Non-invasive air-blowing automatic picking robot

Abstract

The application discloses a non-injury air-blowing type automatic picking robot, which comprises a walking chassis, a multi-axis mechanical arm, a picking component, a collecting device, a visual identification module and a control system; the picking component comprises a stem cutting device, a stem clamping device and a fruit protecting device; the stem cutting device comprises a cutting knife; the stem clamping device comprises two stem clamping plates; the fruit protecting device comprises two expandable and closable arc-shaped protective covers; the arc-shaped protective covers are internally provided with a strawberry cavity for accommodating strawberries in a closed state and a stem channel above the strawberry cavity; the inner surfaces of the two arc-shaped protective covers are uniformly provided with a plurality of air blowing holes; the arc-shaped protective covers are externally provided with air blowing devices for providing air into the air blowing holes and supplying air to the strawberry cavity; the air-blowing mode is used to assist in picking and transferring strawberries, so that the strawberries are always suspended and protected during picking and transferring, and mechanical damage to the fruits can be reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting technology, and in particular to a non-destructive air-blowing automatic harvesting robot. Background Technology

[0002] Strawberries grow at a short height, and large-scale strawberry plantations make strawberry picking extremely labor-intensive. Furthermore, strawberries are juicy, soft, and easily bruised, requiring careful handling to minimize damage during manual harvesting. Traditional strawberry picking relies primarily on manual labor, accounting for 40%-50% of total production time. This method is labor-intensive, inefficient, and costly. With technological and economic advancements, fruit-picking robots are increasingly being used in agricultural production. Using robots to replace manual laborers can alleviate rural labor shortages to some extent, reduce labor costs, and promote the intelligent development of agriculture.

[0003] In existing technologies, harvesting robots are often used to improve the efficiency of strawberry harvesting. To adapt to the operation of harvesting robots, a strawberry hanging planting method has been proposed in agriculture. In this method, the strawberries are placed at a high position, which facilitates the movement and harvesting operation of the harvesting robot. However, since the surface of strawberries is soft and easily damaged, directly picking strawberries by gripping them will damage the strawberry itself. Grabbing the strawberry stems may result in excessive force. During the pulling process, improper force or the strong toughness of the stems may cause the strawberries to be unable to be picked smoothly or damage to the strawberry plant. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a non-damaging air-blowing automatic picking robot that can reduce the pulling of strawberry plants and avoid damage to strawberry fruits.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a non-destructive air-blowing automatic harvesting robot, including a walking chassis, a multi-axis robotic arm, a harvesting component, a collection box, a vision recognition module, and a control system;

[0006] The chassis serves as the mounting base for other structures.

[0007] A multi-axis robotic arm, mounted on the walking chassis, can drive the picking components to adjust their posture;

[0008] The harvesting component, installed at the working terminal of the multi-axis robotic arm, includes a stem-cutting device, a stem-clamping device, and a fruit-protecting device arranged sequentially from top to bottom in the fruit-harvesting state. The stem-cutting device includes two opposing cutting blades, and the stem-clamping device includes two opposing stem-clamping plates. The two cutting blades are respectively fixed to two detachable opening arms, and the two stem-clamping plates are respectively installed on the two detachable opening arms via elastic elements. The fruit-protecting device includes two expandable and closable arc-shaped protective covers. The interior of the arc-shaped protective covers has a strawberry cavity for accommodating strawberries in the closed state and a stem channel located above the strawberry cavity. The inner surfaces of the two arc-shaped protective covers are evenly distributed with a plurality of air-blowing holes. An air-blowing device is provided outside the arc-shaped protective covers to provide air intake to the air-blowing holes and supply air towards the strawberry cavity. The cutting openings of the two cutting blades, the stem-clamping openings of the two stem-clamping plates, and the stem channel are positioned sequentially from top to bottom.

[0009] Collection box for holding strawberries;

[0010] The visual recognition module is used to identify the location of strawberries and determine their ripeness.

