Fruit and vegetable picking manipulator and picking robot

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a fruit and vegetable picking manipulator and a picking robot, the outer side of a leakage pipe at the lower end of a ring seat is sleeved with an outer gear ring, and the outer gear ring is driven by a driving unit to rotate; grooves are distributed in the ring base at equal intervals, the upper ends of the grooves are connected with gear driving assemblies through supports, the outer sides of the bottoms of the clamping arms and the tops of the supports are connected with air cylinder assemblies, arc-shaped clamping plates are arranged on the side edges of the clamping arms, and the air cylinder assemblies communicate with air bags connected with the inner walls of the arc-shaped clamping plates. In the process that the gear driving assembly drives the clamping arms to be gradually closed, the air cylinder assembly synchronously inflates the air bag, so that the air bag is tightly attached to the surface of the fruit after being expanded. According to the soft clamping mode, the clamping arms are prevented from directly extruding the fruits, the surfaces of the fruits are effectively prevented from being damaged due to mechanical force, the integrity and quality of the fruits are protected to the maximum extent, meanwhile, the conveying belt rotates synchronously, the fruits are stirred downwards to enter the leakage pipe, and rapid picking and conveying of the fruits are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a fruit and vegetable picking manipulator and a picking robot. Background Art

[0002] In the field of agricultural production, fruit and vegetable picking is a labor-intensive job that consumes a lot of manpower and time. The traditional manual picking method has many disadvantages. With the development of agricultural scale, its inefficiency problem has become more and more prominent, and it is difficult to meet the market demand for the rapid supply of fruits and vegetables.

[0003] Although there are some harvesting machines on the market, they generally have technical defects. Most harvesting equipment cannot accurately adapt to the shapes, sizes and growth environments of different fruits and vegetables. For example, when grabbing fruits and vegetables, the common rigid clamping harvesting manipulators are very likely to cause mechanical damage to the fruits and vegetables due to improper clamping force, especially for fruits and vegetables with thin and tender skin and soft texture. The damage rate is extremely high, which seriously affects the commercial value and shelf life of fruits and vegetables.

[0004] At the same time, it is difficult for existing harvesting machines to achieve efficient coordination of harvesting actions. The clamping, cutting, and conveying links are often independent of each other and lack continuity, resulting in a cumbersome harvesting process and low efficiency. To this end, we have introduced a fruit and vegetable harvesting manipulator and a harvesting robot. Summary of the invention

[0005] The purpose of the present invention is to provide a fruit and vegetable picking manipulator and a picking robot to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A fruit and vegetable picking manipulator comprises a ring seat, wherein an outer side of a leakage pipe at the lower end of the ring seat is sleeved with an outer gear ring, and the outer gear ring rotates under the drive of a driving unit;

[0008] The ring seat is provided with slots at equal intervals, the upper end of the slots is connected to a gear drive assembly by a bracket, a toggle ball connected to the bottom of the gear drive assembly is located in a slide groove at the upper end of the outer gear ring, and arc-shaped protrusions are distributed in the slide groove at equal intervals;

[0009] The outer side of the bottom of the clamping arm is connected to the top of the bracket with a cylinder assembly, the side of the clamping arm is provided with an arc-shaped clamping plate, and the cylinder assembly is connected to the airbag connected to the inner wall of the arc-shaped clamping plate;

[0010] When the outer gear ring rotates, the toggle ball slides in the slide groove, so that the gear drive assembly drives the clamping arm connected to the inner end of the upper part of the bracket to open and close, thereby clamping and releasing the fruit;

[0011] When the clamping arm clamps the fruit, the cylinder assembly inflates the airbag, and the airbag expands and sticks to the surface of the fruit. At the same time, the gear drive assembly also drives the conveyor belt in the middle of the clamping arm to rotate, so that the conveyor belt drives the fruit to move downward into the leakage tube, thereby picking the fruit.

[0012] Preferably, a limiting ring is also screwed on the outer side of the leakage pipe, and the outer gear ring is located between the ring seat and the limiting ring. The driving unit includes a servo motor fixed on the side of the limiting ring and a driving gear fixed on the top output end of the servo motor, and the driving gear is meshed with the outer side of the outer gear ring.

