Automatic navel orange picking robot capable of imitating spider all-terrain walking

Abstract

The invention discloses a navel orange automatic picking robot capable of imitating spider all-terrain walking, and relates to the field of fruit picking robotics.The navel orange automatic picking robot comprises a bearing box, multiple sets of walking components, a mechanical arm assembly, a picking component, a variable speed fan and a collecting box, and the multiple sets of walking components are symmetrically and evenly distributed on the left side and the right side of the bearing box; the mechanical arm assembly is rotatably connected to the top of the bearing box, the picking component is connected to the execution end of the mechanical arm assembly and communicates with the collecting box through the telescopic hose, and the variable speed fan is arranged at the end, close to the picking component, of the mechanical arm assembly. The walking part, the mechanical arm assembly, the picking part and the variable speed fan are all electrically connected with a PLC arranged in the bearing box. The robot can stably walk under various complex terrains, and meanwhile, the navel orange picking efficiency is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of fruit picking robots, and more particularly to an automatic navel orange picking robot that mimics spider-like all-terrain walking. Background Technology

[0002] Currently, most existing navel orange picking robots use tires or tracks for their walking components. When walking on uneven ground, the robots are prone to tipping over due to instability. Furthermore, when picking navel oranges, the robots usually put the picked oranges into a collection device before starting the next orange picking operation, which reduces the picking efficiency.

[0003] Therefore, how to develop an automated navel orange harvesting robot that mimics spider-like all-terrain walking, enabling the robot to walk smoothly in various complex terrains, while effectively improving the harvesting efficiency of navel oranges, has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an automated navel orange harvesting robot that mimics spider-like all-terrain walking, enabling the robot to walk smoothly in various complex terrains while effectively improving the harvesting efficiency of navel oranges.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] This invention discloses an automatic navel orange harvesting robot that mimics spider-like all-terrain walking, comprising a carrier box, walking components, a robotic arm assembly, a harvesting component, a variable-speed fan, and a collection box. Multiple sets of the walking components are symmetrically distributed on the left and right sides of the carrier box. The robotic arm assembly is rotatably connected to the top of the carrier box. The harvesting component is connected to the execution end of the robotic arm assembly and is connected to the collection box via a telescopic flexible hose. The variable-speed fan is located at the end of the robotic arm assembly near the harvesting component. The walking components, robotic arm assembly, harvesting component, and variable-speed fan are all electrically connected to a PLC controller installed inside the carrier box.

[0007] Preferably, a plurality of first cameras are installed on the top of the carrier box, and the working end of each first camera faces a different direction. The first camera is electrically connected to the PLC controller.

[0008] Preferably, the robotic arm assembly includes a first robotic arm, a second robotic arm, and a robotic arm base. The robotic arm base is rotatably mounted on the top of the carrier box. The fixed end of the first robotic arm is hinged to the robotic arm base via a first joint motor. The fixed end of the second robotic arm is hinged to the driven end of the first robotic arm via a second joint motor. The picking component is fixedly connected to the actuating end of the second robotic arm. The variable speed fan is located at one end of the second robotic arm near the picking component. Both the first joint motor and the second joint motor are electrically connected to the PLC controller.

[0009] Preferably, the second robotic arm is further provided with a second camera for acquiring information about the target to be picked. The second camera is located between the variable speed fan and the picking component, and the working end of the second camera and the working end of the picking component are both facing the target to be picked. The second camera is electrically connected to the PLC controller.

[0010] Preferably, the harvesting component includes a mechanical hand and a mechanical claw. One side of the mechanical hand is fixedly connected to the driven end of the second mechanical arm. A circular channel is provided at the palm position of the mechanical hand. The outlet end of the circular channel is connected to the collection box through the telescopic hose. The mechanical claw is installed on the top of the mechanical hand and is electrically connected to the PLC controller.

