Fruit bionic picking device and using method thereof

Abstract

The invention discloses a bionic fruit picking device and a using method thereof, and relates to the technical field of fruit picking equipment. The bionic fruit picking device comprises a mechanical arm assembly, a fixing frame and a supporting plate fixed to one side of the fixing frame, and further comprises a sleeve fixed to the supporting plate, a guide ring is arranged on the outer side of the sleeve, a rotating ring is installed on the outer side of the guide ring in a sliding mode, clamping pieces are arranged on the rotating ring at equal intervals, and stripping plates are hinged to the positions, between every two adjacent clamping pieces, of the rotating ring. Through mutual cooperation of a guide ring, a rotating ring, a clamping piece and a stripping plate, cooperative cooperation of multiple separation actions of pull-down, screwing and boosting in the fruit picking process is achieved, the stripping plate periodically swings towards the center of a sleeve under driving of a rack and a second gear, downward boosting force is generated on the shoulder of a fruit, and the fruit picking effect is achieved. Not only can tough fruit stems be dealt with by means of downward pulling and screwing, but also the instant fracture risk of brittle fruit stems can be overcome by means of boosting, so that the probability of fruit stem residue or peel tearing is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of fruit picking equipment technology, specifically to a biomimetic fruit picking device and its usage method. Background Technology

[0002] Currently, mainstream mechanical harvesting technologies are divided into three categories based on the separation mechanism between the fruit and the plant: the first is the cutting method based on shearing, which requires strict recognition accuracy from machine vision and carries the risk of accidentally damaging the fruit. It is mainly suitable for varieties with long fruit stalks and distinctive features. The second is the shaking method based on swaying, which causes the fruit to fall off by driving the main trunk of the fruit tree to vibrate. However, under the dynamic impact, the skin of mature fruits is easily damaged by bumps and bruises. The third is the traction method based on pulling or twisting off. This method reduces the difficulty of recognition and positioning, but places higher demands on the joint freedom and control complexity of the harvesting actuator, so the operation efficiency is usually limited.

[0003] Chinese invention patent application CN114248282A discloses a harvesting end effector and method for spherical fruits. The device, through the coordinated use of a transmission module, a third spring, a first motor, a second motor, a second connector, a first support, a blade, a stem-picking module, an anti-touch module, an upper gripping module, a second support, and a lower gripping module, ensures that the length of the fruit stem remains basically consistent after harvesting. This eliminates the need for secondary trimming of the fruit stems, reducing labor costs and increasing economic benefits.

[0004] Although mechanical harvesting equipment has alleviated the pressure of manual harvesting to some extent, existing fruit harvesting equipment often lacks the ability to adapt to the shape, size and skin hardness of the fruit, and is prone to problems such as uneven clamping force, slippage or excessive local pressure, making it difficult to completely avoid mechanical damage to the fruit. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a biomimetic fruit-picking device and its usage method, thus solving the problems raised in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a biomimetic fruit picking device, comprising a robotic arm assembly, a fixed frame, and a support plate fixed to one side of the fixed frame, and further comprising: a sleeve fixed to the support plate, with a guide ring on its outer side, a rotating ring slidably mounted on the outer side of the guide ring, clamping members evenly spaced on the rotating ring, and a peeling plate hinged between two adjacent clamping members on the rotating ring; the guide ring has a high horizontal section, a low horizontal section, and a track-changing section connecting the two ends of the high horizontal section and the low horizontal section; wherein, when the clamping members are working, the rotating ring slides from the high horizontal section to the low horizontal section, causing the clamping members to decrease in height and causing the peeling plate to move toward the center of the sleeve.

[0007] Furthermore, a fixing ring is provided near the upper end of the outer side of the sleeve, and a rack is provided at equal intervals on the outer surface of the fixing ring; a second rotating shaft is provided at the hinge of the peeling plate and the rotating ring, and a third bevel gear is fixedly sleeved on one end of the second rotating shaft. A first rotating shaft is rotatably mounted on the rotating ring, and a fourth bevel gear is provided on the first rotating shaft to mesh with the third bevel gear; a second gear that meshes with the rack is fixedly connected to the upper end of the first rotating shaft, and a fixing box is embedded in the lower surface of the rotating ring. The lower end of the first rotating shaft extends into the fixing box and is equipped with a torsion spring. The torsion spring relaxes to make the peeling plate move away from the center of the sleeve.

[0008] Furthermore, a gear ring is provided at the outer edge of the lower surface of the rotating ring, and an installation groove is provided on the upper surface of the support plate. A driven shaft is rotatably installed in the installation groove. A first gear that meshes with the gear ring is slidably connected on the driven shaft along its axial direction, and a compression spring is provided on the outside of the driven shaft between the first gear and the bottom of the installation groove.

