Humanoid picking module and grape picking robot

Abstract

This invention discloses a humanoid harvesting module and a grape harvesting robot. The humanoid harvesting module includes a base and a vision module. From top to bottom, the base is equipped with a leaf-blocking mechanism, a branch-breaking mechanism, a grape branch clamping mechanism, and a grape bunch holding mechanism. After the vision module identifies the grape bunch and its attached grape branches and leaves, the leaf-blocking mechanism first blocks and isolates the grape leaves above, the grape bunch holding mechanism lifts and holds the grape bunch, the grape branch clamping mechanism clamps the grape branch, and the branch-breaking mechanism cuts the grape branch. After cutting, the grape bunch holding mechanism maintains its holding state, and the grape branch clamping mechanism maintains its clamping state. The grape bunch holding mechanism is equipped with a support bowl, a flexible support, a palm-like pad, an extended support block, and multi-degree-of-freedom mechanical fingers, enabling it to flexibly support the grape bunch in a manner similar to a human hand. This invention reduces interference from grape leaves, improves the reliability of branch clamping and breaking, and prevents the grape bunch from falling or being damaged during transport through a dual holding and clamping method.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to a humanoid harvesting module and a grape harvesting robot. Background Technology

[0002] Grapes typically grow in bunches, with the top of the bunch connected to the vine by a vine branch, often surrounded by numerous grape leaves. When harvesting grapes by hand, pickers usually first clear away any leaves that obstruct their view or interfere with cutting, then hold or grasp the bunch with one hand while using the other to cut the vine. This prevents the bunch from falling upon being cut and reduces the risk of pressure, impact, or damage to the grape skin.

[0003] With the development of agricultural mechanization and intelligentization, some grape-harvesting robots have emerged in existing technologies. For example, existing technologies such as CN118844208A and CN119014223A disclose related grape-harvesting equipment or robots. However, existing grape-harvesting robots often have the following shortcomings:

[0004] 1. Some harvesting end effectors only have pruning capabilities, meaning they directly cut the grapevines after identifying them. Because grape bunches are heavy, without effective support during pruning, the bunches are prone to falling due to gravity, causing grapes to collide, fall off, break, or even be completely damaged.

[0005] 2. While some harvesting equipment can hold grapevines and transport bunches after pruning, they primarily rely on clamping the grapevines to support the weight of the bunches. Grapevines have small diameters and irregular surface shapes, and the center of gravity of the bunches is often located far below the grapevines. Relying solely on clamping the grapevines to support the bunches makes it easy for the grapevines to slip, break, or for the clamping to fail during transport, causing the bunches to fall.

[0006] 3. In actual harvesting environments, grape leaves are often distributed near grape branches. Grape leaves can obstruct the visual recognition area and can easily enter the working gap of the clamping or shearing mechanism, resulting in unstable clamping of grape branches, incomplete shearing, or cutting grape leaves, which affects the pruning effect and may even cause harvesting failure.

[0007] Solving these problems is now a top priority. Summary of the Invention

[0008] To address the technical problems of existing grape-harvesting robots, such as grape bunches falling off due to pruning alone, insufficient reliability of transporting grapes by simply clamping the branches, and grape leaves easily interfering with clamping and pruning, this invention provides a humanoid harvesting module and a grape-harvesting robot.

[0009] The technical solution is as follows:

[0010] The first aspect of this application relates to a humanoid picking module, including a base and a vision module, characterized in that a leaf blocking mechanism, a branch breaking mechanism, a grape branch clamping mechanism and a grape bunch holding mechanism are installed on the base in sequence from top to bottom;

[0011] When the vision module recognizes the grape bunch and its attached grape branches and leaves, the leaf blocking mechanism first isolates all the grape leaves above it, then the grape bunch holding mechanism lifts and holds the grape bunch, next the grape branch clamping mechanism clamps the grape branch, and finally the branch cutting mechanism cuts the grape branch. After completion, the grape bunch holding mechanism remains in the state of lifting and holding the grape bunch, and the grape branch clamping mechanism remains in the state of clamping the grape branch.