[0011] The control system controls the automatic operation of each component.

[0012] As a preferred technical solution, a terminal connector is installed at the working end of the multi-axis robotic arm, and an opening and closing arm base is fixedly installed on the terminal connector. Two opening and closing arm brackets are slidably installed on the opening and closing arm base. A bidirectional screw is rotatably installed in the opening and closing arm base. One end of the bidirectional screw is connected to the power end of the screw motor. The two opening and closing arm brackets are also threaded to both sides of the bidirectional screw, and the two opening and closing arms are fixed to the two opening and closing arm brackets respectively.

[0013] As a preferred technical solution, connecting slide rods are slidably installed at the ends of the two opening and closing arms, and the two clamping plates are respectively fixed to the inner ends of the two connecting slide rods. The elastic element is a spring sleeved on the connecting slide rod, and the two ends of the spring abut against the clamping plate and the opening and closing arm respectively. In the natural state of the spring, the opening between the two clamping plates is smaller than the opening between the two cutting blades.

[0014] As a preferred technical solution, the inner surface of the end of the stem clamp is provided with a sponge layer.

[0015] As a preferred technical solution, the two cutting blades are arranged in a staggered manner, one vertically and the other horizontally.

[0016] As a preferred technical solution, protective cover swing arms are fixed to the outside of the two arc-shaped protective covers respectively. The protective cover swing arms are fixedly connected to the protective cover swing shaft. The two ends of the protective cover swing shaft are rotatably mounted on the protective cover bracket. Meshing transmission gears are fixed on the two protective cover swing shafts respectively. One of the protective cover swing shafts is also connected to the power end of the opening and closing motor.

[0017] As a preferred technical solution, the surface of the arc-shaped protective cover is provided with an air blowing interlayer, the air blowing hole is connected to the air blowing interlayer, the outer surface of the arc-shaped protective cover is provided with an air supply hole connected to the air blowing interlayer, and the air supply hole is connected to the air blowing device.

[0018] As a preferred technical solution, the air blowing device includes an air pump, the air outlet of the air pump is fixedly connected to a three-way pipe, the two air outlets of the three-way pipe are connected to air supply hoses, and the air outlets of the two air supply hoses are respectively connected to the air supply holes of the two arc-shaped protective covers.

[0019] As a preferred technical solution, the arc-shaped protective cover is a hemispherical protective cover with a cover notch at the top. When the two arc-shaped protective covers are closed, the two cover notches cooperate to form the stem channel.

[0020] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] I. This application designs a stem clamping device and a stem cutting device, using the same opening and closing arm to control the clamping and cutting actions. Furthermore, the use of a connecting slide rod and spring allows the clamping action to be triggered before the cutting action, resulting in a clever structural design and simplified power. This method of clamping the strawberry stem before cutting not only ensures accurate cutting but also avoids additional pulling and damage to other parts of the strawberry plant, helping to protect the plant, maintain its normal growth, and ensure continuous yield. Simultaneously, the fruit protection device protects the fruit throughout the process, preventing direct external force on the fruit, greatly minimizing fruit damage, better maintaining fruit integrity and quality, and enhancing commercial value.

[0022] 2. The fruit protection device uses a double-opening and folding arc-shaped protective cover to protect the strawberries inside, preventing direct contact and collision between the strawberries and the outside environment, and preventing damage caused by mechanical contact, shaking, or bumping. At the same time, an air pump and pipeline supply air to the interlayer of the arc-shaped protective cover. The airflow is ejected from the air supply holes on the inner wall of the interlayer, forming an airflow that sprays towards the center within the two arc-shaped protective covers, gently supporting the strawberries. The spherical object formed by the folding of the arc-shaped protective covers, in conjunction with the airflow, uses air blowing to balance the strawberries inside the arc-shaped protective cover in a non-contact manner. By controlling the air pressure, the strawberries are kept relatively still and the contact between the strawberries and the inner wall of the arc-shaped protective cover is reduced, ensuring that the strawberries are supported in a balanced state during the transfer process, preventing damage caused by mechanical contact, shaking, or bumping, and protecting the integrity and quality of the strawberries. Attached Figure Description