[0009] Furthermore, a fourth motor is fixed inside the fixing frame, and a drive shaft is installed at the output end of the fourth motor. One end of the drive shaft is provided with a first bevel gear, and the lower end of the driven shaft passes through the support plate and is equipped with a second bevel gear that meshes with the first bevel gear.

[0010] Furthermore, the clamping member includes a connecting rod hinged to the rotating ring. The connecting rod has an L-shaped base, on which a flexible finger clamp assembly is detachably fixed. The hinge point between the L-shaped base and the connecting rod is located at its inflection point. A cylinder is hinged to the outer edge of the rotating ring. The telescopic end of the cylinder is first hinged to the L-shaped base. A second movable rod is rotatably connected to the hinge point between the rotating ring and the connecting rod. The other end of the second movable rod is hinged to a first movable rod. The other end of the first movable rod is hinged to one side of the L-shaped base.

[0011] Furthermore, the flexible finger clip assembly includes an elastic plate fixed on an L-shaped base. The elastic plate has an inverted "V" shaped structure, with elastic fins evenly spaced on its inner side and an anti-slip panel on its outer side.

[0012] Furthermore, a bionic throat tube is installed at the lower end of the sleeve, and the inner wall of the bionic throat tube is provided with buffer liners at equal intervals; an air tube is provided at the lower end of the fixing frame, an air pump is provided at the input end of the air tube, and the output end of the air tube is connected to the bionic throat tube.

[0013] Furthermore, the robotic arm assembly includes: a base; a column rotatably mounted on the upper end of the base, with a first movable arm hinged to its upper end, a second movable arm rotatably mounted on the other end of the first movable arm, a third movable arm slidably connected to the outer side of the second movable arm along its axial direction, and the other end of the third movable arm rotatably connected to a fixed frame.

[0014] Furthermore, an electric telescopic bar is hinged to the column, the telescopic end of the electric telescopic bar is hinged to the middle section of the first movable arm, a second motor for driving the second movable arm to rotate is fixed to the other end of the first movable arm, a first motor for driving the third movable arm to slide is provided at one end of the second movable arm, and a third motor for driving the fixed frame to rotate is fixed to one end of the third movable arm.

[0015] The present invention also provides a biomimetic fruit picking device, comprising the following steps: S1. Adjust the flexible finger clamp assembly to the designated position using the robotic arm assembly; S2. Control the flexible finger clamp assembly to grip the fruit; S3. Drive the rotating ring to rotate, causing the height of the flexible finger clamp assembly to move down. At the same time, rotate the peeling plate towards the center of the sleeve to push the fruit downward and achieve fruit picking. S4. Drive the rotating ring to rotate, so that the flexible finger clamp assembly is reset, and at the same time, the torsion spring is used to reset the peeling plate. S5. Inflate the inner lining with an air pump and air pipe, and transport the harvested fruit to the designated location through a bionic throat tube to complete the fruit collection.

[0016] The present invention has the following beneficial effects: (1) The fruit-bionic harvesting device and its usage method, through the cooperation between the guide ring, the rotating ring, the clamping component and the peeling plate, realize the coordinated cooperation of multiple separation actions such as "pull down, twisting and pushing" during the fruit harvesting process. The high horizontal part, the low horizontal part and the track-changing part on the guide ring can transform the single rotation input of the rotating ring into a composite motion with both revolution and precise axial displacement. When the clamping component stably envelops the fruit through the flexible finger clamp assembly, the rotating ring moves from the high position to the low position along the guide ring, driving the fruit as a whole downward to make the fruit stalk bear tensile stress. At the same time, the rotational motion of the rotating ring is transmitted to the fruit through the clamping component, generating a gentle twisting torque. Under the drive of the rack and the second gear, the peeling plate swings periodically towards the center of the sleeve, generating a downward pushing force on the shoulder of the fruit. It can use the pull down and twisting to deal with tough fruit stalks, and can also use the pushing to overcome the risk of instantaneous breakage of brittle fruit stalks, thereby significantly improving the adaptability to different fruit physical characteristics and greatly reducing the probability of fruit stalk residue or fruit peel tearing.

