Movable eggplant picking mechanism

Abstract

The invention discloses a movable eggplant picking mechanism, and relates to the technical field of manipulators. The problem of stress concentration is solved. The device specifically comprises a connecting flange plate, a lifting driving part is fixedly installed on the inner side wall of the connecting flange plate, a supporting disc is connected to the bottom of the connecting flange plate through a supporting rod, a plurality of finger assemblies are arranged on the outer wall of the supporting disc, and each finger assembly comprises a fixing frame fixed to the outer wall of the supporting disc. The fixing frame, the first knuckles, the second knuckles and the third knuckles are arranged to be connected through the flexible rotating connecting pieces, certain rotating resistance torque can be achieved while rotation can be guaranteed, flexible supporting connection is achieved, the lifting driving part directly drives the third knuckles through the connecting rod transmission part, and the lifting effect is good. The first knuckles, the second knuckles and the third knuckles can be gradually attached to the outer wall of a clamped part, so that each knuckle can play a clamping role, the enveloping performance is higher, the clamping force can be shared, and eggplants are prevented from being damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a mobile eggplant picking mechanism. Background Art

[0002] With the development of automated planting and picking, the traditional manual picking method for eggplants has been abandoned, and mechanical hands are used instead. This can not only reduce the safety hazards of manual high-altitude operations but also improve the picking efficiency.

[0003] After retrieval, a patent with the Chinese patent publication number CN112970428B discloses an underactuated picking manipulator, which includes a robotic arm connection component, a power transmission component, a frame, at least three picking manipulator components, and an interphalangeal commutation mechanism. Among them, the head end of the frame is fixedly connected to the robotic arm connection frame component, its tail end is connected to the picking manipulator component, and the power transmission component is located between the robotic arm connection frame component and the picking manipulator component. The interphalangeal commutation mechanism is arranged on the frame and is used to control the rotation of the picking manipulator component. One of the picking manipulator components is a fixed mechanical finger, and the others are rotatable mechanical fingers.

[0004] The above patent has the following deficiencies: Although it can achieve synchronous grasping of three phalanges, each phalanx is rigidly driven relative to the driving position. That is, after the position of one joint is determined, the other two joints each have only one corresponding fixed position. This results in the risk that multiple phalanges cannot fully fit the outer wall of the eggplant and cannot be evenly stressed, thus having the risk of damaging the eggplant.

[0005] Therefore, the present invention proposes a mobile eggplant picking mechanism. Summary of the Invention

[0006] The purpose of the present invention is to solve the deficiencies existing in the prior art and propose a mobile eggplant picking mechanism.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: A mobile eggplant picking mechanism includes a connecting flange. An elevating driving part is fixedly installed on the inner side wall of the connecting flange. The bottom of the connecting flange is connected to a supporting disc through a support rod. Multiple finger assemblies are arranged on the outer wall of the supporting disc. Each finger assembly includes a fixing frame fixed to the outer wall of the supporting disc, and a first phalanx, a second phalanx, and a third phalanx that are sequentially rotatably connected to the top of the fixing frame through a flexible rotating connecting member. The elevating driving part is drivingly connected to the side wall of the third phalanx through a connecting rod transmission part.

[0008] Preferably: The flexible rotating connecting member includes a shaft one and a shaft two. The shaft one is fixed to the inner wall of the first phalanx and is rotatably connected to the inner wall of the fixing frame.

[0009] Further: The second shaft is rotatably connected to the first finger joint and the fixing bracket, and a locking member for locking with the fixing bracket is provided on the outer wall of the second shaft. On the opposite outer walls of the first shaft and the second shaft, a first torque transmission disk and a second torque transmission disk are respectively fixedly installed, and a torsion spring is buckled on the opposite outer walls of the first torque transmission disk and the second torque transmission disk.

[0010] Based on the foregoing solution: The locking member includes a key groove opened on the inner wall of the second shaft and a chuck slidably fitted to the outside of the key groove through a key-shaped protrusion. A clamping groove is opened on the side wall of the fixing bracket, a clamping rod for cooperating with the clamping groove is fixedly installed on the outer wall of the chuck, and a limiting nut is connected to the outer wall of the second shaft by a thread.

[0011] In a better solution among the foregoing solutions: Angle scale lines are opened on the outer wall of the chuck, and an angle indicating arrow is opened on the inner wall of the fixing bracket.