[0023] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0024] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the harvesting component according to an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the stem-cutting device and the stem-clamping device according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the stem-cutting device and the stem-clamping device from another angle according to an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the fruit protection device according to an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the fruit protection device from another angle according to an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the robot picking fruit in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the strawberry cutting process according to an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the strawberry being cut at another angle according to an embodiment of the present invention;

[0033] In the diagram: 100 - Walking chassis; 200 - Multi-axis robotic arm; 300 - Harvesting component; 310 - Stem cutting device; 311 - Opening and closing arm base; 312 - Opening and closing arm bracket; 313 - Bidirectional screw; 314 - Screw motor; 315 - Opening and closing arm; 316 - Cutting blade; 320 - Stem clamping device; 321 - Stem clamping plate; 322 - Connecting slide bar; 323 - Spring; 324 - Sponge layer; 330 - Fruit protection device; 331 - Arc-shaped protective cover; 332 - Strawberry cavity; 333 - Stem channel; 334 - Protective cover swing arm; 335 - Protective cover swing shaft; 336 - Protective cover bracket; 337 - Gear; 338 - Opening and closing motor; 339 - Air blowing interlayer; 3310 - Air pump; 3311 - T-connector; 3312 - Air supply hose; 400 - Collection device; 500 - Visual recognition module. Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0035] like Figure 1 As shown, a non-destructive air-blowing automatic harvesting robot includes a walking chassis 100, a multi-axis robotic arm 200, a harvesting component 300, a collection device 400, a vision recognition module 500, and a control system.

[0036] See Figure 1 The top of the walking chassis 100 is fixedly mounted with a base plate for mounting other structures. The walking chassis 100 is a tracked chassis, which adopts a tracked structure to increase the shock absorption of the chassis and improve the stability and flexibility of the machine during operation, so that the robot can adapt to different terrains. An energy storage battery is also fixedly mounted on the top of the base plate, which can provide power to the device.

[0037] See Figure 1 The multi-axis robotic arm 200 is mounted on the walking chassis 100 and can drive the picking component 300 to adjust its posture. The bottom end of the multi-axis robotic arm 200 is rotatably mounted on the base plate of the walking chassis 100 via a rotating platform. The multi-axis robotic arm 200 can be a six-axis robotic arm as in the prior art, with each robotic arm connected in series and the joints using rotational or sliding joints, which can adapt to strawberries at different angles and facilitate strawberry picking. The working end (top output end) of the multi-axis robotic arm 200 is fixed with a terminal connector for mounting the picking component 300.

[0038] See Figure 1 The collecting device 400 is installed on the bottom plate of the walking chassis 100 and is used to hold strawberries. The collecting device 400 can be a collecting box with an open top, which makes it easier for the picking component 300 to place the picked strawberries inside the collecting device 400.

[0039] See Figure 1 The visual recognition module 500 includes a camera located at the working terminal of the multi-axis robotic arm 200, used to identify the location and maturity of strawberries. The camera scans the surrounding environment, identifies the location of the strawberries, judges the maturity status of the strawberries, and transmits the location information and maturity status to the control system.

[0040] The control system controls the automatic operation of each component.