[0013] Preferably, the gear drive assembly comprises a first driven gear and a second driven gear movably connected to the inside of the bracket by a pin shaft, and the first driven gear and the second driven gear are meshed;

[0014] The bottom of the second driven gear is also meshed with a driving gear, the driving gear is movably connected to the slot by a pin, and the bottom of the driving gear is fixed by a connecting arm and a toggle ball;

[0015] The clamping arm is arranged in an inverted U shape, and the inner wall at the bottom of the clamping arm is fixedly connected with the third driven gear by a rotating cylinder, and the outer end of the rotating cylinder extends through the clamping arm and is movably connected to the bracket.

[0016] Preferably, the connection holes inside the two sets of rotating drums are penetrated by a lower rotating shaft, and the fourth driven gear located between the two sets of third driven gears and the first pulleys located on both sides of the fourth driven gear are fixed on the lower rotating shaft;

[0017] Two sets of second pulleys are fixed in the top of the clamping arm by an upper rotating shaft, and the conveyor belt is connected between the corresponding first pulley and the second pulley;

[0018] The outer side of the conveyor belt is provided with shifting protrusions at equal intervals.

[0019] Preferably, an annular avoidance groove is provided at the lower end of the ring seat.

[0020] Preferably, a connecting frame is symmetrically provided on the outer side of the lower part of the clamping arm, and the cylinder assembly includes a cylinder body movably connected to the top of the bracket by a connecting shaft, a piston arranged inside the cylinder body, and a piston rod connected to the middle part of the piston. After the piston rod extends through the cylinder body, it is movably connected between the two sets of connecting frames by a pin shaft.

[0021] Preferably, an air guide tube is connected to the top side of the cylinder body, the upper end of the air guide tube is connected to the outer wall of the corresponding arc-shaped clamping plate, and the airbag is connected to the cylinder body through the air guide tube.

[0022] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a picking robot, including the above-mentioned fruit and vegetable picking manipulator.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: During the process of the gear drive assembly driving the clamping arms to gradually close, the air cylinder assembly simultaneously inflates the airbag, causing the airbag to expand and closely adhere to the surface of the fruit after inflation. This soft clamping method avoids the direct extrusion of the fruit by the clamping arms, effectively preventing damage to the fruit surface caused by mechanical force and protecting the integrity and quality of the fruit to the greatest extent. When the clamping arms close to clamp the fruit, the conveyor belt rotates synchronously, pushing the fruit downward into the leakage pipe, realizing the rapid picking and conveying of the fruit. This synchronous linkage design enables the picking process to be completed in one go, reducing unnecessary waiting time and operation steps, improving the efficiency of fruit picking, and meeting the requirements of large-scale and high-efficiency fruit and vegetable picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic three-dimensional structure diagram of the present invention when the clamping arms are in the open state;

[0025] Figure 2 is an exploded structure diagram of the assembly of the ring seat, outer gear ring and limit ring of the present invention;

[0026] Figure 3 is a schematic three-dimensional structure diagram of the connection between the ring seat and the leakage pipe of the present invention;

[0027] Figure 4 is of the present invention Figure 1 is a schematic three-dimensional structure diagram of the connection between the outer gear ring, gear drive assembly and clamping arms in the state of the present invention;

[0028] Figure 5 is a schematic three-dimensional structure diagram of the connection between the gear drive assembly, clamping arms and conveyor belt of the present invention;

[0029] Figure 6 is a schematic three-dimensional structure diagram of the connection between the clamping arms, arc-shaped clamping plates, third driven gear and rotating cylinder of the present invention;

[0030] Figure 7 is a schematic three-dimensional structure diagram of the connection between the second pulley, conveyor belt and first pulley of the present invention;

[0031] Figure 8 is a schematic structure diagram of the connection between the gear drive assembly, clamping arms and air cylinder assembly of the present invention;

[0032] Figure 9 is of the present invention Figure 8 is a schematic three-dimensional structure diagram from another perspective;

[0033] Figure 10 is of the present invention Figure 1 is a schematic cross-sectional structure diagram;

[0034] Figure 11Schematic cross-sectional structure diagram when the gear drive assembly of the present invention drives the clamping arm to gradually close;

[0035] Figure 12 Schematic three-dimensional structure diagram when the present invention clamps the fruit;

[0036] Figure 13 Schematic three-dimensional structure diagram of the connection of the external gear ring, gear drive assembly and clamping arm when the present invention clamps the fruit.

