Fruit and vegetable picking manipulators and picking robots

Abstract

The present invention relates to the field of agricultural machinery technology and discloses a fruit and vegetable picking manipulator and a picking robot. An outer gear ring is sleeved on the outer side of a leakage pipe at the lower end of a ring seat, and the outer gear ring rotates under the drive of a drive unit. Slots are evenly spaced on the ring seat, and the upper ends of the slots are connected to a gear drive assembly via a bracket. A cylinder assembly is connected to the outer side of the bottom of a clamping arm and the top of the bracket. An arc-shaped clamping plate is provided on the side of the clamping arm, and the cylinder assembly is connected to an airbag connected to the inner wall of the arc-shaped clamping plate. As the gear drive assembly drives the clamping arm to gradually close, the cylinder assembly simultaneously inflates the airbag, causing the expanded airbag to adhere tightly to the surface of the fruit. This soft clamping method avoids direct squeezing of the fruit by the clamping arm, effectively preventing damage to the fruit surface due to mechanical force, and protecting the integrity and quality of the fruit to the greatest extent. Simultaneously, a conveyor belt rotates synchronously, pushing the fruit downward into the leakage pipe, achieving rapid fruit picking and transportation.

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 agricultural sector, fruit and vegetable picking is a labor-intensive process that consumes significant manpower and time. Traditional manual harvesting has numerous drawbacks, and with the expansion of agricultural scale, its inefficiency has become increasingly prominent, making it difficult to meet the market's demand for a rapid supply of fruits and vegetables.

[0003] While there are some harvesting machines currently on the market, they often suffer from technical flaws. Most harvesting equipment cannot precisely adapt to the varying shapes, sizes, and growing environments of fruits and vegetables. For example, common rigid-gripping harvesting robots are prone to mechanical damage due to improper gripping force when grasping fruits and vegetables. This is particularly true for fruits and vegetables with thin, tender skins and soft textures, where the damage rate is extremely high, seriously affecting their commercial value and shelf life.

[0004] At the same time, existing harvesting machines struggle to achieve efficient coordination of harvesting actions. Gripping, cutting, and conveying often operate independently and lack continuity, resulting in a cumbersome and inefficient harvesting process. To address this, we have developed a fruit and vegetable harvesting manipulator and harvesting robot. Summary of the Invention

[0005] The object 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 robot 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, the 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 at equal intervals in the slide groove;

[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 to the outside 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 engaged with the outer side of the outer gear ring.

[0013] Preferably, the gear drive assembly includes a first driven gear and a second driven gear movably connected to the interior 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 of the bottom of the clamping arm is fixedly connected to the third driven gear by a rotating cylinder. The outer end of the rotating cylinder extends through the clamping arm and is movably connected to the bracket.

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

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

[0018] The outer side of the conveyor belt is provided with toggling 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 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 side of the top of the cylinder body, the upper end of the air guide tube is connected to the outer wall of the corresponding arc-shaped splint, 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: in the process of the gear drive assembly driving the clamping arm to gradually close, the cylinder assembly synchronously inflates the airbag so that the airbag is tightly attached to the surface of the fruit after expansion. This soft clamping method avoids the clamping arm directly squeezing the fruit, effectively prevents the surface of the fruit from being damaged by mechanical force, and protects the integrity and quality of the fruit to the greatest extent. When the clamping arm closes and clamps the fruit, the conveyor belt rotates synchronously, pushing the fruit downward into the leakage tube, thereby realizing the rapid picking and transportation of the fruit. This synchronous linkage design makes the picking process seamless, reduces unnecessary waiting time and operating steps, improves the efficiency of fruit picking, and can meet the needs of large-scale, high-efficiency fruit and vegetable picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the clamping arm of the present invention when it is in an open state;

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

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

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

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

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

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

[0031] Figure 8 A schematic diagram of the structure of the connection between the gear drive assembly, the clamping arm and the cylinder assembly of the present invention;

[0032] Figure 9 For the present invention Figure 8 Schematic diagram of the three-dimensional structure from another perspective;

[0033] Figure 10 For the present invention Figure 1 Schematic diagram of the cross-sectional structure;

[0034] Figure 11This is a schematic cross-sectional view of the gear drive assembly of the present invention driving the clamping arm to gradually close;

[0035] Figure 12 This is a schematic diagram of the three-dimensional structure of the present invention when clamping a fruit;

[0036] Figure 13 This is a schematic diagram of the three-dimensional structure of the connection between the outer gear ring, the gear drive assembly and the clamping arm when the present invention clamps the fruit.

