Apple picking robot based on rope-driven actuator

Abstract

An apple picking robot based on a rope-driven actuator relates to the technical field of agricultural picking equipment and comprises a picking assembly and a collecting assembly which are arranged on a base. The picking assembly comprises a mechanical arm and a rope-driven actuator, the rope-driven actuator comprises a connecting base, a mechanical claw, a restraining plate, a first restoring spring and a first driving rope, the mechanical claw comprises three grabbing fingers, one ends of the grabbing fingers are rotationally connected with the connecting base, the other ends of the grabbing fingers are used for grabbing fruits, arc-shaped parts are arranged in the middles of the grabbing fingers, and restraining holes are formed in the restraining plate; the restraining holes are matched with the arc-shaped parts in a one-to-one correspondence mode, the first restoring spring is arranged between the connecting base and the restraining plate, and one end of the first driving rope is connected with the restraining plate. The collecting assembly comprises a following collecting device and a position adjusting device. By applying the automatic apple picking machine, the problems that manual apple picking is high in cost, low in efficiency, high in time consumption and prone to damaging apples, and existing automatic picking equipment is heavy in structure, poor in flexibility, low in synergism, prone to damaging the apples, poor in adaptability to complex orchard environments and the like can be solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting equipment technology, specifically an apple harvesting robot based on a rope-driven actuator. Background Technology

[0002] Currently, apple harvesting during the ripening season, both domestically and internationally, mainly relies on manual picking. This method is costly, time-consuming, and inefficient. Furthermore, the fruit is easily damaged by human factors during transportation and collection, reducing its quality and value. Existing automated harvesting equipment mostly uses articulated robotic arms and rigid clamps. However, the harvesting and collection processes lack coordination, resulting in overall low efficiency. In addition, the articulated robotic arms are bulky, lack flexibility, and have poor adaptability, while the rigid clamp actuators are prone to damaging the fruit. Summary of the Invention

[0003] The purpose of this invention is to provide an apple picking robot based on a rope-driven actuator, which can solve the problems of high cost, low efficiency, high time consumption, and easy damage to fruit caused by manual apple picking, as well as the problems of existing automated picking equipment being bulky, lacking flexibility, having low coordination, being prone to damaging fruit, and being poorly adaptable to complex orchard environments.

[0004] To achieve the above objectives, the present invention adopts the following technical solution.

[0005] An apple-picking robot based on a rope-driven actuator includes a picking component and a collecting component mounted on a base.

[0006] The picking assembly includes a robotic arm and a rope-driven actuator located at the free end of the robotic arm. The rope-driven actuator includes a connecting seat, a robotic gripper, a constraint plate, a first restoring spring, and a first drive rope. The connecting seat is used to connect with the robotic arm. The robotic gripper includes three gripping fingers, one end of which is rotatably connected to the connecting seat, and the other end is used to grasp the fruit. The three gripping fingers are evenly distributed circumferentially on the connecting seat, and an arc-shaped part is provided in the middle of the gripping fingers. The constraint plate is evenly provided with three constraint holes circumferentially. The constraint holes and the arc-shaped parts are matched one-to-one to realize the cooperation between the constraint plate and the robotic gripper. The first restoring spring is located between the connecting seat and the constraint plate. One end of the first drive rope is connected to the constraint plate, and the other end is connected to the drive rope controller.

[0007] Pulling the first drive rope causes the constraint plate to overcome the elastic force of the first restoring spring and approach the connecting seat. Through the cooperation of the constraint hole and the arc-shaped part, the gripping fingers can move closer to each other to achieve the gripping action. When the first drive rope is released, the constraint plate can return to its initial position under the elastic force of the first restoring spring, causing the gripping fingers to move away from each other and release the picked fruit.

[0008] The collection component includes a following collection device and a position adjustment device. One end of the following collection device is connected to the base through the position adjustment device, which is used to keep the following collection device directly below the actuator. The following collection device is equipped with a conveyor belt to transport the fruit that falls on the following collection device to a predetermined position.