[0011] Preferably, the mechanical claw includes a first mechanical joint and a pair of shearing fingers and auxiliary fingers. The shearing fingers and auxiliary fingers are all distributed in a circular pattern through the first mechanical joint and hinged to the top of the mechanical claw. The pair of shearing fingers and the pair of auxiliary fingers are spaced apart. The first mechanical joint is electrically connected to the PLC controller.

[0012] Preferably, the shearing finger includes a first shearing finger body, a second shearing finger body, a slice, a limiting rod, a nylon rope, a spring telescopic rod, a universal joint, and a distance sensor. The second shearing finger body is hinged to the top of the mechanical hand via the first mechanical joint. The first shearing finger body is rotatably connected to the second shearing finger body via the universal joint. The slice is fixedly connected to the top of the first shearing finger body. The distance sensor is installed in the upper middle part of the first shearing finger body. The limiting rod and the spring telescopic rod are both connected to the second shearing finger body at a certain angle. The fixed end of the spring telescopic rod is connected to the lower middle part of the second shearing finger body. The working end of the spring telescopic rod is connected to the upper middle part of the first shearing finger body via the nylon rope. The distance sensor is electrically connected to the PLC sensor.

[0013] Preferably, the length of the auxiliary finger is less than the length of the cutting finger.

[0014] Preferably, the walking component includes a connecting rod, a multi-segment telescopic rod, a square pedal, a third joint motor, and a second mechanical joint. Multiple third joint motors are symmetrically mounted on the left and right sides of the carrier box. The fixed ends of multiple connecting rods are connected to the output ends of the third joint motors via ball joints. The fixed ends of the multi-segment telescopic rods are connected to the driven ends of the connecting rods in a V-shape via the second mechanical joint. The square pedal is connected to the working end of the multi-segment telescopic rod via a ball joint. Both the third joint motor and the second mechanical joint are electrically connected to the PLC controller.

[0015] Preferably, the multi-segment telescopic rod is connected to a hydraulic or pneumatic drive device built into the bearing box via a pipe, and the hydraulic or pneumatic drive device is electrically connected to the PLC controller.

[0016] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0017] 1) The second camera and variable speed fan are set up. The second camera is set up to obtain image information of the navel oranges to be picked. This allows the PLC controller to analyze the shading of the navel oranges by the leaves based on the image information signal, and control the variable speed fan to start, stop and adjust the air volume, thus assisting the picking component in picking the navel oranges.

[0018] 2) The circular channel and telescopic hose are designed with cushioning material on the surface of the circular channel to protect the navel oranges from bumps and knocks. At the same time, the telescopic hose assists in the transportation of the navel oranges. The harvested navel oranges will pass through the circular channel and telescopic hose in sequence into the collection box, eliminating the need for the mechanical claw to place the navel oranges into the collection box and improving the harvesting efficiency.

[0019] 3) The multi-segment telescopic rods allow the robot to extend or shorten on uneven surfaces or uphill / downhill, depending on the road conditions. This effectively prevents the robot from tipping over due to instability and ensures its stability. Additionally, if the position of the navel oranges to be picked is too high and the overall length of the robotic arm is insufficient, the robot's height can be increased by extending the multi-segment telescopic rods to reach the oranges.

[0020] 4) The mechanical claw is designed to cut the stems of navel oranges of different sizes. At the same time, the mechanical claw can automatically adjust the clamping angle and position according to the size of the navel oranges, effectively avoiding damage during the harvesting process and ensuring the integrity of the navel oranges.

[0021] In summary, this invention enables robots to walk smoothly in various complex terrains, while effectively improving the harvesting efficiency of navel oranges. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of an automatic navel orange picking robot that mimics spider-like all-terrain walking, according to the present invention.

[0024] Figure 2 This is a schematic diagram of the harvesting component of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the walking component of the present invention;

[0026] Figure 4 This is a schematic diagram of the spring telescopic rod of the present invention.