[0041] See Figures 2 to 6 The picking component 300 is installed on the terminal connector of the working terminal of the multi-axis robotic arm 200, and includes a stem-cutting device 310, a stem-clamping device 320, and a fruit-protecting device 330 arranged sequentially from top to bottom in the picking state. The stem-cutting device 310 is used to cut the strawberry stem, the stem-clamping device 320 is used to clamp the strawberry stem, and the fruit-protecting device 330 is used to support and protect the strawberry. During the picking operation, the strawberry stem is first clamped by the stem-clamping device 320, then the strawberry is secured inside by the fruit-protecting device 330 for support and protection, and finally the strawberry stem is cut by the stem-cutting device 310. After being cut, the strawberry remains held by the stem clamping device 320 and protected by the fruit protection device 330. The multi-axis robotic arm 200 carries the strawberry in this clamped state to the collecting device 400. During this process, the strawberry is always protected by the fruit protection device 330, which assists in the smooth transfer of the strawberry. After being transferred above the collecting device 400, the stem clamping device 320 is released first, and then the fruit protection device 330 is opened, allowing the strawberry to fall into the collecting device 400. The stem cutting device 310, the stem clamping device 320, and the fruit protection device 330 work together to achieve the clamping and cutting of the strawberry without damage during the process.

[0042] See Figures 2 to 4A terminal connector is installed at the working end of the multi-axis robotic arm 200. An opening and closing arm base 311 is fixedly installed on the terminal connector. Two opening and closing arm brackets 312 are slidably installed on the opening and closing arm base 311, and the two opening and closing arm brackets 312 are positioned opposite each other. A bidirectional screw 313 is rotatably installed inside the opening and closing arm base 311. The two sides of the bidirectional screw 313 have opposite thread directions. One end of the bidirectional screw 313 is connected to the power end of the screw motor 314. The screw motor 314 is fixed on the opening and closing arm base 311. The two opening and closing arm brackets 312 are also threadedly connected to the two sides of the bidirectional screw 313. An opening and closing arm 315 is fixed on each of the two opening and closing arm brackets 312. During operation, the screw motor 314 drives the bidirectional screw 313 to rotate, causing the two opening and closing arms 315 and the support 312 to move closer or further apart synchronously, that is, to drive the two opening and closing arms 315 to merge or separate synchronously.

[0043] See Figure 3 and Figure 4 The stem-cutting device 310 includes two opposing cutting blades 316, which are respectively fixed on two opening and closing arms 315 that can be combined or separated. The two cutting blades 316 are staggered vertically to ensure good cutting effect.

[0044] See Figure 3 and Figure 4 The stem clamping device 320 includes two opposing stem clamping plates 321, which are respectively mounted on two detachable opening and closing arms 315 via elastic elements. Connecting slide rods 322 are slidably mounted on the ends of the two opening and closing arms 315. One end of each stem clamping plate 321 is fixed to the inner end of the connecting slide rod 322. The elastic element is a spring 323 sleeved on the connecting slide rod 322, with both ends of the spring 323 abutting against the stem clamping plate 321 and the opening and closing arms 315, respectively. A sponge layer 324 is provided on the inner surface of the end of each stem clamping plate 321. The position of the sponge layer 324 corresponds to the position used for clamping the strawberry stem, and the sponge layer 324 acts as a buffer to reduce compression damage to the strawberry stem.

[0045] The stem clamping plate 321 and the cutting blade 316 are controlled by the same opening and closing arm 315. However, in order to achieve the arrangement of clamping first and then cutting, the design makes the opening between the two stem clamping plates 321 smaller than the opening between the two cutting blades 316 in the natural state of the spring 323. In addition, a connecting slide rod 322 and the spring 323 are added. As the opening and closing arm 315 closes, the two stem clamping plates 321 first clamp the strawberry stem. As the opening and closing arm 315 continues to close, the two stem clamping plates 321 will overcome the elastic force of the spring 323, the connecting slide rod 322 slides outward, and the opening between the two cutting blades 316 gradually decreases to cut the strawberry stem. Through structural design, the stem clamping and cutting use the same driving structure and act sequentially. The design method is ingenious and reasonable.

[0046] The two cutting blades 316 are located above the two stem clamping plates 321, and the vertical distance between them is slightly smaller to ensure that the cut stems are short.