[0017] (2) The fruit bionic harvesting device and its usage method cleverly transform the rotational motion into the synchronous and periodic opening and closing swing of the peeling plate, ensuring the high consistency of the actions of multiple peeling plates. It eliminates the need to configure an independent electric or pneumatic power source for each peeling plate, simplifying the control system and reducing manufacturing costs. The torsion spring ensures the automatic return of the peeling plate during the non-working phase, and the inner diameter of the sleeve feed end is enlarged to facilitate the guidance of the harvested fruit into the sleeve. The periodic opening and closing of the peeling plate avoids continuous damage to the fruit stem connection due to continuous strong pulling, which is conducive to maintaining the integrity of the fruit stem.

[0018] (3) The fruit-bionic picking device and its usage method achieve adaptive floating meshing between the first gear and the gear ring through the compression spring, allowing the first gear to slide axially on the driven shaft. At the same time, the compression spring provides continuous meshing pressure to ensure the continuity and stability of power transmission, effectively avoiding jamming, impact or even tooth dislodgement that may occur during track changing.

[0019] (4) The fruit bionic picking device and its usage method utilize an L-shaped base driven by a cylinder, which forms a linkage mechanism through a connecting rod, a first movable rod, and a second movable rod. This mechanism transforms the single linear cylinder thrust into the synchronous movement of multiple flexible finger grippers, ensuring that the fruit is uniformly and stably enveloped and grasped, rather than in point or line contact. The elastic plate and its inner elastic fin plate form multiple buffer functions, which can effectively absorb and disperse the clamping force to suit fruits of different sizes.

[0020] (5) The fruit bionic harvesting device and its usage method provide a soft sliding channel for the harvested fruit through the bionic throat and its internal inflatable buffer liner, effectively reducing the impact energy when the fruit falls, avoiding direct collision between the fruit and the bionic throat and mutual squeezing between the fruits, and improving the integrity of fruit collection.

[0021] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the mounting structure of the fixing frame in this invention; Figure 3 This is a schematic diagram of the installation structure of the sleeve in this invention; Figure 4 This is a schematic diagram of the mounting structure of the first gear in this invention; Figure 5 In this invention Figure 4 Top view; Figure 6 In this invention Figure 4 The main view; Figure 7 This is a cross-sectional view of the biomimetic throat in this invention; Figure 8 This is a schematic diagram of the installation structure of the peeling plate in this invention; Figure 9 For the present invention Figure 8 Enlarged view of point A in the middle; Figure 10 This is a schematic diagram of the guide ring structure in this invention; Figure 11 This is a schematic diagram of the mounting structure of the first rotating shaft in this invention; Figure 12 This is a schematic diagram of the installation structure of the flexible finger clip assembly in this invention; Figure 13 This is a schematic diagram of the flexible finger clip assembly in this invention.

[0023] In the diagram: 1. Base; 2. Column; 3. First movable arm; 4. Second movable arm; 5. Third movable arm; 6. Air pump; 7. Electric telescopic bar; 8. Air hose; 9. First motor; 10. Second motor; 11. Third motor; 12. Fixing frame; 13. Fourth motor; 14. Support plate; 15. Bionic throat; 1501. Buffer liner; 16. Sleeve; 17. Flexible finger clip assembly; 1701. Elastic plate; 1702. Anti-slip panel; 1703. Elastic fin plate; 18. Peeling plate; 19. Rotary ring; 20. Gear ring; 21. Drive shaft; 22. 23. First bevel gear; 24. Mounting slot; 25. Driven shaft; 26. First gear; 27. Compression spring; 28. Second bevel gear; 29. ​​Positioning camera; 30. Fixing ring; 31. Rack; 32. Guide ring; 33. First rotating shaft; 34. Second rotating shaft; 35. Third bevel gear; 36. Fourth bevel gear; 37. Second gear; 38. High horizontal part; 39. Low horizontal part; 40. Track changing part; 41. Fixing box; 42. Torsion spring; 43. Connecting rod; 44. Second movable rod; 45. First movable rod; 46. Cylinder; 47. L-shaped base. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0026] The following is based on Figure 1 - Figure 13 This invention describes the biomimetic fruit-picking device and its usage method provided in the embodiments of the present invention.