[0027] Explanation of reference numerals in the attached drawings: 1. Carrier box; 2. Walking component; 21. Connecting rod; 22. Multi-segment telescopic rod; 23. Square pedal; 24. Third joint motor; 3. Robotic arm assembly; 31. First robotic arm; 32. Second robotic arm; 33. Robotic arm base; 34. First joint motor; 35. Second joint motor; 4. Harvesting component; 41. Mechanical hand; 411. Circular channel; 42. Mechanical claw; 421. Cutting finger; 422. Auxiliary finger; 4211. First cutting finger body; 4212. Second cutting finger body; 4213. Slice; 4214. Limiting rod; 4215. Nylon rope; 4216. Spring telescopic rod; 4217. Universal joint; 4218. Distance sensor; 4216-1. Spring; 4216-2. Cylinder; 4216-3. Piston rod; 5. Variable speed fan; 6. Telescopic hose; 7. First camera; 8. Second camera. Detailed Implementation

[0028] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] like Figure 1-4As shown, an automated navel orange harvesting robot with spider-like all-terrain walking capability includes a carrying box 1, walking components 2, a robotic arm assembly 3, a harvesting component 4, a variable-speed fan 5, and a collection box. Multiple sets of walking components 2 are symmetrically distributed on the left and right sides of the carrying box 1. The robotic arm assembly 3 is rotatably connected to the top of the carrying box 1. The harvesting component 4 is connected to the execution end of the robotic arm assembly 3 and is connected to the collection box via a telescopic hose 6. The variable-speed fan 5 is located at the end of the robotic arm assembly 3 near the harvesting component 4. The walking components 2, robotic arm assembly 3, harvesting component 4, and variable-speed fan 5 are all electrically connected to a PLC controller installed inside the carrying box 1. Specifically, in this embodiment, the harvested navel oranges are placed in a collection box. The collection box can be installed at the bottom of the carrying box 1; alternatively, rollers can be installed at the bottom of the collection box, and the collection box can be connected to the tail of the carrying box 1 via hooks. Users can also choose other devices for collecting and holding navel oranges according to actual needs.

[0030] Specifically, multiple first cameras 7 are mounted on the top of the carrier box 1, and the working end of each first camera 7 faces a different direction. The first cameras 7 are electrically connected to the PLC controller. Specifically, the first cameras 7 are designed to acquire environmental information along the robot's path, facilitating the robot's autonomous obstacle avoidance and selection of a suitable route.

[0031] Specifically, the robotic arm assembly 3 includes a first robotic arm 31, a second robotic arm 32, and a robotic arm base 33. The robotic arm base 33 is rotatably mounted on the top of the carrier box 1. The fixed end of the first robotic arm 31 is hinged to the robotic arm base 33 via a first joint motor 34. The fixed end of the second robotic arm 32 is hinged to the driven end of the first robotic arm 31 via a second joint motor 35. The picking component 4 is fixedly connected to the execution end of the second robotic arm 32. The variable speed fan 5 is located at the end of the second robotic arm 32 near the picking component 4. Both the first joint motor 34 and the second joint motor 35 are electrically connected to the PLC controller.

[0032] Specifically, the second robotic arm 32 is also equipped with a second camera 8 for acquiring information about the target to be picked. The second camera 8 is located between the variable speed fan 5 and the picking component 4, and the working end of the second camera 8 and the working end of the picking component 4 both face the target to be picked. The second camera 8 is electrically connected to the PLC controller. Specifically, the user can freely adjust the orientation of the working end of the second camera 8 according to the actual situation. The orientation of the working end of the second camera 8 can be consistent with the orientation of the working end of the picking component 4, that is, the normal direction of the robotic arm 41; the orientation of the working end of the second camera 8 can be slightly tilted towards the picking component 4. Specifically, the second camera 8 is used to acquire image information of the navel orange to be picked. After receiving the image information signal, the PLC controller controls the picking component 4 to complete the navel orange picking operation. Specifically, when the picking component 4 is picking the navel orange, the PLC controller will also analyze the shading of the navel orange by the leaves according to the image information and control the variable speed fan 5 to start and stop and adjust the air volume to assist the picking component 4 in completing the picking of the navel orange.