[0012] As a further solution of the present invention: The link transmission part includes a lifting disk fixed to the telescopic end of the lifting driving part, a first folding rod rotatably connected to the side wall of the lifting disk through a hinge shaft, and a second folding rod rotatably connected to the side wall of the fixing bracket through a hinge shaft. The other end of the second folding rod is rotatably connected to the side wall of the third finger joint, and the other end of the first folding rod is rotatably connected to the outer wall of the second folding rod.

[0013] At the same time, the lifting driving part includes a housing fixedly installed on the inner wall of the connecting flange, an end cover fixedly installed at the stop of the housing, and a lifting sleeve disposed inside the housing and fixed to the lifting disk. A stator is fixedly embedded on the inner wall of the housing. Inside the housing, a rotor bracket is coaxially rotatably connected through a main shaft. A brushless motor rotor for cooperating with the stator of the brushless motor is fixed on the outer wall of the rotor bracket, and a lifting sleeve is connected to the inner wall of the brushless motor rotor by a thread.

[0014] As a preferred solution of the present invention: The second folding rod includes a first transmission rod and a second transmission rod. The inner walls at both ends of the second transmission rod are rotatably connected with a first connecting shaft and a second connecting shaft. The second connecting shaft is fixed to the inner side wall of the fixing bracket, the first connecting shaft is fixed to the bottom of the first transmission rod, and transmission gears are fixedly installed on the outer walls of the second transmission rod and the second connecting shaft.

[0015] At the same time, a plurality of linkage gears are meshed inside the two transmission gears, and the linkage gears are rotatably connected to the inner wall of the second transmission rod through a rotating shaft.

[0016] As a better solution of the present invention: The number of the linkage gears is an even number.

[0017] The beneficial effects of the present invention are: 1. In the present invention, by setting the fixing frame, the first finger joint, the second finger joint and the third finger joint to be connected by a flexible rotating connector, it can ensure that there is a certain rotational resistance moment while rotating, realizing flexible support connection. The lifting drive part directly drives the third finger joint through the connecting rod transmission part, enabling the first finger joint, the second finger joint and the third finger joint to gradually and gradually fit with the outer wall of the clamped part, so that each finger joint can play a clamping role, with stronger enveloping property and the ability to share the clamping force to prevent the eggplant from being damaged.

[0018] 2. In the present invention, by setting a locking part, when initially using, the angles of the first finger joint, the second finger joint and the third finger joint at the initial position can be adjusted by rotating the chuck, so as to achieve the purpose of adjusting the specific driving clamping force subsequently.

[0019] 3. In the present invention, based on the "lead screw - slider" structure, integrating the required motor driving force into the device structure can reduce the setting of the corresponding transmission mechanical structure, improve the structural compactness of the device, and reduce the volume.

[0020] 4. In the present invention, on the basis of integrated drive, using the connecting flange as the overall connecting part and regarding the whole device as a module, it can be conveniently connected to other agricultural machinery or picking machinery to meet the collection of the eggplant after clamping.

[0021] 5. In the present invention, by setting the transmission gear and the linkage gear, on the one hand, it can accelerate the rotation of the first transmission rod, thus accelerating the clamping of the third finger joint and improving the clamping efficiency. On the other hand, it can also increase the retraction angle of the third finger joint, enabling it to clamp smaller objects. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of a mobile eggplant picking mechanism proposed by the present invention; Figure 2 is the structural schematic diagram of the finger assembly of a mobile eggplant picking mechanism proposed by the present invention; Figure 3 is the structural schematic diagram of the flexible rotating connector of a mobile eggplant picking mechanism proposed by the present invention; Figure 4 is the structural schematic diagram of the locking part of a mobile eggplant picking mechanism proposed by the present invention; Figure 5 is the structural schematic diagram of the connecting rod transmission part of a mobile eggplant picking mechanism proposed by the present invention; Figure 6 is the front view structural schematic diagram of the lifting drive part of a mobile eggplant picking mechanism proposed by the present invention; Figure 7 is the sectional view structural schematic diagram of the lifting drive part of a mobile eggplant picking mechanism proposed by the present invention; Figure 8 Schematic front view structure diagram of the folding rod two of a mobile eggplant picking mechanism proposed by the present invention; Figure 9 Schematic sectional view structure diagram of the folding rod two of a mobile eggplant picking mechanism proposed by the present invention.