[0037] In the figure: 1, ring seat; 1001, slotted groove; 1002, annular avoidance groove; 2, driving gear; 3, servo motor; 4, leakage pipe; 5, limiting ring; 6, external gear ring; 61, sliding groove; 62, arc-shaped protrusion; 7, bracket; 8, cylinder barrel; 81, air guide pipe; 82, connecting shaft; 83, piston rod; 84, piston; 9, gear drive assembly; 91, toggle ball; 92, driving gear; 93, second driven gear; 94, first driven gear; 96, third driven gear; 961, rotating cylinder; 962, connecting hole; 97, connecting arm; 98, fourth driven gear; 981, first pulley; 982, lower rotating shaft; 10, clamping arm; 101, second pulley; 102, upper rotating shaft; 103, connecting frame; 11, arc-shaped clamping plate; 111, air bag; 12, fruit; 13, conveyor belt; 131, toggle protrusion. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0039] Embodiment:

[0040] Please refer to Figure 1-13 , the present invention provides a technical solution:

[0041] A fruit and vegetable picking manipulator includes a ring seat 1. An external gear ring 6 is sleeved outside the leakage pipe 4 at the lower end of the ring seat 1. A limiting ring 5 is also screwed outside the leakage pipe 4. The external gear ring 6 is located between the ring seat 1 and the limiting ring 5. This connection method enables the external gear ring 6 to be stably installed outside the leakage pipe 4, and the position of the external gear ring 6 can be adjusted through the limiting ring 5 to ensure the stability and accuracy of the external gear ring 6 during rotation. At the same time, the ring seat 1 provides an installation basis for other components of the entire manipulator, ensuring the accurate relative position relationship between the components, which is beneficial to the normal operation of the entire manipulator.

[0042] The external gear ring 6 rotates driven by the driving unit; the driving unit includes a servo motor 3 fixed to the side of the limit ring 5 and a driving gear 2 fixed to the output end at the top of the servo motor 3, and the driving gear 2 meshes with the outer side of the external gear ring 6. The servo motor 3 is controlled by a PLC. When the servo motor 3 operates, it drives the driving gear 2 to rotate, so that the driving gear 2 drives the external gear ring 6 to rotate.

[0043] Slots 1001 are equally spaced on the ring seat 1. A gear driving assembly 9 is connected to the upper end of the slots 1001 by a bracket 7. The dialing ball 91 connected to the bottom of the gear driving assembly 9 is located in the chute 61 at the upper end of the external gear ring 6. Arc-shaped protrusions 62 are equally spaced in the chute 61;

[0044] The gear driving assembly 9 includes a first driven gear 94 and a second driven gear 93 movably connected to the inside of the bracket 7 by a pin shaft, and the first driven gear 94 and the second driven gear 93 mesh;

[0045] The bottom of the second driven gear 93 also meshes with a driving gear 92. The driving gear 92 is movably connected to the slot 1001 by a pin shaft, and the bottom of the driving gear 92 is fixed to the dialing ball 91 by a connecting arm 97;

[0046] The clamping arm 10 is arranged in an inverted U shape. The inner wall of the bottom of the clamping arm 10 is fixedly connected to a third driven gear 96 by a rotary cylinder 961. The outer end of the rotary cylinder 961 penetrates through the clamping arm 10 and is movably connected to the bracket 7.

[0047] An annular avoidance groove 1002 is provided at the lower end of the ring seat 1. When the dialing ball 91 slides along the chute 61 to make the connecting arm 97 reciprocate, the setting of the annular avoidance groove 1002 can avoid hindering the reciprocating movement of the connecting arm 97.

[0048] A lower rotating shaft 982 passes through the connecting holes 962 inside the two rotary cylinders 961. A fourth driven gear 98 located between the two third driven gears 96 and first pulley 981 located on both sides of the fourth driven gear 98 are fixed on the lower rotating shaft 982;

[0049] Two second pulleys 101 are fixed to the top inside the clamping arm 10 by an upper rotating shaft 102. The conveyor belt 13 is connected between the corresponding first pulley 981 and the second pulley 101;

[0050] The outer side of the conveyor belt 13 is provided with toggle protrusions 131 at equal intervals. The toggle protrusions 131 extend from the inner side of the clamping arm 10, that is, when the clamping arm 10 is closed, the toggle protrusions 131 on the conveyor belt 13 will contact the surface of the fruit 12, and at the same time, the airbag 111 will also contact the surface of the fruit 12 after the air intake and expansion, while the inner wall of the clamping arm 10 will not contact the surface of the fruit 12, so that the fruit 12 can be softly clamped, and the clamping arm 10 is prevented from directly clamping the fruit 12, causing the surface of the fruit 12 to be squeezed and causing damage to the fruit 12.