[0033] Specifically, such as Figure 1-2 As shown, the harvesting component 4 includes a mechanical hand 41 and a mechanical claw 42. One side of the mechanical hand 41 is fixedly connected to the driven end of the second robotic arm 32. A circular channel 411 is provided at the palm position of the mechanical hand 41. The outlet end of the circular channel 411 is connected to the collection box through the telescopic hose 6. The mechanical claw 42 is installed on the top of the mechanical hand 41 and is electrically connected to the PLC controller. Specifically, the surface of the circular channel 411 is coated with cushioning material to protect the navel oranges from bumps. Specifically, the telescopic hose 6 is designed to assist in the transportation of the navel oranges. The harvested navel oranges will pass through the circular channel 411 and the telescopic hose 6 in sequence into the collection box, eliminating the need for the mechanical claw 42 to place the navel oranges into the collection box and improving the harvesting efficiency.

[0034] Specifically, the mechanical claw 42 includes a first mechanical joint and a pair of shearing fingers 421 and auxiliary fingers 422. The shearing fingers 421 and auxiliary fingers 422 are circularly distributed and hinged to the top of the mechanical hand 41 via the first mechanical joint, with the pair of shearing fingers 421 and the pair of auxiliary fingers 422 spaced apart. The first mechanical joint is electrically connected to the PLC controller. Specifically, the number of shearing fingers 421 is set to one pair, and the number of auxiliary fingers 422 is set to at least one pair. Specifically, the first mechanical joint includes multiple first links and a servo motor for driving the first links to rotate. The multiple first links are rotatably connected to the mechanical hand 41. The shearing fingers 421 and auxiliary fingers 422 are hinged to their corresponding first links, and the first links are perpendicular to the plane of their corresponding shearing fingers 421 or auxiliary fingers 422. The servo motor drives the first links to rotate, thereby causing the shearing fingers 421 and auxiliary fingers 422 to complete the closing or opening action.

[0035] Specifically, the shearing finger 421 includes a first shearing finger body 4211, a second shearing finger body 4212, a slice 4213, a limiting rod 4214, a nylon rope 4215, a spring telescopic rod 4216, a universal joint 4217, and a ranging sensor 4218. The second shearing finger body 4212 is hinged to the top of the mechanical hand 41 via the first mechanical joint. The first shearing finger body 4211 is rotatably connected to the second shearing finger body 4212 via the universal joint 4217. The slice 4213 is fixedly connected to the first shearing finger body. At the top of 4211, the ranging sensor 4218 is installed in the upper middle part of the first shearing finger body 4211. The limiting rod 4214 and the spring telescopic rod 4216 are both connected to the second shearing finger body 4212 at a certain angle. The fixed end of the spring telescopic rod 4216 is connected to the lower middle part of the second shearing finger body 4212. The working end of the spring telescopic rod 4216 is connected to the upper middle part of the first shearing finger body 4211 through the nylon rope 4215. The ranging sensor 4218 is electrically connected to the PLC sensor.Specifically, each end of the two first cutting fingers 4211 is provided with a slice 4213. When the cutting fingers 421 close, the two slices 4213 cooperate with each other to complete the cutting operation of the navel orange stem. Specifically, the distance sensor 4218 can be a CPD ultra-thin photoelectric sensor, and the distance sensor 4218 is set in pairs. The distance sensor 4218 is used to detect the distance between the two cutting fingers 421. When the two slices 4213 close to cut the stem, the paired distance sensors... 4218 will monitor the distance between each other in real time until the distance between the two distance sensors 4218 reaches a preset value, indicating that the slice 4213 has completed the stem cutting operation. At this time, the distance sensor 4218 will transmit a signal to the PLC controller. After receiving this signal, the PLC controller will control the shearing finger 421 to stop the closing operation. Specifically, the setting of the limiting rod 4214 plays a role in limiting the inward closing distance of the shearing finger 421, which can effectively prevent the tip of the first shearing finger body 4211 from closing too far inward. The large amount of damage to the navel oranges; specifically, the spring telescopic rod 4216 includes a spring 4216-1, a cylinder 4216-2, and a piston rod 4216-3. The fixed end of the cylinder 4216-2 is inclined at a certain angle and connected to the lower middle part of the shearing finger 421. One end of the piston rod 4216-3 is slidably connected to the inner cavity of the cylinder 4216-2 and fixedly connected to one end of the spring 4216-1. The other end of the spring 4216-1 is fixedly connected to the inner cavity of the cylinder 4216-2. At the bottom, the other end of the piston rod 4216-3 is connected to the nylon rope 4215. Specifically, the nylon rope 4215 is designed to cooperate with the auxiliary finger 422 to clamp the navel orange, thereby improving the clamping and fixing effect of the navel orange. Specifically, the spring telescopic rod 4216 is designed to adjust the clamping position of the nylon rope 4215 according to the size of the navel orange. At the same time, the nylon rope 4215 also adjusts the distance at which the top of the first cutting finger body 4211 closes inward around the universal joint 4217, thereby realizing the cutting operation of the stem of navel oranges of different sizes.