[0023] In the figure: 1. Connecting flange; 2. Lifting drive part; 3. Link transmission part; 4. Support rod; 5. Finger assembly; 6. Support disk; 7. Fixed frame; 8. First finger joint; 9. Second finger joint; 10. Flexible rotating connector; 11. Third finger joint; 12. Shaft one; 13. Torque transmission disk one; 14. Torsion spring; 15. Torque transmission disk two; 16. Shaft two; 17. Angle indicating arrow; 18. Card slot; 19. Keyway; 20. Card rod; 21. Angle scale line; 22. Chuck; 23. Key-shaped protrusion; 24. Limit nut; 25. Lifting disk; 26. Hinge shaft; 27. Folding rod one; 28. Folding rod two; 29. Lifting sleeve; 30. End cover; 31. Housing; 32. Brushless motor stator; 33. Main shaft; 34. Rotor bracket; 35. Brushless motor rotor; 36. Transmission rod one; 37. Connecting shaft one; 38. Transmission rod two; 39. Rotating shaft; 40. Linkage gear; 41. Connecting shaft two; 42. Transmission gear. Specific embodiments

[0024] The technical solutions of this patent will be further described in detail below in conjunction with specific embodiments.

[0025] The embodiments of this patent will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain this patent and should not be construed as a limitation of this patent. Embodiment 1: A mobile eggplant picking mechanism, such as Figures 1-9As shown in the figure, it includes a connecting flange 1. The inner wall of the connecting flange 1 is welded with a lifting driving part 2. The bottom of the connecting flange 1 is connected with a support disc 6 through a support rod 4. Multiple finger assemblies 5 are arranged on the outer wall of the support disc 6. In this embodiment, the specific number and position of the finger assemblies 5 are not limited. Preferably, the finger assemblies 5 are arranged in a circular array of three groups. The finger assembly 5 includes a fixing frame 7 fixed on the outer wall of the support disc 6, and a first finger joint 8, a second finger joint 9, and a third finger joint 11 that are sequentially rotatably connected to the top of the fixing frame 7 through a flexible rotating connector 10. The lifting driving part 2 is drivingly connected to the side wall of the third finger joint 11 through a connecting rod transmission part 3. When clamping, the lifting driving part 2 can drive the third finger joint 11 to rotate inward through the connecting rod transmission part 3, so as to drive the first finger joint 8 and the second finger joint 9 to rotate inward. And because the first finger joint 8 and the second finger joint 9, the second finger joint 9 and the third finger joint 11, and the first finger joint 8 and the fixing frame 7 are all flexibly rotatably connected through the flexible rotating connector 10. When the first finger joint 8, the second finger joint 9, and the third finger joint 11 rotate as a whole, the first finger joint 8 first contacts the side wall of the workpiece to be clamped, and then it is limited and does not move. Then when continuing to drive, the second finger joint 9 rotates relative to the first finger joint 8 until it contacts the outer wall of the workpiece to be clamped, and then it is limited and does not move. The third finger joint 11 continues to rotate relative to the second finger joint 9 until the third finger joint 11 fits with the outer wall of the workpiece to be clamped, completing the entire clamping process.

[0026] In this device, by setting the fixing frame 7, the first finger joint 8, the second finger joint 9, and the third finger joint 11 to be connected through the flexible rotating connector 10, it can ensure that there is a certain rotational resistance moment while rotating, realizing flexible support connection. And the lifting driving part 2 directly drives the third finger joint 11 through the connecting rod transmission part 3, which can make the first finger joint 8, the second finger joint 9, and the third finger joint 11 gradually fit with the outer wall of the workpiece to be clamped, so that each finger joint can play a clamping role, with stronger enveloping property, and can share the clamping force to prevent the eggplant from being damaged.

[0027] To solve the problem of flexible support and rotational connection; as Figure 3 shown, the flexible rotating connector 10 includes a shaft one 12 and a shaft two 16. The shaft one 12 is fixed to the inner wall of the first finger joint 8 and rotatably connected to the inner wall of the fixing frame 7. The shaft two 16 is rotatably connected to both the first finger joint 8 and the fixing frame 7, and a locking part for locking with the fixing frame 7 is arranged on the outer wall of the shaft two 16. Torque transmission discs one 13 and two 15 are respectively fixed to the opposite outer walls of the shaft one 12 and the shaft two 16 through bolts. The opposite outer walls of the torque transmission discs one 13 and two 15 are buckled with the same torsion spring 14.

[0028] The locking member includes a key groove 19 formed on the inner wall of the second shaft 16 and a chuck 22 slidably fitted outside the key groove 19 through a key-shaped projection 23. A clamping groove 18 is formed on the side wall of the fixing bracket 7. A clamping rod 20 matched with the clamping groove 18 is welded on the outer wall of the chuck 22, and a limiting nut 24 is connected to the outer wall of the second shaft 16 by thread.