[0027] Please refer to Figure 1 - Figure 13 This invention provides a technical solution: a biomimetic fruit picking device, including a robotic arm assembly, a fixed frame 12, and a support plate 14 fixed to one side of the fixed frame 12. A positioning camera 28 is installed on the support plate 14 to quickly identify the fruit position, thereby controlling the robotic arm assembly to make the corresponding picking component quickly react to the designated position. It also includes a sleeve 16, which is fixed to the support plate 14. A guide ring 31 is provided on its outer side, and the guide ring 31 is fixedly connected to the sleeve 16. A rotating ring 19 is slidably installed on the outer side of the guide ring 31. Clamping elements are provided at equal intervals on the rotating ring 19, and the clamping elements are located on adjacent clamping elements on the rotating ring 19. A peeling plate 18 is hinged between the holding parts. The guide ring 31 has a high horizontal part 37, a low horizontal part 38, and a track-changing part 39 connecting the two ends of the high horizontal part 37 and the low horizontal part 38. The rotating ring 19 is provided with a slider that is slidably connected to the high horizontal part 37, the low horizontal part 38, and the track-changing part 39 to ensure that the rotating ring 19 can slide on the guide ring 31. When the rotating ring 19 slides from the high horizontal part 37 and the track-changing part 39 to the low horizontal part 38, the height position of the rotating ring 19 decreases. When the rotating ring 19 slides from the low horizontal part 38 and the track-changing part 39 to the high horizontal part 37, the height position of the rotating ring 19 increases.

[0028] Furthermore, during the operation of the clamping component, the fruit is fixedly clamped. At this time, the control ring 19 slides from the high horizontal part 37 to the low horizontal part 38, causing the clamping component to decrease in height, thereby clamping the fruit downwards and separating the fruit from the stem. At the same time, the control peeling plate 18 moves towards the center of the sleeve 16, so that the peeling plate 18 pushes the fruit downwards, improving the separation effect between the fruit and the stem. It should be noted that when the ring 19 rotates, the clamping component will drive the fruit to rotate synchronously, thereby "screwing" the fruit off, realizing multiple ways of picking the fruit and improving the picking effect. This multi-mode synchronous picking of "pull down, twist, and push" greatly improves the ability to handle different stem connection strengths. For fruits with fragile stems, pulling down and pushing may be sufficient to achieve separation, while for fruits with flexible stems, twisting can effectively overcome the toughness of the stem. The composite separation method significantly reduces the problem of peel tearing or stem residue that may be caused by a single force, improving the picking success rate and fruit integrity.

[0029] like Figure 4 , Figure 5 , Figure 6 , Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, to drive the peeling plate 18, a fixing ring 29 is provided near the upper end of the outer side of the sleeve 16 in the fruit bionic harvesting device provided in this embodiment. Racks 30 are evenly spaced on the outer surface of the fixing ring 29, and the number of racks 30 is the same as the number of peeling plates 18. To facilitate the rotation of the peeling plate 18, a second rotating shaft 33 is provided at the hinge point between the peeling plate 18 and the rotating ring 19. The second rotating shaft 33 is fixedly connected to the peeling plate 18, and its rotation angle is 0-120°. It is mainly limited by installing a limiting block on the hinge seat. To drive the second rotating shaft 33, a third bevel gear 34 is fixedly sleeved on one end of the second rotating shaft 33. The rotating ring 19... A first rotating shaft 32 is rotatably mounted, and a fourth bevel gear 35 meshes with a third bevel gear 34 on the first rotating shaft 32. The fourth bevel gear 35 drives the third bevel gear 34 to rotate through the first rotating shaft 32, thereby driving the second rotating shaft 33 to rotate, which in turn drives the peeling plate 18 to move. By utilizing the relative motion between the fixed rack 30 and the second gear 36 on the first rotating shaft 32 that revolves with the ring 19, the horizontal rotational motion of the ring 19 is converted into the periodic opening and closing oscillation of the peeling plate 18. There is no need to set a separate drive source for each peeling plate 18, which simplifies the structure, reduces the control complexity, and ensures the synchronicity of the actions of all peeling plates 18, thereby applying a uniform separation force to the circumference of the fruit.

[0030] Additionally, a second gear 36, meshing with a rack 30, is fixedly connected to the upper end of the first rotating shaft 32. When the rotating ring 19 rotates, the second gear 36 meshes with the rack 30, thereby driving the second gear 36 to rotate, which in turn drives the first rotating shaft 32 to rotate. This further causes the fourth bevel gear 35 to drive the third bevel gear 34 to rotate, thereby driving the second rotating shaft 33 to rotate, causing the peeling plate 18 to move toward the center of the sleeve 16. To achieve repeated movement of the peeling plate 18 and improve fruit harvesting efficiency, a fixing box 40 is embedded in the lower surface of the rotating ring 19. The lower end of the first rotating shaft 32 extends into the fixing box 40 and is equipped with a torsion spring 41. When the torsion spring 41 relaxes, it causes the peeling plate 18 to move away from the center of the sleeve 16. When the second gear 36 separates from the rack 30, the torsion spring 41 relaxes, causing the first rotating shaft 32 to rotate in the opposite direction, thereby causing the fourth bevel gear 35 to move toward the center of the sleeve 16. Gear 35 drives the third bevel gear 34 to rotate, which in turn drives the second rotating shaft 33 to rotate in the opposite direction, causing the peeling plate 18 to move away from the center of the sleeve 16. Since the number of racks 30 is the same as the number of peeling plates 18, the peeling plate 18 will repeatedly open and close during one rotation of the ring 19, thereby repeatedly pulling the fruit and improving the fruit picking effect. The periodic opening and closing of the peeling plate 18 generates an intermittent separation force similar to "massage". This dynamic action avoids the instantaneous stress concentration caused by continuous strong pulling at the fruit stalk connection, which is particularly beneficial for handling fruits with a relatively firm connection between the fruit stalk and the fruit stem. The intermittent force allows the fruit stalk to relax slightly between each force application, which is more in line with the mechanical characteristics of plant tissue and can achieve separation more gently and effectively, minimizing damage to the fruit growth point.