[0036] Specifically, the length of the auxiliary finger 422 is less than the length of the shearing finger 421. Specifically, because the length of the auxiliary finger 422 is shorter than that of the shearing finger 421, there will be no conflict between the auxiliary finger 422 and the shearing finger 421 when they close simultaneously.

[0037] Specifically, the walking component 2 includes a connecting rod 21, a multi-segment telescopic rod 22, a square pedal 23, a third joint motor 24, and a second mechanical joint. Multiple third joint motors 24 are symmetrically installed on the left and right sides of the carrier box 1. The fixed ends of the multiple connecting rods 21 are connected to the output ends of the third joint motors 24 via ball joints. The fixed ends of the multi-segment telescopic rods 22 are connected to the driven ends of the connecting rods 21 in a V-shape via the second mechanical joint. The square pedal 23 is connected to the working end of the multi-segment telescopic rods 22 via ball joints. The third joint motors 24 and the second mechanical joint are both electrically connected to the PLC controller. Specifically, the fixed end of the connecting rod 21 and the output end of the third joint motor 24, and the square pedal 23 and the working end of the multi-segment telescopic rod 22 are all connected by a ball joint structure. The connection point between the third joint motor 24 and the connecting rod 21 forms the first joint, the connection point between the connecting rod 21 and the multi-segment telescopic rod 22 forms the second joint, and the connection point between the multi-segment telescopic rod 22 and the square pedal 23 forms the third joint. This allows the walking component 2 to achieve multiple degrees of freedom in multiple directions through multiple joints, facilitating the robot's straight-line walking or turning operations. Specifically, the square pedal 23 is designed to increase the force-bearing area between the robot and the ground. The function is to improve the walking stability of the robot. Specifically, the second mechanical joint includes a second connecting rod and a drive motor for driving the second connecting rod to rotate. The fixed end of the multi-segment telescopic rod 22 and the driven end of the connecting rod 21 are both connected to the same second connecting rod. The fixed end of the multi-segment telescopic rod 22 is connected to the second connecting rod through gear meshing. The driven end of the connecting rod 21 is rotatably connected to the second connecting rod. The drive motor drives the second connecting rod to rotate, thereby causing the multi-segment telescopic rod 22 to rotate relative to the connecting rod 21. The drive motor is electrically connected to the PLC controller.