[0051] When the clamping arm 10 opens and closes, the conveyor belt 13 inside the clamping arm 10 can move synchronously with the clamping arm 10. When the clamping arm 10 is closed to clamp the fruit 12 (the clamping arm 10 does not directly contact the fruit 12), the inner wall of the conveyor belt 13 is close to the surface of the fruit 12, and as the clamping arm 10 is further closed, the conveyor belt 13 rotates, and the fruit 12 is pushed downward into the leakage tube 4 through the pushing protrusion 131 on the conveyor belt 13, so that the fruit 12 is picked.

[0052] The outer side of the bottom of the clamping arm 10 is connected to the top of the bracket 7 with a cylinder assembly, and the side of the clamping arm 10 is provided with an arc-shaped clamping plate 11, and the cylinder assembly is connected to the air bag 111 connected to the inner wall of the arc-shaped clamping plate 11;

[0053] A connecting frame 103 is symmetrically arranged on the outer side of the lower part of the clamping arm 10. The cylinder assembly includes a cylinder body 8 movably connected to the top of the bracket 7 by a connecting shaft 82, a piston 84 arranged inside the cylinder body 8, and a piston rod 83 connected to the middle of the piston 84. The piston rod 83 extends through the cylinder body 8 and is movably connected between the two sets of connecting frames 103 by a pin. This connection method enables the cylinder assembly to accurately control the movement of the clamping arm 10, and can protect the fruit 12 by inflating the airbag 111. The use of the cylinder assembly makes the opening and closing movement of the clamping arm 10 more flexible and controllable, and can adapt to fruits 12 of different sizes and shapes, thereby improving the versatility and practicality of the manipulator.

[0054] An air guide pipe 81 is connected to the top side of the cylinder barrel 8 , the upper end of the air guide pipe 81 is connected to the outer wall of the corresponding arc-shaped clamping plate 11 , and the air bag 111 is connected to the cylinder barrel 8 through the air guide pipe 81 .

[0055] On the outer side of the bottom of the clamping arm 10, a cylinder assembly is connected to the top of the bracket 7. An arc-shaped clamping plate 11 is provided on the side of the clamping arm 10. The inner wall of the bottom of the clamping arm 10 is fixedly connected to the third driven gear 96 through a rotating cylinder 961. The inner part of the top of the clamping arm 10 is fixedly connected to the second pulley 101 through an upper rotating shaft 102. This connection method enables the clamping arm 10 not only to perform opening and closing actions, but also to inflate the airbag 111 through the cylinder assembly to protect the fruit 12, and can convey the fruit 12 to the leakage pipe 4 through the conveyor belt 13. The inverted U-shaped design of the clamping arm 10 increases its structural strength, can withstand a large clamping force, and at the same time provides an installation space for the internal transmission components (i.e., the conveyor belt 13, the third driven gear 96, the fourth driven gear 98, and the second pulley 101), making the structure of the entire manipulator more compact and reasonable.

[0056] After the airbag 111 is inflated and expanded, it fits tightly against the surface of the fruit 12, increasing the friction force. At the same time, the coordinated action with the clamping arm 10 ensures that the fruit 12 is firmly clamped and not easily dropped. Even when the manipulator encounters bumps or vibrations during movement, the stability of the fruit can be guaranteed, providing a reliable basis for subsequent conveying and picking actions, reducing the loss caused by the dropping of the fruit 12, and improving the picking efficiency.

[0057] The cylinder assembly can flexibly adjust the inflation degree of the airbag 111 according to fruits 12 of different sizes and shapes to achieve effective clamping of various fruits 12.

[0058] When the external toothed ring 6 rotates, the dial ball 91 slides in the chute 61, so that the gear drive assembly 9 drives the clamping arm 10 connected to the inner side end of the upper part of the bracket 7 to perform opening and closing movements, realizing the clamping and release of the fruit 12;

[0059] The gear drive assembly 9 is connected to the upper end of the slot 1001 of the ring seat 1 through the bracket 7, and the dial ball 91 at its bottom is located in the chute 61 of the external toothed ring 6. Multiple gears of the gear drive assembly 9 (i.e., the first driven gear 94, the second driven gear 93, etc.) are movably connected through pin shafts, forming a complex and effective transmission system. This connection relationship enables the rotation of the external toothed ring 6 to be accurately transmitted to the clamping arm 10, realizing the opening and closing movement of the clamping arm 10. At the same time, gear transmission has the advantages of accurate transmission ratio, high efficiency, and strong reliability, which can ensure that during the long-term operation of the manipulator, the actions of the clamping arm 10 are stable and reliable, improving the success rate and efficiency of fruit 12 picking.