[0012] Using the above-mentioned human-like harvesting module, the leaf-distracting mechanism can remove grape leaves from the working area before clamping and cutting the grape branches. This not only avoids obstructing the visual module but also prevents grape leaves from entering the grape branch clamping mechanism, which could cause insecure clamping, and prevents grape leaves from entering the branch-breaking mechanism, which could lead to cutting obstruction or incomplete cutting of the grape branches. The grape bunch holding mechanism can mimic the action of a hand lifting and fingers gripping the grape bunch during manual harvesting, providing flexible support to the grape bunch and reducing damage caused by the grape bunch falling at the moment of cutting. The grape bunch holding mechanism and the grape branch clamping mechanism work together to hold the grape bunch and grape branch, achieving a double-insurance transfer method of "holding the grape bunch" and "clamping the grape branch," significantly improving the reliability of harvesting and transfer.

[0013] In some embodiments, the grape bunch holding mechanism includes a bowl and two opposing first rocker arms. The inner ends of the two first rocker arms are rotatably mounted on a base, and the outer ends of the two first rocker arms are fixedly connected to downwardly extending gripping components. A first servo motor for controlling the rotation of one of the first rocker arms is mounted on the base. A row of first active teeth is integrally formed on the outer edge of the inner end of the first rocker arm, and a row of first driven teeth that mesh with the first active teeth is integrally formed on the outer edge of the inner end of the other first rocker arm. The two gripping components can rotate synchronously in a direction away from or close to each other under the control of the first servo motor.

[0014] The bowl is mounted on the base via an extended bracket and is located directly below the two sets of clamping components.

[0015] With the above structure, the first servo motor only needs to drive one of the first rocker arms to rotate, which in turn drives the other first rocker arm to rotate synchronously in the opposite direction through the meshing of the first driving gear and the first driven gear. This allows the two sets of gripping components to open or close synchronously, resulting in a compact structure and good synchronization. The support bowl is located below the two sets of gripping components, supporting the grape bunches from the bottom and distributing their weight. The two sets of gripping components hold the grape bunches from both sides, limiting their lateral sway. The support bowl and the two side gripping components work together to improve the stability of the grape bunches during harvesting and transportation.

[0016] In some embodiments, the gripping components include deformable flexible supports and multi-degree-of-freedom humanoid hand-like gripping mechanisms disposed on the side of the flexible supports near adjacent gripping components. The two flexible supports are arc-shaped structures with the distance between them gradually decreasing from the middle to both ends. The multi-degree-of-freedom humanoid hand-like gripping mechanisms include a palm-like pad fixedly mounted on the corresponding flexible support, an extension support block connected to the lower part of the palm-like pad by multiple tension springs, and multiple mechanical fingers distributed along the width direction of the flexible support and mounted on the top of the palm-like pad. The extension support blocks are respectively supported on the lower part of the corresponding flexible supports. Each mechanical finger includes a first joint, a second joint, and a third joint hinged sequentially from top to bottom. The lower end of the third joint is hinged to the top of the palm-like pad, thereby enabling the third joint to rotate toward or away from the adjacent gripping components. A first micro-drive module for controlling the rotation of the second joint toward or away from the adjacent gripping components is installed in the third joint, and a second micro-drive module for controlling the rotation of the first joint toward or away from the adjacent gripping components is installed in the second joint.

[0017] Using the above structure, two sets of multi-degree-of-freedom humanoid hand-like gripping mechanisms are located on both sides of the grape bunch. The hand-like pad resembles a human palm, and the mechanical fingers resemble human fingers, capable of bending and wrapping around the grape bunch to adapt to bunches of different sizes, shapes, and densities. The flexible support can deform appropriately under force, absorbing clamping impact and preventing rigid clamping from directly squeezing the grapes. The extended support block is located below the hand-like pad and connected by a tension spring, providing auxiliary support to the lower part of the grape bunch and creating displacement buffer when excessive force is applied, preventing excessive compression of the lower part of the grape bunch. Multiple mechanical fingers are distributed along the width of the flexible support, expanding the gripping coverage and improving the uniformity of force distribution on the grape bunch.

[0018] In some embodiments, the second joint is hinged to the third joint on the side near the corresponding flexible support. Both sides of the second joint along the width direction of the flexible support are connected to the third joint through a two-bar linkage. The second joint has opposing arc-shaped guide grooves on both sides along the width direction of the flexible support. The first micro drive module includes a micro electric actuator, a three-bar linkage, and a sliding guide rod. The guide sleeve of the micro electric actuator is fixedly installed in the third joint through a actuator bracket. The outer end of the push rod of the micro electric actuator is connected to the middle part of the sliding guide rod through the three-bar linkage. The two ends of the sliding guide rod are slidably inserted into the corresponding arc-shaped guide grooves.