[0031] like Figure 4 , Figure 5 , Figure 6 and Figure 8 As shown, to drive the rotating ring 19, a gear ring 20 is provided at the outer edge of the lower surface of the rotating ring 19. A mounting groove 23 is provided on the upper surface of the support plate 14. A driven shaft 24 is rotatably mounted in the mounting groove 23. A first gear 25, which meshes with the gear ring 20, is slidably connected to the driven shaft 24 along its axial direction. A compression spring 26 is provided on the outer side of the driven shaft 24 between the first gear 25 and the bottom of the mounting groove 23. Rotation of the driven shaft 24 causes the first gear 25 to rotate, and the meshing of the first gear 25 with the gear ring 20 drives the rotating ring. As the rotating ring 19 rotates, its height position changes during rotation. When the rotating ring 19 moves downward, it pushes the disk of the first gear 25, causing the first gear 25 to slide downward on the driven shaft 24, thereby compressing the compression spring 26. When the rotating ring 19 moves upward, the compression spring 26 relaxes to push the first gear 25 to slide upward on the driven shaft 24, further causing the first gear 25 to abut against the gear ring 20, ensuring that the first gear 25 and the gear ring 20 are always in a meshing state, thus ensuring the stability of the driving process of the rotating ring 19.

[0032] The rotating ring 19 achieves adaptive floating engagement through the compression spring 26, avoiding the problem of power transmission stability in complex trajectory motion. The continuous thrust provided by the compression spring 26 ensures that the first gear 25 and the gear ring 20 always maintain effective engagement at different height positions, avoiding jamming or tooth disengagement that may occur due to trajectory changes, and ensuring the continuity and reliability of power transmission.

[0033] like Figure 1 - Figure 4 As shown, in order to drive the driven shaft 24, the fruit bionic picking device provided in this embodiment has a fourth motor 13 fixed in the fixed frame 12. A drive shaft 21 is installed at the output end of the fourth motor 13. A first bevel gear 22 is provided at one end of the drive shaft 21. The lower end of the driven shaft 24 passes through the support plate 14 and is equipped with a second bevel gear 27 that meshes with the first bevel gear 22. The fourth motor 13 drives the drive shaft 21 to rotate the first bevel gear 22. The meshing of the first bevel gear 22 and the second bevel gear 27 causes the driven shaft 24 to rotate.

[0034] like Figure 4 , Figure 12 and Figure 13 As shown, to achieve fruit gripping, the clamping component provided in this embodiment includes a connecting rod 42 hinged to the rotating ring 19. The connecting rod 42 is provided with an L-shaped base 46, on which a flexible finger clamp assembly 17 is detachably fixed. The hinge point between the L-shaped base 46 and the connecting rod 42 is located at its inflection point. A cylinder 45 is hinged to the outer edge of the rotating ring 19. The telescopic end of the cylinder 45 is first hinged to the L-shaped base 46. A second movable rod 43 is also rotatably connected to the hinge point between the rotating ring 19 and the connecting rod 42. The other end of the second movable rod 43 is hinged to... There is a first movable rod 44, the other end of which is hinged to one side of the L-shaped base 46. When the fruit is picked up, the cylinder 45 extends and drives the L-shaped base 46 to move toward the center of the sleeve 16, so that the L-shaped base 46 drives the flexible finger clamp assembly 17 to clamp the fruit. With the cooperation of the connecting rod 42, the second movable rod 43 and the first movable rod 44, the stability of the clamp is improved when it is used. The three-finger structure imitates the distributed force of human fingers and realizes the synchronous movement of the fingers through the connecting rod to adapt to curved or irregularly shaped objects.