[0037] Figure: 1, ring seat; 1001, slot; 1002, annular avoidance groove; 2, driving gear; 3, servo motor; 4, leakage pipe; 5, limit ring; 6, outer gear ring; 61, slide groove; 62, arc-shaped protrusion; 7, bracket; 8, cylinder body; 81, air guide tube; 82, connecting shaft; 83, piston rod; 84, piston; 9, gear drive assembly; 91, toggle ball; 92, driving gear; 93, second driven gear Gear; 94, first driven gear; 96, third driven gear; 961, rotating drum; 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 splint; 111, airbag; 12, fruit; 13, conveyor belt; 131, toggle protrusion. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] Example:

[0040] See also Figure 1-13 , the present invention provides a technical solution:

[0041] A fruit and vegetable picking robot includes a ring base 1. An outer toothed ring 6 is sleeved around a discharge tube 4 at the lower end of the ring base 1. A limit ring 5 is also threadedly connected to the outer side of the discharge tube 4. The outer toothed ring 6 is positioned between the ring base 1 and the limit ring 5. This connection ensures that the outer toothed ring 6 can be stably mounted on the outer side of the discharge tube 4. The limit ring 5 allows the position of the outer toothed ring 6 to be adjusted, ensuring stability and accuracy during rotation. The ring base 1 also provides a mounting base for the other components of the entire robot, ensuring accurate relative positioning between the components and facilitating the normal operation of the entire robot.

[0042] The outer gear ring 6 rotates driven by a drive unit. The drive unit comprises a servo motor 3 fixed to the side of the retaining ring 5 and a drive gear 2 fixed to the output terminal of the servo motor 3. The drive gear 2 engages the outer edge of the outer gear ring 6. The servo motor 3 is controlled by a PLC. When the servo motor 3 is working, it drives the drive gear 2 to rotate, which in turn drives the outer gear ring 6.

[0043] The ring seat 1 has slots 1001 distributed at equal intervals. The upper end of the slots 1001 is connected to the gear drive assembly 9 by a bracket 7. The toggle ball 91 connected to the bottom of the gear drive assembly 9 is located in the slide groove 61 at the upper end of the outer gear ring 6. The slide groove 61 has arc-shaped protrusions 62 distributed at equal intervals.

[0044] The gear drive assembly 9 includes a first driven gear 94 and a second driven gear 93 movably connected to the interior of the bracket 7 by a pin shaft, and the first driven gear 94 and the second driven gear 93 are meshed;

[0045] The bottom of the second driven gear 93 is also meshed with a driving gear 92, and the driving gear 92 is movably connected to the slot 1001 by a pin, and the bottom of the driving gear 92 is fixed to the toggle 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 the third driven gear 96 by a rotating cylinder 961. The outer end of the rotating cylinder 961 extends 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 ball 91 slides along the slide groove 61 to make the connecting arm 97 move back and forth, the setting of the annular avoidance groove 1002 can avoid obstruction to the reciprocating movement of the connecting arm 97.

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

[0049] Two sets of second pulleys 101 are fixed to the top of the clamping arm 10 using an upper rotating shaft 102, and the conveyor belt 13 is connected between the corresponding first pulleys 981 and the second pulleys 101;

[0050] The outer side of the conveyor belt 13 is provided with toggling protrusions 131 at equal intervals. The toggling protrusions 131 extend from the inner side of the clamping arm 10. That is, when the clamping arm 10 is closed, the toggling protrusions 131 on the conveyor belt 13 will contact the surface of the fruit 12. At the same time, the airbag 111 will also contact the surface of the fruit 12 after being inflated, while the inner wall of the clamping arm 10 will not contact the surface of the fruit 12. This can achieve soft clamping of the fruit 12 and prevent the clamping arm 10 from directly clamping the fruit 12, which would cause the surface of the fruit 12 to be squeezed and damaged.

[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 closes 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 further closes, 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, thereby picking the fruit 12.

[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. The side of the clamping arm 10 is provided with an arc-shaped clamping plate 11. The cylinder assembly is connected to the air bag 111 connected to the inner wall of the arc-shaped clamping plate 11.

[0053] Connecting frames 103 are symmetrically arranged on the outer side of the lower portion 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 disposed within 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 then movably connected between the two sets of connecting frames 103 by a pin. This connection method allows 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 tube 81 is connected to the top side of the cylinder barrel 8 , the upper end of the air guide tube 81 is connected to the outer wall of the corresponding arc-shaped clamping plate 11 , and the airbag 111 is connected to the cylinder barrel 8 through the air guide tube 81 .