[0009] Furthermore, the connecting seat includes a fixed part, a movable part, and a second restoring spring. The fixed part is fixedly connected to the robotic arm, and the movable part is coaxially arranged with the fixed part and can slide relative to the fixed part along the axial direction. The fixed part is provided with a spiral groove inside, and the movable part is provided with a slider for cooperating with the spiral groove. The second restoring spring is located between the fixed part and the movable part, the gripper rotates on the movable part, and the first restoring spring is located between the movable part and the constraint plate.

[0010] Pulling the first drive rope causes the constraint plate to overcome the elastic force of the first restoring spring and reach its limit position, thus enabling the mechanical claw to grasp the fruit. Continuing to pull the first drive rope allows the movable part to overcome the elastic force of the second restoring spring and slide axially relative to the fixed part. The movable part rotates axially simultaneously under the action of the slider and the spiral groove, driving the mechanical claw to perform a screwing action. When the first drive rope is released, the movable part can first return to its initial position under the action of the second restoring spring. Then, the constraint plate can return to its initial position under the action of the first restoring spring, causing the grippers to move away from each other and release the picked fruit.

[0011] Furthermore, each of the gripping fingers has a flexible structure at the end where it grasps the fruit. The flexible structure includes an envelope chain, a third restoring spring, and a second drive rope. The envelope chain is sleeved on the end of the gripping finger, the third restoring spring is located between the gripping finger and the envelope chain, and one end of the second drive rope is connected to the end of each envelope chain in sequence to form a convergence loop, while the other end is connected to the drive rope controller.

[0012] Pulling the second drive rope tightens the coiling ring, causing the envelope chain to overcome the elastic force of the corresponding third restoring spring and slide out from the end of the corresponding gripper finger, thus bringing them closer together. When the second drive rope is released, the envelope chain can return to its initial position under the elastic force of its respective third restoring spring.

[0013] Furthermore, the enveloping chain is made of a flexible material to protect the fruit to be picked.

[0014] Furthermore, the second drive rope extends to the end of one of the gripping fingers of the mechanical gripper through a drive rope channel.

[0015] Furthermore, the position adjustment device includes a linear sliding device, a horizontal rotation device, and a pitch adjustment device. One end of the following collection device is fixedly connected to the pitch adjustment device to adjust the pitch angle so that the following collection device is as close as possible to the actuator. The pitch adjustment device is connected to the horizontal rotation device, and the horizontal rotation device is connected to the linear sliding device to increase the applicability of the following collection device in the horizontal plane.

[0016] Furthermore, the robotic arm is a rope-driven robotic arm, and the attitude of the robotic arm can be controlled by the drive rope controller to move the actuator to the target position.

[0017] Furthermore, the robotic arm is equipped with a vision camera at its free end to identify the location of the fruit to be picked.

[0018] Furthermore, the free end of the robotic arm is equipped with a calibration ball, and the following collection device is equipped with a depth vision camera. The depth vision camera is used to detect the position of the calibration ball, and the position adjustment device can adjust the position of the following collection device according to the data of the depth vision camera, so that it is kept within a predetermined distance below the actuator.

[0019] Furthermore, the base is a movable chassis.

[0020] By adopting the above technical solution, the present invention has the following beneficial effects: 1. The rope-driven actuator in this invention achieves self-adaptation through a simple mechanism, enabling it to grasp apples of different sizes, shapes, and growth postures. It achieves two actions—adaptive grasping and biomimetic "twisting" of the fruit stem—through the stretching of a single rope, greatly reducing mechanical damage to the fruit skin and ensuring apple quality. 2. This invention uses a lightweight rope-driven robotic arm, which has smooth movements, low energy consumption, and high speed, reducing potential damage to the branches and leaves of the fruit trees themselves. 3. This invention provides an integrated apple picking robot. Through the coordinated operation of the picking and collecting components, the traditional picking process of placing and returning the fruit is shortened, achieving near-continuous picking and collecting. This avoids the accidental risks such as damage to the fruit and branches during the placement and return process, greatly improving picking efficiency and effectively saving labor costs. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall structure of the actuator in this invention.