[0029] Angle scale lines 21 are formed on the outer wall of the chuck 22, and an angle indicating arrow 17 is formed on the inner wall of the fixing bracket 7.

[0030] In this embodiment, the specific structure, installation method and working principle of the flexible rotating connecting member 10 are explained by the cooperation between the fixing bracket 7 and the first finger joint 8. The cooperation between the first finger joint 8 and the second finger joint 9, and the cooperation between the second finger joint 9 and the third finger joint 11 are the same as that between the fixing bracket 7 and the first finger joint 8. Therefore, those skilled in the art can easily infer the cooperation forms between the first finger joint 8 and the second finger joint 9, and between the second finger joint 9 and the third finger joint 11 according to the cooperation between the fixing bracket 7 and the first finger joint 8. Therefore, this embodiment will not elaborate on them.

[0031] During use, insert the clamping rod 20 into the clamping groove 18 and tighten the limiting nut 24 to limit the rotation of the second shaft 16 and the fixing bracket 7. When the third finger joint 11 rotates first, due to the torsion of the torsion spring 14, the first finger joint 8, the second finger joint 9 and the third finger joint 11 rotate integrally. When the first finger joint 8 first contacts the outer wall of the workpiece to be clamped, it is limited at this time, and the second finger joint 9 rotates relatively. During the rotation process, the torsion spring 14 at the connection between the first finger joint 8 and the second finger joint 9 gradually twists, and a clamping driving force is applied to the first finger joint 8 through the torsion force. Subsequently, the second finger joint 9 contacts the side wall of the workpiece and is limited. The third finger joint 11 rotates relatively, and the torsion spring 14 at the connection between the second finger joint 9 and the third finger joint 11 twists to apply a clamping driving force to the second finger joint 9. Subsequently, the third finger joint 11 contacts the outside of the workpiece to be clamped, and a clamping driving force is applied through the lifting driving portion 2.

[0032] By providing the locking member, at the initial use, the angles of the first finger joint 8, the second finger joint 9 and the third finger joint 11 at the initial position can be adjusted by rotating the chuck 22, so as to achieve the purpose of adjusting the subsequent specific driving clamping force.

[0033] To solve the driving problem; such as Figure 5As shown in the figure, the connecting rod transmission part 3 includes a lifting disc 25 fixed to the telescopic end of the lifting driving part 2, a first broken line rod 27 rotatably connected to the side wall of the lifting disc 25 through a hinge shaft 26, and a second broken line rod 28 rotatably connected to the side wall of the fixed frame 7 through a hinge shaft 26. The other end of the second broken line rod 28 is rotatably connected to the side wall of the third finger joint 11, and the other end of the first broken line rod 27 is rotatably connected to the outer wall of the second broken line rod 28. When the lifting driving part 2 expands and contracts, it can drive the lifting disc 25 to rise and fall, thereby driving the second broken line rod 28 to rotate along the rotation point connected to the fixed frame 7 through the first broken line rod 27, so as to drive the third finger joint 11 to rotate.

[0034] To solve the problem of lifting drive; as Figure 6 、 7 shown, in this embodiment, the specific type of the lifting driving part 2 is not limited. It can be an electric, hydraulic, or pneumatic telescopic rod, or a motor combined with a lead screw-slider combination, or other mechanical combinations that can achieve linear reciprocating drive. However, since electric, pneumatic, and hydraulic telescopic rods require, in addition to the necessary housing and telescopic parts, corresponding pipelines, valves and other components, the structure is relatively complex. And the manipulator needs multi-axis rotation or even long-axis movement, which is less convenient.

[0035] Preferably in this embodiment: the lifting driving part 2 includes a housing 31 welded to the inner wall of the connecting flange 1, an end cover 30 fixed by bolts at the stop of the housing 31, and a lifting sleeve 29 arranged inside the housing 31 and fixed to the lifting disc 25. A stator 31 is fixedly embedded in the inner wall of the housing 31. Inside the housing 31, a rotor bracket 34 is coaxially rotatably connected through a main shaft 33. A brushless motor rotor 35 cooperating with the brushless motor stator 32 is fixed to the outer wall of the rotor bracket 34. The inner wall of the brushless motor rotor 35 is threadedly connected to the lifting sleeve 29, and the lifting sleeve 29 is slidably connected to the inner side wall of the end cover 30 through the cooperation of a key and a keyway. The length of the keyway is slightly less than the axial length of the lifting sleeve 29, and the key and the keyway are in clearance fit.