[0055] 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. The inner wall of the bottom of the clamping arm 10 is fixedly connected to the third driven gear 96 via a rotating cylinder 961, and the top of the clamping arm 10 is fixedly connected to the second pulley 101 via an upper rotating shaft 102. This connection method allows the clamping arm 10 to not only open and close, but also inflate the airbag 111 through the cylinder assembly to protect the fruit 12, and transport the fruit 12 to the leakage tube 4 via the conveyor belt 13. The inverted U-shaped design of the clamping arm 10 increases its structural strength, enabling it to withstand a large clamping force. At the same time, it also provides 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 inflation, the airbag 111 closely adheres to the surface of the fruit 12, increasing friction. This, in conjunction with the clamping arm 10, ensures that the fruit 12 is securely held and prevents it from falling. Even if the robot encounters bumps or vibrations during movement, the fruit remains stable, providing a reliable foundation for subsequent transport and picking operations, reducing losses caused by falling fruit 12 and improving picking efficiency.

[0057] The cylinder assembly can flexibly adjust the inflation degree of the air bag 111 according to the fruits 12 of different sizes and shapes, thereby effectively clamping various fruits 12.

[0058] When the outer gear ring 6 rotates, the toggle ball 91 slides in the slide groove 61, so that the gear drive assembly 9 drives the clamping arm 10 connected to the inner end of the upper part of the bracket 7 to open and close, thereby clamping and releasing 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 toggle ball 91 at the bottom is located in the slide groove 61 of the outer gear ring 6. The 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 pins to form a complex and effective transmission system. This connection relationship enables the rotation of the outer gear 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, the gear transmission has the advantages of accurate transmission ratio, high efficiency, and strong reliability. It can ensure that the movement of the clamping arm 10 is stable and reliable during the long-term operation of the manipulator, thereby improving the success rate and efficiency of fruit picking 12.

[0060] The synchronous linkage of the gear drive assembly 9, the cylinder assembly and the conveyor belt 13 is also more coordinated, which reduces the possibility of failure, improves the working stability and reliability of the entire manipulator, and reduces maintenance costs and downtime.

[0061] When the clamping arm 10 clamps the fruit 12, the cylinder assembly inflates the airbag 111, and the airbag 111 is tightly attached to the surface of the fruit 12 after expansion. 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 via the lower rotating shaft 982. The second pulley 101 is fixed to the top of the clamping arm 10 via the upper rotating shaft 102. This connection method allows the power of the gear drive assembly 9 to be effectively transmitted to the conveyor belt 13, realizing the transportation of the fruit 12.

[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 sliding 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. The piston 84 squeezes out the air in the cylinder body 8 and inflates the air bag 111 through the air guide tube 81. After the air bag 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. On the other hand, it can increase the stability of the clamping and ensure that the fruit 12 will not fall.

[0072] like Figure 11-13 As shown, as 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 the gear transmission, which in turn drives the first pulley 981 to rotate, causing the conveyor belt 13 to rotate. That is, the first driven gear 94 of the gear drive assembly 9 rotates counterclockwise, driving the fourth driven gear 98 and the first pulley 981 to rotate clockwise around the lower rotating shaft 982, thereby achieving 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] 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 fruit and vegetable picking robot, comprising a ring seat and a clamping arm, 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, the 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 at equal intervals in the slide groove; 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, which then expands and sticks to the surface of the fruit. At the same time, the gear drive assembly drives the conveyor belt in the middle of the clamping arm to rotate, so that the conveyor belt drives the fruit downward into the leakage pipe, thus picking the fruit. The outer side of the leakage pipe is also screwed to a limit ring, and 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 output end of the top of the servo motor, and the driving gear is meshed with the outer side of the outer gear ring; The gear drive assembly includes a first driven gear and a second driven gear movably connected to the interior 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 of the bottom of the clamping arm is fixedly connected to 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; 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 on the top of the clamping arm by an upper rotating shaft, and the conveyor belt is connected between the corresponding first pulleys and the second pulleys; The outer side of the conveyor belt is provided with toggling protrusions at equal intervals.

2. The fruit and vegetable picking robot according to claim 1, characterized in that: An annular avoidance groove is provided at the lower end of the ring seat.

3. The fruit and vegetable picking robot according to claim 1, characterized in that: 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.

4. The fruit and vegetable picking robot according to claim 3, characterized in that: The top side of the cylinder body 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 splint, and the air bag is connected with the cylinder body through the air guide pipe.

5. A picking robot, characterized in that: It comprises the fruit and vegetable picking robot as described in any one of claims 1 to 4.

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