[0023] Figure 3 This is a schematic diagram of the overall structure of the actuator in this invention from another angle.

[0024] Figure 4This is a schematic diagram of the overall structure of the spiral groove in the connecting seat of the present invention.

[0025] Figure 5 This is a schematic diagram of the overall structure of the flexible structure in the ready state in this invention.

[0026] Figure 6 This is a schematic diagram of the overall structure of the flexible structure in the bearing state in this invention.

[0027] Figure Descriptions: 1. Robotic arm; 11. Vision camera; 12. Calibration ball; 2. Actuator; 21. Connecting seat; 211. Fixed part; 212. Moving part; 213. Second restoring spring; 214. Spiral groove; 22. Mechanical gripper; 221. Gripping finger; 222. Arc-shaped part; 23. Constraint plate; 231. Constraint hole; 24. First restoring spring; 25. First drive rope; 26. Flexible structure; 261. Enveloping chain; 262. Third restoring spring; 263. Second drive rope; 264. Gathering ring; 265. Drive rope channel; 3. Following and collecting device; 31. Conveyor belt; 32. Depth vision camera; 4. Position adjustment device; 41. Linear sliding device; 42. Horizontal rotation device; 43. Pitch adjustment device. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the features and performance of an apple-picking robot based on a rope-driven actuator will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] Please see the appendix Figures 1-6 An apple-picking robot based on a rope-driven actuator includes a picking component and a collecting component mounted on a base. Specifically, the base is a mobile chassis.

[0030] The picking assembly includes a robotic arm 1 and a rope-driven actuator 2 located at the free end of the robotic arm 1. A vision camera 11 is provided at the free end of the robotic arm 1 for identifying the position of the fruit to be picked.

[0031] Robotic arm 1 is a rope-driven robotic arm. The attitude of robotic arm 1 can be controlled by the drive rope controller, so as to move actuator 2 to the target position.

[0032] The cable-driven actuator 2 includes a connecting seat 21, a mechanical gripper 22, a constraint plate 23, a first restoring spring 24, and a first drive rope 25. The connecting seat 21 is used to connect to the robotic arm 1. The connecting seat 21 includes a fixed part 211, a movable part 212, and a second restoring spring 213. The fixed part 211 is fixedly connected to the robotic arm 1. The movable part 212 is coaxially arranged with the fixed part 211 and can slide relative to the fixed part 211 along the axial direction. The fixed part 211 has a spiral groove 214 inside. The movable part 212 has a slider for cooperating with the spiral groove 214. The second restoring spring 213 is located between the fixed part 211 and the movable part 212.

[0033] The mechanical claw 22 includes three gripping fingers 221. One end of each gripping finger 221 is rotatably connected to the movable part 212, and the other end is used to grasp the fruit. The three gripping fingers 221 are evenly distributed circumferentially on the movable part 212.

[0034] The gripper 221 has an arc-shaped part 222 in the middle, and the constraint plate 23 has three constraint holes 231 evenly arranged in the circumferential direction. The constraint holes 231 and the arc-shaped part 222 are matched one by one to realize the cooperation between the constraint plate 23 and the mechanical gripper 22. The first restoring spring 24 is located between the movable part 212 and the constraint plate 23.

[0035] One end of the first drive rope 25 is connected to the constraint plate 23, and the other end is connected to the drive rope controller.

[0036] Pulling the first drive rope 25 causes the constraint plate 23 to overcome the elastic force of the first restoring spring 24 and reach its limit position, thus enabling the mechanical claw 22 to grasp the fruit. Continuing to pull the first drive rope 25 allows the movable part 212 to overcome the elastic force of the second restoring spring 213 and slide axially relative to the fixed part 211. The movable part 212 rotates axially simultaneously under the action of the slider and the spiral groove 214, driving the mechanical claw 22 to perform a screwing action. When the first drive rope 25 is released, the movable part 212 can first return to its initial position under the action of the second restoring spring 213. Then, the constraint plate 23 can return to its initial position under the action of the elastic force of the first restoring spring 24, causing the gripping fingers 221 to move away from each other and release the picked fruit.