[0047] See Figure 5 and Figure 6 The fruit protection device 330 includes two expandable and closable arc-shaped protective covers 331. The two arc-shaped protective covers 331 expand and close synchronously. The interior of each arc-shaped protective cover 331 is provided with a strawberry cavity 332 for accommodating strawberries in the closed state and a stem channel 333 located above the strawberry cavity 332. The arc-shaped protective cover 331 is a hemispherical cover with a cover notch at the top. When the two arc-shaped protective covers 331 are closed, the two cover notches cooperate to form the stem channel 333. The cutting openings of the two cutting blades 316, the stem clamping openings of the two stem clamping plates 321, and the stem channel 333 are positioned sequentially from top to bottom. Protective cover swing arms 334 are fixed to the outside of the two arc-shaped protective covers 331, and the protective cover swing arms 334 are fixedly connected to the protective cover swing shaft 335. The two ends of the protective cover swing shaft 335 are rotatably mounted on the protective cover bracket 336. Meshing gears 337 are fixed to the two protective cover swing shafts 335, and one of the protective cover swing shafts 335 is also connected to the power source of the opening and closing motor 338. At the end, the opening and closing motor 338 is fixed on the protective cover bracket 336, and the protective cover bracket 336 is fixed to the terminal connecting seat. When the opening and closing motor 338 is activated, it drives one of the protective cover swing shafts 335 to rotate, and through the action of the gear 337, it causes the other protective cover swing shaft 335 to rotate synchronously, so that the arc-shaped protective cover 331 can be opened and closed synchronously. During the closing process, the strawberry fruit can be surrounded inside, and the strawberry stem can pass through the stem channel 333, be clamped by the stem clamping plate 321, and cut by the cutting blade 316.

[0048] In this embodiment, the two arc-shaped protective covers 331 are opened and closed by the two stem clamping plates 321 and the two cutting blades 316 on both sides, which facilitates the strawberry to be approached and fastened.

[0049] To ensure the strawberries can be moved without damage, this application utilizes air blowing for protection. The surface of the arc-shaped protective cover 331 is provided with an air blowing interlayer 339. Several air blowing holes are evenly distributed on the inner surfaces of the two arc-shaped protective covers 331, and these holes communicate with the air blowing interlayer 339. The outer surface of the arc-shaped protective cover 331 is provided with an air supply hole communicating with the air blowing interlayer 339. This air supply hole is connected to an air blowing device to provide airflow to the air blowing holes towards the strawberry cavity 332. The air blowing device includes an air pump 3310, with a three-way pipe 3311 fixedly connected to the air outlet of the air pump 3310. Two air supply hoses 3312 are connected to the two air supply hoses 3312, and their outlets are respectively connected to the air supply holes of the two arc-shaped protective covers 331. The arc-shaped protective cover 331 can be made of plastic and formed by air blowing using a mold, creating an air blowing interlayer 339 inside. An air pump 3310 provides air pressure to keep the strawberries suspended, reducing their movement and preventing them from contacting or bumping against the inside of the curved protective cover 331. This application utilizes the air pump 3310 to generate high-pressure gas, and by controlling the pressure and flow rate of the high-pressure gas, the outlet pressure of the air supply port is controlled, ensuring that the strawberries can remain suspended inside without causing impact damage to their surface.

[0050] To facilitate strawberry storage, strawberries are usually harvested when they are half-ripe, and it is important to ensure that the strawberries are not bruised or damaged during the harvesting process. Therefore, this application adopts a method that uses air blowing throughout the entire process to complete the harvesting and transfer of strawberries without contact, so as to achieve the purpose of preventing strawberries from being damaged. Furthermore, by controlling the air blowing pressure, while reducing the shaking of strawberries, the surface of the strawberries can also be blown by air to reduce the surface moisture content of the strawberries and reduce the possibility of strawberries rotting.