[0019] With the above structure, the miniature electric actuator can drive the sliding guide rod to move via a three-bar linkage during extension and retraction. The two ends of the sliding guide rod slide within the arc-shaped guide groove, thereby driving the second joint to rotate relative to the third joint along a predetermined trajectory. The two-bar linkage improves the guiding stability of the second joint during rotation and reduces the risk of swaying caused by unilateral force. The arc-shaped guide groove limits the rotation trajectory of the second joint, making the mechanical finger's bending motion more closely resemble that of a human hand. Simultaneously, when the second joint contacts the grape bunch, it can adaptively deflect at a certain angle towards the corresponding flexible support, avoiding excessive compression of the grape bunch and further preventing damage.

[0020] In some embodiments, the second micro drive module includes a planetary carrier and a first micro motor and an external gear ring fixedly mounted in a second joint. A sun gear is synchronously mounted on the motor shaft of the first micro motor. Multiple planet gears distributed between the sun gear and the external gear ring are rotatably mounted on the planetary carrier. Each planet gear meshes with both the sun gear and the external gear ring simultaneously. A first bevel gear is synchronously mounted on the end of the planetary carrier near the corresponding first joint. A second bevel gear meshing with the first bevel gear is fixedly connected to the end of the first joint near the corresponding second joint via a gear mounting bracket.

[0021] With the above structure, the rotational speed output by the first micro motor can be reduced and amplified by a planetary reduction structure formed by the sun gear, planet gears, external gear ring, and planet carrier before being output, giving the first joint greater driving force and higher angle control resolution. The first and second bevel gears can change the transmission direction, allowing the first joint to bend or extend relative to the second joint. This structure facilitates precise movements at the tip of the robotic finger, reduces motion jitter, and improves the stability of flexible wrapping and posture maintenance of the grape bunch.

[0022] In some embodiments, the flexible support includes a flexible inner layer and a flexible outer layer located on the side of the flexible inner layer away from the corresponding multi-degree-of-freedom human hand gripping mechanism. The palm pads are fixedly installed on the corresponding flexible inner layer. The flexible inner layer and the corresponding flexible outer layer are integrally formed to support multiple sets of elastic support ribs distributed sequentially from top to bottom. The flexible inner layer and the corresponding flexible outer layer are elastically supported by multiple sets of compression springs, and each set of compression springs is located in the upper middle part of the corresponding flexible support.

[0023] The above structure, consisting of a flexible inner layer, a flexible outer layer, and elastic support ribs, forms a double-layered hollow elastic structure. This structure can generate cushioning deformation when gripping grape bunches, reducing the risk of grape breakage due to pressure. Grape bunches are typically shaped like a larger top and smaller bottom, or denser at the top. The addition of compression springs in the upper part of the flexible support improves the support and resilience of the upper part of the grape bunch, enhancing grip reliability and reducing the possibility of the grape bunch slipping from the upper part, while still maintaining good flexible cushioning.

[0024] In some embodiments, the blade deflector mechanism includes two horizontally arranged baffles and a second servo motor mounted on the top of the base. The motor shaft of the second servo motor extends vertically upward and is synchronously connected to a rotating shaft. A baffle mounting seat is synchronously mounted on the rotating shaft. The inner ends of the baffles are integrally formed with second rocker arms. The inner ends of the two second rocker arms are rotatably mounted on the baffle mounting seat. A second micro motor for controlling the rotation of one of the second rocker arms is mounted on the baffle mounting seat. A row of second driving teeth is integrally formed on the outer edge of the inner end of the second rocker arm. A row of second driven teeth that mesh with the second driving teeth is integrally formed on the outer edge of the inner end of the other second rocker arm. The outer edges of the two baffles that are close to each other are recessed to form grape branch clearance grooves. The two grape branch clearance grooves are arranged opposite each other. The two baffles can be synchronously rotated in a direction away from or close to each other under the control of the second micro motor to enlarge or reduce the grape branch through hole formed by the two grape branch clearance grooves.