[0036] When the brushless motor stator 32 is powered on, it can drive the brushless motor rotor 35 to rotate through electromagnetic induction. However, the lifting sleeve 29 is limited by the end cover 30 and cannot rotate, so as to complete the lifting through the threaded connection with the brushless motor rotor 35.

[0037] This device, based on the structure of "lead screw-slider", integrates the required motor driving force on the device structure, can reduce the setting of the corresponding transmission mechanical structure, improve the structural compactness of the device, and reduce the volume.

[0038] On the other hand, on the basis of integrated drive, the present device uses the connecting flange 1 as an overall connecting piece, and takes the whole device as a module, which can be conveniently connected to other agricultural machinery or picking machinery to meet the collection of eggplants after clamping.

[0039] In this embodiment, when the stator 32 of the brushless motor is energized, it can drive the rotation of the brushless motor rotor 35 through electromagnetic induction. However, the lifting sleeve 29 is limited by the end cover 30 and cannot rotate. Therefore, the lifting is completed through the threaded connection with the brushless motor rotor 35, thereby driving the lifting of the lifting disc 25. Then, the first folding rod 27 drives the second folding rod 28 to rotate along the rotation connection point with the fixed frame 7, thereby driving the rotation of the third finger joint 11. When the third finger joint 11 starts to rotate, due to the torsion force of the torsion spring 14, the first finger joint 8, the second finger joint 9, and the third finger joint 11 rotate as a whole. When the first finger joint 8 first contacts the outer wall of the workpiece to be clamped, it is limited at this time, and the second finger joint 9 rotates relatively. During the rotation process, the torsion spring 14 at the connection between the first finger joint 8 and the second finger joint 9 gradually twists, and through the twisting force, a clamping driving force is applied to the first finger joint 8. Subsequently, the second finger joint 9 contacts the side wall of the workpiece and is limited. The third finger joint 11 rotates relatively, and through the torsion of the torsion spring 14 at the connection between the second finger joint 9 and the third finger joint 11, a clamping driving force is applied to the second finger joint 9. Subsequently, the third finger joint 11 contacts the outside of the workpiece to be clamped, and a clamping driving force is applied through the lifting drive part 2. And by setting the locking part, when initially used, the angles of the first finger joint 8, the second finger joint 9, and the third finger joint 11 at the initial position can be adjusted by rotating the chuck 22, so as to achieve the purpose of adjusting the subsequent specific driving clamping force. Embodiment 2: A mobile eggplant picking mechanism, as Figure 8 、 9 shown, in order to solve the efficiency problem; the following improvements are made on the basis of Embodiment 1 in this embodiment: The second folding rod 28 includes a transmission rod 36 and a transmission rod 38. The inner walls at both ends of the transmission rod 38 are rotatably connected with a connecting shaft 37 and a connecting shaft 41. The connecting shaft 41 is fixed to the inner side wall of the fixed frame 7, the connecting shaft 37 is fixed to the bottom of the transmission rod 36, and transmission gears 42 are fixed to the outer walls of the transmission rod 38 and the connecting shaft 41, and a plurality of linkage gears 40 are meshed with the inner walls of the two transmission gears 42. The linkage gears 40 are rotatably connected to the inner wall of the transmission rod 38 through a rotating shaft 39, and the number of the linkage gears 40 is an even number; and the transmission rod 38 is rotationally connected and matched with the first folding rod 27; when the first folding rod 27 drives the transmission rod 38 to rotate, while driving the transmission rod 36 to rotate synchronously, the transmission gear 42 located outside the connecting shaft 41 does not move, so that the connecting shaft 37 is driven to rotate through a plurality of linkage gears 40, thereby making the transmission rod 36 rotate relative to the transmission rod 38.

[0040] By setting the transmission gear 42 and the linkage gear 40, on the one hand, it can accelerate the rotation of the first transmission rod 36, thereby accelerating the clamping of the third finger joint 11, improving the clamping efficiency. On the other hand, it can also increase the retraction angle of the third finger joint 11, so that it can clamp smaller objects.

[0041] When in use in this embodiment, when the folding rod one 27 drives the second transmission rod 38 to rotate, while driving the first transmission rod 36 to rotate synchronously, the transmission gear 42 located outside the second connecting shaft 41 remains stationary. Thus, the first connecting shaft 37 is driven to rotate through a plurality of linkage gears 40, so that the first transmission rod 36 rotates relative to the second transmission rod 38.