[0037] Each gripper 221 has a flexible structure 26 at one end for grasping the fruit. The flexible structure 26 includes an envelope chain 261, a third restoring spring 262, and a second drive rope 263. The envelope chain 261 is sleeved on the end of the gripper 221, the third restoring spring 262 is located between the gripper 221 and the envelope chain 261, and one end of the second drive rope 263 is connected to the end of each envelope chain 261 in sequence to form a gathering loop 264, and the other end is connected to the drive rope controller.

[0038] Pulling the second drive rope 263 can tighten the coiling ring 264, causing the envelope chain 261 to overcome the elastic force of the corresponding third restoring spring 262 and slide out from the end of the corresponding gripper finger 221, thus bringing them closer together. When the second drive rope 263 is released, the envelope chain 261 can return to its initial position under the elastic force of its respective third restoring spring 262.

[0039] The enveloping chain 261 is made of flexible material and is used to protect the fruit to be picked.

[0040] The second drive rope 263 extends to the end of one of the gripping fingers 221 via a drive rope channel 265 provided on one of the gripping fingers 221 of the mechanical claw 22.

[0041] The collection component includes a following collection device 3 and a position adjustment device 4. One end of the following collection device 3 is connected to the base through the position adjustment device 4, which is used to keep the following collection device 3 directly below the actuator 2. The following collection device 3 is equipped with a conveyor belt 31, which is used to transport the fruit that falls on the following collection device 3 to a predetermined position.

[0042] Specifically, the position adjustment device 4 includes a linear sliding device 41, a horizontal rotation device 42, and a pitch adjustment device 43. One end of the following collection device 3 is fixedly connected to the pitch adjustment device 43 to adjust the pitch angle so that the following collection device 3 is as close as possible to the actuator 2. The pitch adjustment device 43 is connected to the horizontal rotation device 42, and the horizontal rotation device 42 is connected to the linear sliding device 41 to increase the applicability range of the following collection device 3 in the horizontal plane.

[0043] The free end of the robotic arm 1 is equipped with a calibration ball 12, and the following collection device 3 is equipped with a depth vision camera 32. The depth vision camera 32 is used to detect the position of the calibration ball 12. The position adjustment device 4 can adjust the position of the following collection device 3 according to the data of the depth vision camera 32, so that it is kept within a predetermined distance below the actuator 2.

[0044] In practice, an apple-picking robot based on a rope-driven robotic arm, an adaptive actuator, and a following and collecting device mainly consists of three parts: a rope-driven robotic arm 1, an adaptive end effector 2, and a three-degree-of-freedom following and collecting device 3.

[0045] As shown in the figure, an apple-picking robot based on a rope-driven robotic arm, an adaptive actuator, and a following collection device includes a linear sliding device 41 (containing a motor) connecting a support base and a horizontal rotation device 42. A pitch adjustment device 43 is connected above the horizontal rotation device 42 via a flange connector. The following collection device 3 and a conveyor belt 31 are mounted on the pitch adjustment device 43 via the flange connector. A depth vision camera 32 is located at the end of the protective shell of the following collection device 3. A vision camera 11 is mounted on the side of the rope-driven robotic arm 1. A calibration ball 12 is located at the lower part of the rope-driven robotic arm 1. An adaptive end effector 2 is mounted at the end of the robotic arm 1.