[0035] like Figure 12 and Figure 13As shown, to prevent damage to the fruit skin when picking up fruit, the flexible finger clamp assembly 17 provided in this embodiment includes an elastic plate 1701 fixed on an L-shaped base 46. The elastic plate 1701 has an inverted "V" shaped structure, with elastic fins 1703 evenly spaced on its inner side and an anti-slip panel 1702 on its outer side. When picking up fruit, the fruit squeezes the elastic plate 1701 and compresses the elastic fins 1703, thereby avoiding damage to the fruit skin. It should be noted that a pressure sensor is installed on the anti-slip panel 1702 to detect the fruit picking force and further prevent damage to the fruit skin during the picking process.

[0036] The elastic plate 1701 and the elastic fin plate 1703 in the flexible finger clamp assembly 17 form an efficient buffer structure that can absorb the clamping force and distribute it evenly. The pressure sensor realizes closed-loop feedback control of the clamping force, so that the clamping force is always kept within a precise range that can reliably grasp the fruit without damaging it. This is crucial for the harvesting of fruits with delicate skin and high value.

[0037] like Figure 1 , Figure 6 and Figure 7 As shown, to achieve fruit collection after harvesting, the bionic harvesting device provided in this embodiment has a bionic throat 15 installed at the lower end of the sleeve 16. The inner wall of the bionic throat 15 is provided with buffer liners 1501 at equal intervals. The buffer liners 1501 can be inflated. An air pipe 8 is provided at the lower end of the fixed frame 12. An air pump 6 is provided at the input end of the air pipe 8, and the output end of the air pipe 8 is connected to the bionic throat 15. After the fruit is harvested, the gravitational potential energy of the fruit as it rolls along the bionic throat 15 is gradually converted into kinetic energy. At this time, the skin of the fruit is very easy to be damaged. By inflating the bionic throat 15 with air by the air pump 6, the bionic throat 15 has a flexible buffer function, which effectively attenuates the impact energy during the falling and rolling of the fruit and reduces the problem of secondary damage in the collection process after harvesting.

[0038] like Figure 1 - Figure 3As shown, the robotic arm assembly provided in this embodiment includes a base 1 and a column 2. The column 2 is rotatably mounted on the upper end of the base 1, and a first movable arm 3 is hinged to its upper end. A second movable arm 4 is rotatably mounted on the other end of the first movable arm 3. A third movable arm 5 is slidably connected to the outer side of the second movable arm 4 along its axial direction. The other end of the third movable arm 5 is rotatably connected to a fixed frame 12. An electric telescopic bar 7 is hinged to the column 2. The telescopic end of the electric telescopic bar 7 is hinged to the middle section of the first movable arm 3. A second motor 10 for driving the rotation of the second movable arm 4 is fixed to the other end of the first movable arm 3. A first motor 9 for driving the sliding of the third movable arm 5 is provided at one end of the second movable arm 4. The third movable arm 5 is fixed at one end with a third motor 11 for driving the fixed frame 12 to rotate. The angle between the first movable arm 3 and the horizontal plane is adjusted by the electric telescopic bar 7, and the angle between the second movable arm 4 and the horizontal plane is adjusted by the second motor 10. The third movable arm 5 is driven by the first motor 9 to slide on the second movable arm 4, thereby adjusting the distance between the fixed frame 12 and the first motor 9, and thus adjusting the position of the sleeve 16. The structural characteristics of this multi-degree-of-freedom robotic arm give the equipment accessibility and flexibility, ensuring that the end effector used for fruit picking can approach the fruit in the best posture, creating favorable conditions for subsequent biomimetic low-damage picking actions.

[0039] The present invention also provides a method for using a biomimetic fruit picking device, comprising the following steps: S1. Adjust the flexible finger clamp assembly 17 to the designated position using the robotic arm assembly; S2. Control the flexible finger clamp assembly 17 to work and clamp the fruit; S3. Drive the rotating ring 19 to rotate, causing the height position of the flexible finger clamp assembly 17 to move down. At the same time, the peeling plate 18 rotates towards the center of the sleeve 16 to push the fruit downward and achieve fruit picking. S4. Drive the rotating ring 19 to rotate, so that the flexible finger clamp assembly 17 is reset, and at the same time, the torsion spring 41 is used to reset the peeling plate 18. S5. Inflate the buffer liner 1501 with air pump 6 and air pipe 8, and transport the harvested fruit to the designated location through the bionic throat 15 to complete the fruit collection.