[0038] Specifically, the multi-segment telescopic rods 22 are connected to a hydraulic or pneumatic drive device built into the carrier box 1 via pipes, and the hydraulic or pneumatic drive device is electrically connected to the PLC controller. Specifically, when the robot walks on uneven ground or needs to operate uphill or downhill, each segment of the telescopic rod 22 can be extended or shortened according to the road conditions, effectively preventing the robot from tipping over due to instability. Specifically, when the position of the navel orange to be picked is too high, and the length of the robotic arm assembly 3 is insufficient, the overall height of the robot can be increased by extending the multi-segment telescopic rods 22 to achieve the purpose of picking the navel oranges at a higher position.

[0039] The process of using this invention is as follows:

[0040] Step 1: The robot acquires environmental information about its path by using multiple first cameras mounted on top of the carrier box. The PLC controller then issues commands to the walking components based on the received information signals, controlling the robot to move to the vicinity of the target fruit tree.

[0041] Step 2: The position information of the navel oranges to be picked is obtained by the second camera installed at the driven end of the second robotic arm. After receiving the information signal, the PLC controller issues an instruction to the robotic arm assembly to move the picking component to a position near the navel oranges to be picked, and controls the start and stop of the variable speed fan and adjusts the air volume according to the degree of obstruction of the navel oranges by the leaves.

[0042] Step 3: Harvest the navel oranges.

[0043] 1) Move the picking component, which is in the open state, directly under the navel orange to be picked. The PLC controller then controls the mechanical joint to start the closing operation of the shearing finger and the auxiliary finger.

[0044] 2) During the closing process of the cutting finger and the auxiliary finger, the navel orange first comes into contact with the nylon rope and continuously squeezes the nylon rope during the closing process of the cutting finger. At this time, the spring telescopic rod is compressed and applies an inward closing force to the top of the first cutting finger body through the nylon rope, assisting the slicer in completing the cutting operation of the navel orange stem.

[0045] 3) After the stem of the navel orange is cut off, the paired distance sensors detect that the distance between them has reached the preset value and send a signal to the PLC controller. After receiving this signal, the PLC controller controls the auxiliary finger and the cutting finger to stop closing inward.

[0046] 4) Control the auxiliary finger and the shearing finger to open outwards simultaneously until they return to the fully opened initial state. The navel orange will slide into the circular channel as the mechanical claw releases and be transferred to the collection box through the telescopic hose.

[0047] Step 4: Repeat steps 2 and 3 above until all the navel oranges on the target tree have been harvested. Then, perform step 1 to move the robot to the vicinity of the next target tree.

[0048] 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.

[0049] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An automated navel orange harvesting robot that mimics spider-like all-terrain walking, characterized in that: The system includes a carrier box (1), a walking component (2), a robotic arm assembly (3), a picking component (4), a variable speed fan (5), and a collection box. Multiple sets of the walking components (2) are symmetrically distributed on the left and right sides of the carrier box (1). The robotic arm assembly (3) is rotatably connected to the top of the carrier box (1). The picking component (4) is connected to the execution end of the robotic arm assembly (3) and is connected to the collection box through a telescopic hose (6). The variable speed fan (5) is located at one end of the robotic arm assembly (3) near the picking component (4). The walking component (2), the robotic arm assembly (3), the picking component (4), and the variable speed fan (5) are all electrically connected to a PLC controller installed inside the carrier box (1).

2. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 1, characterized in that: The top of the carrier box (1) is equipped with a plurality of first cameras (7), and the working end of each first camera (7) faces a different direction. The first camera (7) is electrically connected to the PLC controller.

3. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 2, characterized in that: The robotic arm assembly (3) includes a first robotic arm (31), a second robotic arm (32), and a robotic arm base (33). The robotic arm base (33) is rotatably mounted on the top of the carrier box (1). The fixed end of the first robotic arm (31) is hinged to the robotic arm base (33) via a first joint motor (34). The fixed end of the second robotic arm (32) is hinged to the driven end of the first robotic arm (31) via a second joint motor (35). The picking component (4) is fixedly connected to the execution end of the second robotic arm (32). The variable speed fan (5) is located at one end of the second robotic arm (32) near the picking component (4). The first joint motor (34) and the second joint motor (35) are both electrically connected to the PLC controller.

4. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 3, characterized in that: The second robotic arm (32) is also equipped with a second camera (8) for acquiring information about the target to be picked. The second camera (8) is located between the variable speed fan (5) and the picking component (4), and the working end of the second camera (8) and the working end of the picking component (4) are both facing the target to be picked. The second camera (8) is electrically connected to the PLC controller.

5. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 4, characterized in that: The picking component (4) includes a mechanical palm (41) and a mechanical claw (42). One side of the mechanical palm (41) is fixedly connected to the driven end of the second mechanical arm (32). A circular channel (411) is provided at the palm position of the mechanical palm (41). The outlet end of the circular channel (411) is connected to the collection box through the telescopic hose (6). The mechanical claw (42) is installed on the top of the mechanical palm (41) and is electrically connected to the PLC controller.

6. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 5, characterized in that: The mechanical claw (42) includes a first mechanical joint and a pair of shearing fingers (421) and auxiliary fingers (422). The shearing fingers (421) and auxiliary fingers (422) are arranged in a circular pattern through the first mechanical joint and hinged to the top of the mechanical palm (41). The pair of shearing fingers (421) and the pair of auxiliary fingers (422) are spaced apart. The first mechanical joint is electrically connected to the PLC controller.

7. The spider-inspired all-terrain walking automatic navel orange harvesting robot according to claim 6, characterized in that: The shearing finger (421) includes a first shearing finger body (4211), a second shearing finger body (4212), a slice (4213), a limiting rod (4214), a nylon rope (4215), a spring telescopic rod (4216), a universal joint (4217), and a distance sensor (4218). The second shearing finger body (4212) is hinged to the top of the mechanical hand (41) via the first mechanical joint. The first shearing finger body (4211) is rotatably connected to the second shearing finger body (4212) via the universal joint (4217). The slice (4213) is fixedly connected to the first shearing finger body. The distance sensor (4218) is installed on the upper middle part of the first shear finger body (4211) at the top of the body (4211). The limiting rod (4214) and the spring telescopic rod (4216) are both connected to the second shear finger body (4212) at a certain angle. The fixed end of the spring telescopic rod (4216) is connected to the lower middle part of the second shear finger body (4212). The working end of the spring telescopic rod (4216) is connected to the upper middle part of the first shear finger body (4211) through the nylon rope (4215). The distance sensor (4218) is electrically connected to the PLC sensor.

8. The spider-like all-terrain walking automatic navel orange picking robot according to claim 7, characterized in that: The length of the auxiliary finger (422) is less than the length of the shearing finger (421).

9. The automatic navel orange harvesting robot with spider-like all-terrain walking capability according to claim 2, characterized in that: The walking component (2) includes a connecting rod (21), a multi-segment telescopic rod (22), a square pedal (23), a third joint motor (24), and a second mechanical joint. Multiple third joint motors (24) are symmetrically installed on the left and right sides of the carrier box (1). The fixed ends of multiple connecting rods (21) are connected to the output ends of the third joint motors (24) in a ball joint. The fixed ends of the multi-segment telescopic rods (22) are connected to the driven ends of the connecting rods (21) in a V-shape through the second mechanical joint. The square pedal (23) is connected to the working end of the multi-segment telescopic rods (22) through a ball joint. The third joint motors (24) and the second mechanical joint are both electrically connected to the PLC controller.

10. The spider-like all-terrain walking automatic navel orange picking robot according to claim 9, characterized in that: The multi-segment telescopic rod (22) is connected to the hydraulic or pneumatic drive device built into the bearing box (1) through a pipe, and the hydraulic or pneumatic drive device is electrically connected to the PLC controller.

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