[0051] The working principle of this embodiment is as follows:

[0052] During operation, the tracked chassis first propels the harvesting robot between strawberry rows. Cameras scan the surrounding environment to accurately identify the location and condition of ripe strawberries. Then, the multi-axis robotic arm 200 is controlled to move the harvesting component 300 to the target strawberry, and its position and condition are adjusted so that its height is aligned with the height of the strawberry to be harvested. (See attached image for details.) Figure 7 Then, the strawberries hanging high up are automatically picked;

[0053] Before harvesting the strawberries, the two arc-shaped protective covers 331 are in an open state, waiting. The stem clamping device 320, stem cutting device 310, and fruit protection device 330 gradually approach the strawberries under the drive of the multi-axis robotic arm 200. When the stem clamping plate 321 and the cutting blade 316 are aligned with both sides of the strawberry stem, the screw motor 314 runs, driving the two opening and closing arms 315 to move closer through the bidirectional screw 313. This causes the two stem clamping plates 321 to first clamp the strawberry stem, and then the screw motor 314 stops. At this time, the opening and closing motor 338 actuates, controlling the two arc-shaped protective covers. The 331-shaped protective shield surrounds the strawberry. During the merging process of the arc-shaped protective shield 331, the air pump 3310 continuously supplies air through the three-way pipe 3311 and the air supply hose 3312 to the air-blowing interlayer 339 of the arc-shaped protective shield 331. The airflow is ejected from the air supply holes on the inner wall of the air-blowing interlayer 339, forming an airflow that sprays towards the center within the two arc-shaped protective shields 331, gently supporting the strawberry. The spherical object formed by the merging of the arc-shaped protective shields 331 cooperates with the airflow to support it. When the two arc-shaped protective shields 331 are completely locked together, the strawberry remains stationary under the action of the internal surface air pressure. See the attached diagram for the state. Figure 8 and Figure 9 At this time, the two arc-shaped protective covers 331 cooperate to protect the strawberries inside; then the screw motor 314 continues to run, controlling the two opening and closing arms 315 to move closer together. At this time, the spring 323 begins to function, gently clamping the stem with a suitable pre-tightening force on the stem clamping plate 321. As the opening and closing arms 315 continue to move closer, they will drive the two interlocking cutting blades 316 to start cutting the stem, thereby picking the strawberries. During this process, the two stem clamping plates 321 always remain in a clamping state, and the two arc-shaped protective covers 331 are always fastened and have airflow inside to push them up. On the one hand, this can support the strawberries and prevent them from falling due to clamping failure. On the other hand, the constant air supply inside can reduce the shaking of the strawberries during cutting.

[0054] After cutting, the strawberries are moved into the collection device 400 by the multi-axis robotic arm 200. During the movement, the strawberries are kept suspended by the air pressure inside the arc-shaped protective cover 331. This avoids direct contact and collision between the strawberries and the outside world. In addition, the strawberries are kept in a non-contact state with the inner wall of the arc-shaped protective cover 331. The strawberries have a small amount of shaking and floating inside, which can prevent damage caused by mechanical contact, shaking and bumping during the picking process. This achieves a damage-free picking state and ensures the integrity and quality of the strawberries.

[0055] After the multi-axis robotic arm 200 moves the strawberries above the collecting device 400, the two opening and closing arms 315 first separate to release the strawberry stems. Then, the angle of the working end is adjusted so that the opening and closing sides of the two arc-shaped protective covers 331 face downwards. Finally, the two arc-shaped protective covers 331 are slowly opened. As the arc-shaped protective covers 331 gradually open, the strawberries will slowly fall into the collecting device 400 through the opening. Since the strawberries fall slowly under the control of the two arc-shaped protective covers 331, the strawberries can be prevented from rolling and the possibility of surface impact can be reduced.

[0056] Once the strawberries are placed in the collecting device 400, each component resets under the control of the system, allowing the next strawberry to be picked, and this process is repeated.