[0040] During use (operation), the angle between the first movable arm 3 and the horizontal plane is adjusted by the electric telescopic bar 7, the angle between the second movable arm 4 and the horizontal plane is adjusted by the second motor 10, and the third movable arm 5 is driven by the first motor 9 to slide on the second movable arm 4, thereby adjusting the distance between the fixing frame 12 and the first motor 9, thus adjusting the position of the sleeve 16, so that the flexible finger clamp assembly 17 moves to the designated position. The extension of the cylinder 45 drives the L-shaped base 46 to move towards the center of the sleeve 16, so that the L-shaped base 46 drives the flexible finger clamp assembly 17 to clamp the fruit. With the cooperation of the connecting rod 42, the second movable rod 43 and the first movable rod 44, the stability of the clamping component during use is improved.

[0041] The fourth motor 13 is started, causing the drive shaft 21 to drive the first bevel gear 22 to rotate. The first bevel gear 22 meshes with the second bevel gear 27, causing the driven shaft 24 to rotate. The rotation of the driven shaft 24 causes the first gear 25 to rotate. The first gear 25 meshes with the gear ring 20, driving the rotating ring 19 to rotate. Since the height of the rotating ring 19 changes during rotation, when the rotating ring 19 moves downwards, it pushes the surface of the first gear 25, causing it to slide downwards on the driven shaft 24, thus compressing the compression spring 26. When the rotating ring 19 moves upwards, the compression spring 26 relaxes, pushing the first gear 25 upwards on the driven shaft 24, further causing the first gear 25 to abut against the gear ring 20. This ensures that the first gear 25 and the gear ring 20 are always in a meshed state, guaranteeing the stability of the rotating ring 19's driving process. At this time, the rotating ring 19 cooperates with the guide ring 31, causing the rotating ring 19 to... The high horizontal part 37 slides to the low horizontal part 38, further lowering the height of the clamping member, thereby clamping the fruit downwards and separating the fruit from the stem. At the same time, when the rotating ring 19 rotates, the second gear 36 meshes with the rack 30, thereby driving the second gear 36 to rotate, which in turn drives the first rotating shaft 32 to rotate. This further drives the fourth bevel gear 35 to drive the third bevel gear 34 to rotate, thereby driving the second rotating shaft 33 to rotate, causing the peeling plate 18 to move toward the center of the sleeve 16. When the second gear 36 separates from the rack 30, the torsion spring 41 relaxes, causing the first rotating shaft 32 to rotate in the opposite direction. This causes the fourth bevel gear 35 to drive the third bevel gear 34 to rotate, further driving the second rotating shaft 33 to rotate in the opposite direction, causing the peeling plate 18 to move away from the center of the sleeve 16. This causes the peeling plate 18 to open and close repeatedly, thereby repeatedly pulling the fruit, thus improving the fruit picking effect and realizing multiple ways of picking the fruit.

[0042] Finally, air is pumped into the bionic throat 15 by the air pump 6, so that the bionic throat 15 has a flexible buffer function, which effectively reduces the impact energy during the falling and rolling of the fruit and reduces the problem of secondary damage during the collection process after harvesting.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0044] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fruit bionic picking device, comprising a mechanical arm assembly, a fixing frame (12), and a support plate (14) fixed to one side of the fixing frame (12), characterized in that, Also include: The sleeve (16) is fixed on the support plate (14), and the outer side is provided with a guide ring (31), the outer side of the guide ring (31) is slidably installed with a rotating ring (19), the rotating ring (19) is provided with a clamping piece at equal intervals, and the rotating ring (19) is hingedly connected with a stripping plate (18) between adjacent two clamping pieces; The guide ring (31) has a high level horizontal part (37), a low level horizontal part (38) and a variable rail part (39) connecting the two ends of the high level horizontal part (37) and the low level horizontal part (38); Wherein, the clamping piece works, the rotating ring (19) slides from the high level horizontal part (37) to the low level horizontal part (38), the height of the clamping piece is lowered, and the stripping plate (18) is moved towards the center of the sleeve (16).

2. The fruit bionic picking device according to claim 1, characterized in that, The outer side of the sleeve (16) is provided with a fixed ring (29) near the upper end, and the outer surface of the fixed ring (29) is provided with a rack (30) at equal intervals; The second rotating shaft (33) is fixedly provided with a third bevel gear (34) at one end, the rotating ring (19) is rotatably provided with a first rotating shaft (32), and the first rotating shaft (32) is provided with a fourth bevel gear (35) engaged with the third bevel gear (34); The first rotating shaft (32) is fixedly connected with a second gear (36) engaged with the rack (30) at the upper end, the lower surface of the rotating ring (19) is embedded with a fixed box (40), the first rotating shaft (32) extends into the fixed box (40) and is provided with a torsion spring (41), and the relaxation of the torsion spring (41) makes the stripping plate (18) away from the center of the sleeve (16).