[0042] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A mobile eggplant picking mechanism, comprising a connecting flange (1), characterized in that, The inner wall of the connecting flange (1) is fixedly installed with a lifting drive part (2). The bottom of the connecting flange (1) is connected with a support disc (6) through a support rod (4). A plurality of finger assemblies (5) are arranged on the outer wall of the support disc (6). The finger assembly (5) includes a fixing frame (7) fixed to the outer wall of the support disc (6), and a first finger joint (8), a second finger joint (9) and a third finger joint (11) which are sequentially rotatably connected to the top of the fixing frame (7) through a flexible rotating connector (10). The lifting drive part (2) is drivingly connected to the side wall of the third finger joint (11) through a connecting rod transmission part (3).

2. The mobile eggplant picking mechanism according to claim 1, characterized in that, The flexible rotating connector (10) includes a shaft one (12) and a shaft two (16). The shaft one (12) is fixed to the inner wall of the first finger joint (8) and rotatably connected to the inner wall of the fixing frame (7).

3. The mobile eggplant picking mechanism according to claim 2, wherein, The shaft two (16) is rotatably connected to both the first finger joint (8) and the fixing frame (7), and a locking part for locking with the fixing frame (7) is arranged on the outer wall of the shaft two (16). On the opposite outer walls of the shaft one (12) and the shaft two (16), a torque transmission disc one (13) and a torque transmission disc two (15) are respectively fixedly installed. A same torsion spring (14) is buckled on the opposite outer walls of the torque transmission disc one (13) and the torque transmission disc two (15).

4. The mobile eggplant picking mechanism according to claim 3, characterized in that, The locking part includes a key groove (19) opened on the inner wall of the shaft two (16) and a chuck (22) slidably matched with the outside of the key groove (19) through a key-shaped protrusion (23). A clamping groove (18) is opened on the side wall of the fixing frame (7). A clamping rod (20) matched with the clamping groove (18) is fixedly installed on the outer wall of the chuck (22), and a limiting nut (24) is connected to the outer wall of the shaft two (16) through a thread.

5. The mobile eggplant picking mechanism according to claim 4, characterized in that, An angle scale line (21) is opened on the outer wall of the chuck (22), and an angle indicating arrow (17) is opened on the inner wall of the fixing frame (7).

6. The mobile eggplant picking mechanism according to claim 1, characterized in that, The connecting rod transmission part (3) includes a lifting disc (25) fixed to the telescopic end of the lifting drive part (2), a folding rod one (27) rotatably connected to the side wall of the lifting disc (25) through a hinge shaft (26), and a folding rod two (28) rotatably connected to the side wall of the fixing frame (7) through a hinge shaft (26). The other end of the folding rod two (28) is rotatably connected to the side wall of the third finger joint (11), and the other end of the folding rod one (27) is rotatably connected to the outer wall of the folding rod two (28).

7. A mobile eggplant picking mechanism according to claim 1, characterized in that, The lifting drive part (2) includes a housing (31) fixedly installed on the inner wall of the connecting flange (1), an end cover (30) fixedly installed at the stop of the housing (31), and a lifting sleeve (29) arranged inside the housing (31) and fixed to the lifting disc (25). A housing (31) is fixedly embedded on the inner wall of the housing (31). Inside the housing (31), a rotor bracket (34) is coaxially rotatably connected through a main shaft (33). A brushless motor rotor (35) matched with a brushless motor stator (32) is fixed to the outer wall of the rotor bracket (34). The inner wall of the brushless motor rotor (35) is connected to the lifting sleeve (29) through a thread.

8. A mobile eggplant picking mechanism according to claim 6, characterized in that, The broken-line rod two (28) includes a transmission rod one (36) and a transmission rod two (38). At both ends of the inner wall of the transmission rod two (38), a connecting shaft one (37) and a connecting shaft two (41) are rotatably connected. The connecting shaft two (41) is fixed to the inner side wall of the fixed frame (7). The connecting shaft one (37) is fixed to the bottom of the transmission rod one (36). Transmission gears (42) are fixed to the outer walls of both the transmission rod two (38) and the connecting shaft two (41).

9. The mobile eggplant picking mechanism according to claim 8, characterized in that, A plurality of linkage gears (40) are meshed with the inner walls of the two transmission gears (42). The linkage gears (40) are rotatably connected to the inner wall of the transmission rod two (38) through a rotating shaft (39).

10. The mobile eggplant picking mechanism according to claim 9, characterized in that, The number of the linkage gears (40) is an even number.

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