[0057] This solution is suitable for strawberries grown in a suspended position. This type of strawberry has supports on both sides of the strawberry rack to support the strawberries in the air, and the picking component 300 is used for operation.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A non-destructive air-blowing automatic harvesting robot, characterized in that, It includes a walking chassis, a multi-axis robotic arm, harvesting components, a collection box, a vision recognition module, and a control system; The chassis serves as the mounting base for other structures. A multi-axis robotic arm, mounted on the walking chassis, can drive the picking components to adjust their posture; The harvesting component, installed at the working end of the multi-axis robotic arm, includes a stem-cutting device, a stem-clamping device, and a fruit-protecting device arranged sequentially from top to bottom in the harvesting state. The stem-cutting device includes two opposing cutting blades, and the stem-clamping device includes two opposing stem-clamping plates. The two cutting blades are respectively fixed to two detachable opening and closing arms, and the two stem-clamping plates are respectively installed on the two detachable opening and closing arms via elastic elements. The fruit-protecting device includes two expandable and closable arc-shaped protective covers. The interior of each arc-shaped protective cover has a strawberry cavity for accommodating the strawberry fruit in the closed state and a stem channel located above the strawberry cavity. The inner surfaces of the two arc-shaped protective covers are evenly distributed with several air-blowing holes, and the outer surface of each arc-shaped protective cover provides airflow towards the air-blowing holes. An air-blowing device for supplying air to the strawberry cavity, wherein the cutting openings of the two cutting blades, the stem clamping openings of the two stem clamping plates, and the stem channel are positioned sequentially from top to bottom; the arc-shaped protective cover is a hemispherical cover with a cover notch at the top, and when the two arc-shaped protective covers are closed, the two cover notches cooperate to form the stem channel; the surface of the arc-shaped protective cover is provided with an air-blowing interlayer, and the air-blowing hole is connected to the air-blowing interlayer; the outer surface of the arc-shaped protective cover is provided with an air supply hole connected to the air-blowing interlayer, and the air supply hole is connected to the air-blowing device; the air-blowing device includes an air pump, the air outlet of the air pump is fixedly connected to a three-way pipe, the two air outlets of the three-way pipe are connected to air supply hoses, and the air outlets of the two air supply hoses are respectively connected to the air supply holes of the two arc-shaped protective covers; Collection box for holding strawberries; The visual recognition module is used to identify the location of strawberries and determine their ripeness. The control system controls the automatic operation of each component.

2. The non-destructive air-blowing automatic harvesting robot as described in claim 1, characterized in that: A terminal connector is installed at the working end of the multi-axis robotic arm. An opening and closing arm base is fixedly installed on the terminal connector. Two opening and closing arm brackets are slidably installed on the opening and closing arm base. A bidirectional screw is rotatably installed in the opening and closing arm base. One end of the bidirectional screw is connected to the power end of the screw motor. The two opening and closing arm brackets are also threaded to both sides of the bidirectional screw. The two opening and closing arms are fixed to the two opening and closing arm brackets respectively.

3. The non-destructive air-blowing automatic harvesting robot as described in claim 1, characterized in that: The ends of the two opening and closing arms are slidably mounted with connecting slide rods, and the two clamping plates are respectively fixed to the inner ends of the two connecting slide rods. The elastic element is a spring sleeved on the connecting slide rod. The two ends of the spring abut against the clamping plate and the opening and closing arm respectively. In the natural state of the spring, the opening between the two clamping plates is smaller than the opening between the two cutting blades.

4. The non-destructive air-blowing automatic harvesting robot as described in claim 1, characterized in that: The inner surface of the end of the stem clamp is provided with a sponge layer.

5. The non-destructive air-blowing automatic harvesting robot as described in claim 1, characterized in that: The two cutting blades are arranged in a staggered manner, one above the other.

6. The non-destructive air-blowing automatic harvesting robot as described in claim 1, characterized in that: The two arc-shaped protective covers are respectively fixed with protective cover swing arms. The protective cover swing arms are fixedly connected to the protective cover swing shaft. The two ends of the protective cover swing shaft are rotatably mounted on the protective cover bracket. The two protective cover swing shafts are respectively fixed with meshing transmission gears. One of the protective cover swing shafts is also connected to the power end of the opening and closing motor.

Images