[0046] The actuator 2 is shown in the figure, the trajectory of the spiral groove 214 is shown in the figure, and the winding of the rope-driven end effector 2 is shown in the figure. The second restoring spring 213 connects the fixed part 211 and the movable part 212. The gripper finger 221 is hinged to the movable part 212 and passes through the constraint hole 231 on the adaptive constraint plate 23. The first restoring spring 24 connects the movable part 212 and the adaptive constraint plate 23. One end of the third restoring spring 262 is fixed to the gripper finger 221, and the other end is connected to the envelope chain 261. The second drive rope 263 connects to the envelope chain 261 on the three grippers 221 through the drive rope channel 265 fixed to the gripper finger 221 to form a ring-shaped convergence ring 264. The entire actuator 2 requires only two ropes for control. The first drive rope 25 passes through the axis of the fixed part 211 and the movable part 212 and connects to the constraint plate 23. By pulling the constraint plate 23, the mechanical claw 22 is controlled to grasp and achieve the screwing action. The second drive rope 263 passes through the axis of the fixed part 211 and then passes obliquely through the drive rope channel 265 inside the movable part 212. By tightening the coiling ring 264, the envelope chain 261 is stretched and brought closer. The lengths of the two ropes remain unchanged and are not affected by rotational torque.

[0047] The diagram shows the preparation and clamping state of the flexible structure 26 at the end of the grasping finger 221. The drive rope channel 265 moves with the gripper finger 221. In the ready state, the mechanical claw 22 remains open under the action of the constraint plate 23, the first restoring spring 24 is at its original length, the envelope chain 261 is completely wrapped around the end of the gripper finger 221, and the condenser ring 264 is in an open and relaxed state. In the clamping state, the mechanical claw 22 tightens inward to clamp the fruit under the action of the adaptive constraint plate 23. The second drive rope 263 of the drive rope channel 265 tightens the condenser ring 264, causing it to drive the envelope chain 261 connected to it to extend outward and inward to clamp and enclose the entire fruit. When returning from the clamping state to the ready state, the first drive rope 25 and the second drive rope 263 no longer exert force. The constraint plate 23 returns to its initial position under the action of the first restoring spring 24, causing the mechanical claw 22 and the condenser ring 264 to open. The third restoring spring 262 pulls the envelope chain 261 back to wrap around the end of the gripper finger 221 and assists in pulling the condenser ring 264 back to the ready state.

[0048] Robotic arm 1 employs a cable-driven system, placing the motor, reducer, and other drive units on a base. Power is transmitted to each joint of robotic arm 1 via cables. This significantly reduces the weight and inertia of the robotic arm itself, making its movements faster, more flexible, and more energy-efficient. Simultaneously, the lightweight design of the arm reduces the risk of collisions with fruit tree branches and leaves, improving its ability to navigate through dense foliage.

[0049] The actuator 2 is installed at the end of the rope-driven robotic arm 1. Its core feature is that it achieves adaptive envelope grasping capability through rope pulling, which can ensure a firm grip on the fruit without causing damage to its surface. When performing the picking action, the robotic claw 22 simulates the action of a human hand "twisting" off an apple through a spiral groove 214, so that the fruit is separated from the branch at the stem, thereby achieving non-destructive picking.

[0050] The following collection device 3 is equipped with a flexible buffer conveyor belt 31 and a collection box. The flexible buffer conveyor belt 31 is used to transport the fruit placed by the end effector 2 to the end collection area in a timely, safe, and damage-free manner, avoiding damage to the fruit caused by prolonged clamping. It works in conjunction with the robotic arm 1. After the depth vision camera 32 calibrates the actuator 2, it can move in real time to follow the picking position of the end effector of the robotic arm 1 through the adjustment of the position adjustment device 4. This "following" collection mode avoids the time-consuming long-distance back-and-forth movement of the robotic arm to place the fruit in the traditional solution, realizes continuous operation of "picking and collecting", and greatly improves the overall picking efficiency.

[0051] The specific working process is as follows: after the vision camera 11 identifies and locates the apple, it transmits a signal to the base of the rope-driven robotic arm 1. The robotic arm 1, along with the calibration ball 12 and the actuator 2, responds quickly and accurately by moving to the apple's position via the rope. At the same time, the depth vision camera 32 below detects the real-time position of the calibration ball 12 and sends a signal to the position adjustment device 4. The following collection device 3 extends and retracts under the drive of the linear sliding device 41, rotates laterally under the drive of the horizontal rotation device 42, and rotates vertically and rises and falls under the drive of the pitch adjustment device 43. In this way, the following collection device 3 always follows the rope-driven robotic arm 1 and remains at a certain distance below the actuator 2 to ensure that it can catch the picked apple and reduce damage.

