501 to rotate, and the bevel toothed disk 501 drives the bevel gear 603 to rotate, and then drives the screw 602 and the push rod 601 to move linearly, so that the push rod 601 drives the adjustment protection plate 6 to move, thereby facilitating the expansion or contraction movement of the elastic plastic net bag 4, so as to facilitate stable protection and transportation of tomatoes of different sizes. It has high flexibility in use. When the transportation channel is blocked, the elastic plastic net bag 4 is shaken through a certain degree of reciprocating expansion and contraction movement, which facilitates the rapid transportation of tomatoes to the picking frame below, thereby effectively improving the picking efficiency.

[0059] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0060] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A greenhouse tomato picking robot, comprising a picking vehicle body (1), characterized in that: The top of the picking vehicle body (1) is fixedly connected to a support base (101), a picking mechanical arm (2) is installed on the top of the support base (101), a picking claw (3) is installed at the end of the picking mechanical arm (2), the picking claw (3) is used to pick tomatoes, a conveying assembly is provided on the picking vehicle body (1) below the picking claw (3), a picking basket (10) is placed inside the picking vehicle body (1), the conveying assembly is used to guide the picked tomatoes directly into the picking basket (10), the conveying assembly includes an elastic plastic net bag (4), the side wall of the elastic plastic net bag (4) is installed with a protective assembly, the protective assembly The invention is used for stably conveying tomatoes of different sizes in an elastic plastic net bag (4) to prevent them from being damaged due to excessive impact. The protective component comprises an adjusting protective plate (6). The outer wall of the elastic plastic net bag (4) is fixedly connected with uniformly distributed positioning rings (404). The adjusting protective plate (6) is inserted into the positioning ring (404). The adjusting protective plate (6) can drive the elastic plastic net bag (4) to expand and contract. The inner wall of the elastic plastic net bag (4) is fixedly connected with uniformly distributed sponge protective strips (405). The bottom side walls of the adjusting protective plate (6) are fixedly connected with push rods (601). The push rods (601) are fixedly connected to the bottom side walls of the adjusting protective plate (6). 1) is fixedly connected to the end thereof with a screw rod (602), the top of the picking vehicle body (1) is fixedly connected to a fixing plate (7) via a fixing block (703), the fixing plate (7) is fixedly connected to an inner supporting block (701) and an outer supporting block (702), the push rod (601) is arranged in a square rod-shaped structure and slides through the inner supporting block (701), the screw rod (602) slides through the outer supporting block (702), the inner side of the outer supporting block (702) is connected to a bevel gear (603) via a bearing, the middle part of the bevel gear (603) is threadedly connected to the screw rod (602), and a conveying hole (704) is opened in the middle part 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 to a fixing ring (5) via a fixing rod (503); the top outer wall of the fixing ring (5) is sleeved with a bevel gear (501) via a bearing; the bevel gear (501) and the bevel gear (603) are meshedly connected; the top of the bevel gear (501) is fixedly connected to a spherical gear (502); a stepper motor (8) is fixedly installed inside the support seat (101); the output end of the stepper motor (8) is fixedly connected to a spherical gear (801); the spherical gear (801) and the spherical gear (502) are meshedly connected.

2. The greenhouse tomato picking robot according to claim 1, characterized in that: The picking mechanical arm (2) comprises a first arm (201) and a second arm (204), both ends of the first arm (201) are fixedly connected to shafts, and the shafts are connected to the support base (101) and the second arm (204) through bearings, the back of the support base (101) is fixedly connected to a first motor (202), the back of the first arm (201) is fixedly connected to a second motor (203), and the output ends of the first motor (202) and the second motor (203) are respectively fixedly connected to the corresponding shafts.

3. The greenhouse tomato picking robot according to claim 2, characterized in that: The picking claw (3) includes a plurality of evenly distributed grab plates (303), a telescopic cylinder (205) is fixedly installed inside the second arm (204), the output end of the telescopic cylinder (205) passes through the end of the second arm (204) and is fixed with a fixed seat (301), the middle end face of the fixed seat (301) is fixedly connected with evenly distributed bottom hinge seats (304), the side end face of the fixed seat (301) is fixedly installed with evenly distributed electric push rods (601) (302), one end of the grab plate (303) is hingedly connected to the corresponding bottom hinge seat (304), a side hinge seat (305) is fixedly connected to the outer wall of the grab plate (303), and the output end of the electric push rod (601) (302) is hingedly connected to the corresponding side hinge seat (305).

4. The greenhouse tomato picking robot according to claim 3, characterized in that: A camera (9) is fixedly mounted on the other end surface of the fixing seat (301) via bolts.

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

6. The greenhouse tomato picking robot according to claim 1, characterized in that: A reinforcement spring (604) is fixedly connected between the bottoms of the adjustment protection plates (6).

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