[0060] The synchronous linkage of the gear drive assembly 9 with the cylinder assembly and the conveyor belt 13 is also more coordinated, reducing the possibility of failures, improving the working stability and reliability of the entire manipulator, and reducing the maintenance cost and downtime.

[0061] When the clamping arm 10 clamps the fruit 12, the cylinder assembly inflates the airbag 111, and the airbag 111 expands and adheres to the surface of the fruit 12. At the same time, the gear drive assembly 9 also drives the conveyor belt 13 in the middle of the clamping arm 10 to rotate, so that the conveyor belt 13 drives the fruit 12 to move downward into the leakage tube 4, thereby picking the fruit 12.

[0062] The conveyor belt 13 is connected between the first pulley 981 at the bottom of the clamping arm 10 and the second pulley 101 at the top. The first pulley 981 is connected to the fourth driven gear 98 and the third driven gear 96 through the lower rotating shaft 982. The second pulley 101 is fixed in the top of the clamping arm 10 through the upper rotating shaft 102. This connection method enables the power of the gear drive assembly 9 to be effectively transmitted to the conveyor belt 13, so that the fruit 12 can be transported.

[0063] When the conveyor belt 13 rotates, the pushing protrusions 131 thereon drive the fruits 12 to move downward, so that the fruits 12 are separated from the fruits and vegetables.

[0064] The pushing protrusions 131 on the outside of the conveyor belt 13 can better grasp the fruits 12, prevent the fruits 12 from slipping, ensure that the fruits 12 can smoothly enter the leakage tube 4, and improve the efficiency and quality of picking the fruits 12.

[0065] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a picking robot, including the above-mentioned fruit and vegetable picking manipulator.

[0066] Specifically, during use, when the servo motor 3 is started, the driving gear 2 rotates, driving the outer gear ring 6 to rotate outside the leakage pipe 4 .

[0067] The shifting ball 91 at the bottom of the gear driving assembly 9 slides in the sliding groove 61 at the upper end of the outer gear ring 6 .

[0068] Since the arc-shaped protrusions 62 are evenly spaced in the slide groove 61 , when the outer gear ring 6 rotates, the moving ball 91 is acted upon by the arc-shaped protrusions 62 to drive the gear driving assembly 9 to move.

[0069] like Figure 11 and 13 As shown, the toggle ball 91 slides to the arc-shaped protrusion 62, and the toggle ball 91 drives the driving gear 92 to rotate counterclockwise through the connecting arm 97, and the driving gear 92 drives the second driven gear 93 to rotate clockwise, and the second driven gear 93 drives the first driven gear 94 to rotate counterclockwise, and the first driven gear 94 drives the third driven gear 96 to rotate clockwise, so that the third driven gear 96 drives the clamping arm 10 and the arc-shaped clamping plate 11 to rotate clockwise, until the closing action of several groups of clamping arms 10 is achieved to clamp the fruit 12;

[0070] like Figure 4 and10 As shown, after the toggle ball 91 slides over the arc-shaped protrusion 62, the toggle ball 91 drives the driving gear 92 to rotate clockwise through the connecting arm 97, and the driving gear 92 drives the second driven gear 93 to rotate counterclockwise, and the second driven gear 93 drives the first driven gear 94 to rotate clockwise, and the first driven gear 94 drives the third driven gear 96 to rotate counterclockwise, so that the third driven gear 96 drives the clamping arm 10 and the arc-shaped clamping plate 11 to rotate counterclockwise, until the opening action of several groups of clamping arms 10 is realized, preparing for the next clamping of the fruit 12.

[0071] When the clamping arm 10 clamps the fruit 12, the clamping arm 10 pulls the piston 84 upward in the cylinder body 8 through the piston rod 83, and the piston 84 squeezes out the air in the cylinder body 8, and inflates the airbag 111 through the air guide tube 81. After the airbag 111 expands, it is tightly attached to the surface of the fruit 12. On the one hand, it can prevent damage to the fruit 12 during the clamping process, and on the other hand, it can increase the stability of the clamping to ensure that the fruit 12 will not fall.