[0052] Next, the first drive rope 25 pulls the constraint plate 23 to compress the first restoring spring 24. Under the constraint of the constraint plate 23, the mechanical claw 22 begins to tighten and grasp the apple. Under the combined pressure of the three gripping fingers 221, the apple moves into the actuator 2 and is gripped, achieving the first degree of freedom. While the apple moves inward, the envelope chain 261 stretches the third restoring spring 262 outward under the action of the apple's reaction force and the tension of the second drive rope 263 through the drive rope channel 265. The tension of the second drive rope 263 causes the condenser ring 264 to adaptively envelop the apple with the envelope chain 261 on the three mechanical claws 22. At the same time, the serrated part at the end of the envelope chain 261 applies force to the fruit stem, achieving the second degree of freedom. After the constraint plate 23 grips the mechanical claw 22 tightly, its relative position to the claw 22 remains unchanged. At this point, the first drive rope 25 continues to pull the constraint plate 23. Under its action, the movable part 212 compresses the second restoring spring 213, which rotates inward along the spiral groove 214 inside the fixed part 211, mimicking the "twisting" process of a human hand picking fruit, thus achieving the third degree of freedom. The combined action of rotational torque, tension, and the end of the envelope chain 261 removes the apple from the tree.

[0053] Then, the drive rope controller stops applying force to the rope, the constraint plate 23 returns to its original position under the elastic force of the first restoring spring 24, the mechanical claw 22 releases, and the apple falls to the end of the flexible conveyor belt 31 of the following collection device 3, entering the collection basket under the drive of the conveyor belt 31. At the same time, the envelope chain 261 and the moving part 212 return to their original positions under the elastic force of the third restoring spring 262 and the second restoring spring 213, respectively, the actuator 2 returns to its original position, and the rope-driven robotic arm 1 is ready for the next operation.

[0054] It should be noted that the parts not described in detail in this solution are all prior art. The above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. An apple-picking robot based on a rope-driven actuator, characterized in that: Includes a retrieval component and a collection component mounted on the base. The picking assembly includes a robotic arm (1) and a rope-driven actuator (2) located at the free end of the robotic arm (1). The rope-driven actuator (2) includes a connecting seat (21), a mechanical gripper (22), a constraint plate (23), a first restoring spring (24), and a first drive rope (25). The connecting seat (21) is used to connect with the robotic arm (1). The mechanical gripper (22) includes three gripping fingers (221). One end of each gripping finger (221) is rotatably connected to the connecting seat (21), and the other end is used to grasp the fruit. The three gripping fingers (221) are positioned at... The connecting seat (21) is evenly distributed along the circumference. The gripper (221) has an arc-shaped part (222) in the middle. The constraint plate (23) has three constraint holes (231) evenly distributed along the circumference. The constraint holes (231) and the arc-shaped part (222) are matched one-to-one to realize the cooperation between the constraint plate (23) and the mechanical gripper (22). The first restoring spring (24) is located between the connecting seat (21) and the constraint plate (23). One end of the first drive rope (25) is connected to the constraint plate (23), and the other end is connected to the drive rope controller. Pulling the first drive rope (25) causes the constraint plate (23) to overcome the elastic force of the first restoring spring (24) and approach the connecting seat (21). Through the cooperation of the constraint hole (231) and the arc-shaped part (222), the grasping fingers (221) can move closer to each other to achieve the grasping action. When the first drive rope (25) is released, the constraint plate (23) can return to its initial position under the elastic force of the first restoring spring (24), causing the grasping fingers (221) to move away from each other and release the picked fruit. The collection component includes a follow-up collection device (3) and a position adjustment device (4). One end of the follow-up collection device (3) is connected to the base through the position adjustment device (4) to keep the follow-up collection device (3) directly below the actuator (2). The follow-up collection device (3) is provided with a conveyor belt (31) to transport the fruit that falls on the follow-up collection device (3) to a predetermined position.

2. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The connecting seat (21) includes a fixed part (211), a movable part (212), and a second restoring spring (213). The fixed part (211) is fixedly connected to the robotic arm (1). The movable part (212) is coaxially arranged with the fixed part (211) and can slide axially relative to the fixed part (211). The fixed part (211) is provided with a spiral groove (214). The movable part (212) is provided with a slider for cooperating with the spiral groove (214). The second restoring spring (213) is located between the fixed part (211) and the movable part (212). The gripper (221) is rotatably located on the movable part (212). The first restoring spring (24) is located between the movable part (212) and the constraint plate (23). Pulling the first drive rope (25) causes the constraint plate (23) to overcome the elastic force of the first restoring spring (24) and reach the limit position to realize the gripping of the mechanical claw (22). Continuing to pull the first drive rope (25) enables the movable part (212) to overcome the elastic force of the second restoring spring (213) and slide axially relative to the fixed part (211). The movable part (212) rotates axially simultaneously under the action of the slider and the spiral groove (214), driving the mechanical claw (22) to perform the screwing action. When the first drive rope (25) is released, the movable part (212) can first return to the initial position under the action of the second restoring spring (213), and then the constraint plate (23) can return to the initial position under the action of the elastic force of the first restoring spring (24), causing the gripping fingers (221) to move away from each other and release the picked fruit.

3. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: Each grasping finger (221) has a flexible structure (26) at one end for grasping the fruit. The flexible structure (26) includes an envelope chain (261), a third restoring spring (262), and a second drive rope (263). The envelope chain (261) is sleeved on the end of the grasping finger (221), the third restoring spring (262) is located between the grasping finger (221) and the envelope chain (261), and one end of the second drive rope (263) is connected to the end of each envelope chain (261) in sequence to form a gathering loop (264), and the other end is connected to the drive rope controller. Pulling the second drive rope (263) can tighten the gathering ring (264) so ​​that the envelope chain (261) overcomes the elastic force of the corresponding third restoring spring (262) and slides out from the end of the corresponding gripper (221) to move closer to each other. When the second drive rope (263) is released, the envelope chain (261) can return to its initial position under the elastic force of its respective third restoring spring (262).

4. The apple-picking robot based on a rope-driven actuator as described in claim 3, characterized in that: The enveloping chain (261) is made of a flexible material and is used to protect the fruit to be picked.

5. The apple-picking robot based on a rope-driven actuator as described in claim 3, characterized in that: The second drive rope (263) extends through a drive rope channel (265) on one of the grippers (221) of the mechanical claw (22) to the end of the gripper (221).

6. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The position adjustment device (4) includes a linear sliding device (41), a horizontal rotation device (42), and a pitch adjustment device (43). One end of the following collection device (3) is fixedly connected to the pitch adjustment device (43) to adjust the pitch angle so that the following collection device (3) is as close as possible to the actuator (2). The pitch adjustment device (43) is connected to the horizontal rotation device (42), and the horizontal rotation device (42) is connected to the linear sliding device (41) to increase the applicability range of the following collection device (3) in the horizontal plane.

7. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The robotic arm (1) is a rope-driven robotic arm. The attitude of the robotic arm (1) can be controlled by the drive rope controller, so as to move the actuator (2) to the target position.

8. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The free end of the robotic arm (1) is equipped with a vision camera (11) for identifying the location of the fruit to be picked.

9. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The free end of the robotic arm (1) is provided with a calibration ball (12), and the following collection device (3) is provided with a depth vision camera (32). The depth vision camera (32) is used to detect the position of the calibration ball (12). The position adjustment device (4) can adjust the position of the following collection device (3) according to the data of the depth vision camera (32) so that it is kept within a predetermined distance below the actuator (2).

10. The apple-picking robot based on a rope-driven actuator as described in claim 1, characterized in that: The base is a movable chassis.

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