3. The fruit bionic picking device according to claim 2, characterized in that, The lower surface of the rotating ring (19) is provided with a gear ring (20) at the outer edge position, the upper surface of the support plate (14) is provided with a mounting groove (23), the mounting groove (23) is rotatably provided with a driven shaft (24), the driven shaft (24) is slidably connected with a first gear (25) engaged with the gear ring (20) along the axial direction, and the driven shaft (24) is provided with a compression spring (26) between the first gear (25) and the bottom of the mounting groove (23) on the outer side.

4. The fruit bionic picking device according to claim 3, characterized in that, The fourth motor (13) is fixedly arranged in the fixed frame (12), the fourth motor (13) is provided with a driving shaft (21) at the output end, the driving shaft (21) is provided with a first bevel gear (22) at one end, and the driven shaft (24) penetrates through the support plate (14) and is provided with a second bevel gear (27) engaged with the first bevel gear (22) at the lower end.

5. The fruit picking device according to any one of claims 1 to 4, wherein The clamping piece includes a connecting rod (42) hingedly connected to the rotating ring (19), the connecting rod (42) is provided with an L-shaped base (46), the L-shaped base (46) is detachably fixed with a flexible finger clamping assembly (17), and the hinge point of the L-shaped base (46) and the connecting rod (42) is located at the inflection point thereof; The outer edge of the swivel ring (19) is hinged with a gas cylinder (45), the telescopic end of the gas cylinder (45) is hinged with an L-shaped base (46) first, the swivel ring (19) is hinged with a connecting rod (42), and the other end of the connecting rod (42) is rotatably connected with a second movable rod (43), the other end of the second movable rod (43) is hinged with a first movable rod (44), and the other end of the first movable rod (44) is hinged with one side of the L-shaped base (46).

6. The fruit emulating picking device according to claim 5, wherein The flexible finger clamp assembly (17) comprises an elastic plate (1701) fixed on the L-shaped base (46), the elastic plate (1701) is a reverse "V" shaped structure, the inner side of the elastic plate (1701) is provided with elastic fins (1703) at equal intervals, and the outer side of the elastic plate (1701) is provided with a non-slip panel (1702).

7. The fruit emulating picking device according to claim 6, wherein The lower end of the sleeve (16) is provided with a bionic throat pipe (15), and the inner wall of the bionic throat pipe (15) is provided with a buffer lining (1501) at equal intervals. The lower end of the fixed frame (12) is provided with an air pipe (8), the input end of the air pipe (8) is provided with an inflation pump (6), and the output end of the air pipe (8) is communicated with the bionic throat pipe (15).

8. The fruit emulating picking device according to claim 7, wherein The mechanical arm assembly comprises: a base (1); a stand (2) rotatably installed on the upper end of the base (1), a first movable arm (3) hinged to the upper end of the stand (2), a second movable arm (4) rotatably installed on the other end of the first movable arm (3), a third movable arm (5) slidably connected to the outer side of the second movable arm (4) along the axial direction of the second movable arm (4), and the other end of the third movable arm (5) rotatably connected with the fixed frame (12).

9. The fruit emulating picking device according to claim 8, wherein, The stand (2) is hinged with an electric telescopic rod (7), the telescopic end of the electric telescopic rod (7) is hinged with the middle segment of the first movable arm (3), the other end of the first movable arm (3) is fixed with a second motor (10) for driving the second movable arm (4) to rotate, the one end of the second movable arm (4) is provided with a first motor (9) for driving the third movable arm (5) to slide, and the one end of the third movable arm (5) is fixed with a third motor (11) for driving the fixed frame (12) to rotate.

10. A method for using a fruit bionic picking device, suitable for the fruit bionic picking device according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1, adjusting the flexible finger clamp assembly (17) to a specified position by the mechanical arm assembly; S2, controlling the flexible finger clamp assembly (17) to work and clamp the fruit; S3, driving the swivel ring (19) to rotate, so that the height position of the flexible finger clamp assembly (17) is lowered, and at the same time, the stripping plate (18) is rotated towards the center direction of the sleeve (16) to push the fruit downward, so as to realize the fruit picking; S4, driving the swivel ring (19) to rotate, so that the flexible finger clamp assembly (17) is reset, and at the same time, the stripping plate (18) is reset by the torsional spring (41); S5, inflating the buffer lining (1501) by the inflation pump (6) and the air pipe (8), and transporting the picked fruit to a specified position by the bionic throat pipe (15), so as to complete the fruit collection.

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