[0072] like Figure 11-13 As shown, when the clamping arm 10 gradually clamps the fruit 12, the gear drive assembly 9 also drives the conveyor belt 13 in the middle of the clamping arm 10 to rotate. The movement of the gear drive assembly 9 is transmitted to the fourth driven gear 98 through gear transmission, which in turn drives the first pulley 981 to rotate, so that the conveyor belt 13 rotates, that is, the first driven gear 94 of the gear drive assembly 9 rotates counterclockwise to drive the fourth driven gear 98 and the first pulley 981 to rotate clockwise with the lower rotating shaft 982 as the center, so as to realize the clockwise rotation of the conveyor belt 13;

[0073] At this time, the pushing protrusion 131 on the outer side of the conveyor belt 13 drives the fruit 12 to move downward, so that the fruit 12 is separated from the fruits and vegetables and finally enters the leakage tube 4, completing the picking process of the fruit 12.

[0074] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fruit and vegetable picking manipulator, including a ring base, characterized in that: An outer gear ring is sleeved on the outer side of the leakage pipe at the lower end of the ring seat, and the outer gear ring rotates under the drive of the driving unit; The ring seat is provided with slots at equal intervals, the upper end of the slots is connected to a gear drive assembly by a bracket, a toggle ball connected to the bottom of the gear drive assembly is located in a slide groove at the upper end of the outer gear ring, and arc-shaped protrusions are distributed in the slide groove at equal intervals; The outer side of the bottom of the clamping arm is connected to the top of the bracket with a cylinder assembly, the side of the clamping arm is provided with an arc-shaped clamping plate, and the cylinder assembly is connected to the airbag connected to the inner wall of the arc-shaped clamping plate; When the outer gear ring rotates, the toggle ball slides in the slide groove, so that the gear drive assembly drives the clamping arm connected to the inner end of the upper part of the bracket to open and close, thereby clamping and releasing the fruit; When the clamping arm clamps the fruit, the cylinder assembly inflates the airbag, and the airbag expands and sticks to the surface of the fruit. At the same time, the gear drive assembly also drives the conveyor belt in the middle of the clamping arm to rotate, so that the conveyor belt drives the fruit to move downward into the leakage tube, thereby picking the fruit.

2. The fruit and vegetable picking manipulator according to claim 1, characterized in that: The outer side of the leakage pipe is also screwed with a limit ring, the outer gear ring is located between the ring seat and the limit ring, the driving unit includes a servo motor fixed to the side of the limit ring and a driving gear fixed to the top output end of the servo motor, and the driving gear is meshed with the outer side of the outer gear ring.

3. The fruit and vegetable picking manipulator according to claim 1, characterized in that: The gear drive assembly comprises a first driven gear and a second driven gear movably connected to the inside of the bracket by a pin shaft, and the first driven gear and the second driven gear are meshed; The bottom of the second driven gear is also meshed with a driving gear, the driving gear is movably connected to the slot by a pin, and the bottom of the driving gear is fixed by a connecting arm and a toggle ball; The clamping arm is arranged in an inverted U shape, and the inner wall at the bottom of the clamping arm is fixedly connected with the third driven gear by a rotating cylinder, and the outer end of the rotating cylinder extends through the clamping arm and is movably connected to the bracket.

4. The fruit and vegetable picking manipulator according to claim 3, characterized in that: The connecting holes inside the two sets of rotating drums are penetrated by a lower rotating shaft, and the fourth driven gear located between the two sets of third driven gears and the first pulleys located on both sides of the fourth driven gear are fixed on the lower rotating shaft; Two sets of second pulleys are fixed in the top of the clamping arm by an upper rotating shaft, and the conveyor belt is connected between the corresponding first pulley and the second pulley; The outer side of the conveyor belt is provided with shifting protrusions at equal intervals.

5. The fruit and vegetable picking manipulator according to claim 3, characterized in that: An annular avoidance groove is arranged at the lower end of the ring seat.

6. The fruit and vegetable picking manipulator according to claim 1, wherein: A connecting frame is symmetrically provided on the outer side of the lower part of the clamping arm. The cylinder assembly includes a cylinder body movably connected to the top of the bracket by a connecting shaft, a piston arranged inside the cylinder body, and a piston rod connected to the middle part of the piston. After the piston rod extends through the cylinder body, it is movably connected between the two sets of connecting frames by a pin shaft.

7. The fruit and vegetable picking manipulator according to claim 1, characterized in that: The top side of the cylinder barrel is connected with an air guide pipe, the upper end of the air guide pipe is connected to the outer wall of the corresponding arc-shaped clamping plate, and the air bag is connected with the cylinder barrel through the air guide pipe.

8. A picking robot, characterized in that, It comprises a fruit and vegetable picking robot as described in any one of claims 1 to 7.

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