[0025] With the above structure, the second micro motor drives the two baffles to open or close synchronously through the meshing of the second driving tooth and the second driven tooth, thereby adjusting the size of the grape branch passage hole to accommodate grape branches of different thicknesses. The second servo motor drives the baffle mounting base and the two baffles as a whole to rotate around the vertical axis through the rotating shaft, which can adjust the baffle position according to the bending direction of the grape branch or the distribution of grape leaves, so that the baffles can more effectively isolate the grape leaves above the branch breaking mechanism and the grape branch clamping mechanism. The grape branch clearance groove can provide passage space for the grape branch after the baffle is closed, preventing the baffle from crushing the grape branch, while preventing grape leaves from falling into the shearing or clamping area.

[0026] In some embodiments, the grape branch clamping mechanism includes an active clamping arm and a driven clamping arm, both rotatably mounted on a base. A third micro motor for controlling the rotation of the active clamping arm is mounted on the base. A row of third active teeth is integrally formed on the outer edge of the inner end of the active clamping arm, and a row of third driven teeth that mesh with the third active teeth is integrally formed on the outer edge of the inner end of the driven clamping arm. The driven clamping arm has a thickening groove adapted to the active clamping arm and first anti-slip teeth distributed on both sides of the thickening groove on the side near the active clamping arm. The active clamping arm has a second anti-slip tooth adapted to the first anti-slip tooth on the side near the driven clamping arm. The active clamping arm and the driven clamping arm can rotate synchronously in a direction away from or close to each other under the control of the third micro motor, so that the outer end of the active clamping arm extends into or exits the thickening groove.

[0027] With the above structure, a third micro motor drives the active gripping arm to rotate. The active gripping arm, through the meshing of the third active tooth and the third driven tooth, drives the driven gripping arm to rotate synchronously in opposite directions, achieving synchronous opening and closing of the gripping arms. The outer end of the active gripping arm can extend into the thickened groove of the driven gripping arm, allowing the gripping area to accommodate grape branches of different diameters. The first and second anti-slip teeth increase the friction with the grape branches, reducing the risk of the grape branches slipping, thereby improving the stability of pre-pruning positioning and post-pruning transport.

[0028] In some embodiments, the branch-breaking mechanism includes an active branch-breaking blade and a driven branch-breaking blade, both rotatably mounted on a base. A fourth micro motor for controlling the rotation of the active branch-breaking blade is mounted on the base. A row of fourth active teeth is integrally formed on the outer edge of the inner end of the active branch-breaking blade, and a row of fourth driven teeth that mesh with the fourth active teeth is integrally formed on the outer edge of the inner end of the driven branch-breaking blade. The active and driven branch-breaking blades can rotate synchronously in directions away from or close to each other under the control of the fourth micro motor.

[0029] With the above structure, the fourth micro motor only needs to drive the active branch-cutting blade, which in turn drives the driven branch-cutting blade to move synchronously through the meshing of the fourth active tooth and the fourth driven tooth, achieving synchronous cutting similar to scissors. Since the branch-cutting mechanism is located below the blade blocking mechanism and above the grape branch clamping mechanism, the grape leaves are blocked and isolated, and the grape branches are clamped and positioned, so the branch-cutting mechanism can cut the grape branches more accurately and thoroughly.

[0030] The second aspect of this application relates to a grape-harvesting robot, including a tracked vehicle and the aforementioned humanoid harvesting module. The tracked vehicle includes a vehicle body and two sets of tracked walking mechanisms installed parallel to each other on both sides of the bottom of the vehicle body. A robotic arm and a grape-collecting basket are installed on the top of the vehicle body. The base and vision module are both installed at the end of the robotic arm.

[0031] The grape-harvesting robot described above not only possesses all the advantages of humanoid harvesting modules, but also can move across vineyard surfaces such as muddy, sandy, or uneven ground via a tracked walking mechanism. The robotic arm can deliver the humanoid harvesting module to the vicinity of the target grape bunches and, after harvesting, transfer the bunches to a grape storage basket, thus achieving continuous operation of grape harvesting, transportation, and storage. Attached Figure Description

[0032] Figure 1 A schematic diagram of a grape-harvesting robot;

[0033] Figure 2 This is a structural diagram of a humanoid harvesting module;

[0034] Figure 3 This is a schematic diagram of the structure of a mechanical finger;

[0035] Figure 4 This is a cross-sectional view of a mechanical finger;

[0036] Figure 5 This is a schematic diagram showing the interaction between the first micro-drive module and the second joint.

[0037] Figure 6 This is a schematic diagram showing the interaction between the second micro-drive module and the first joint;

[0038] Figure 7 This is a schematic diagram showing the cooperation relationship between the base and the blade shifting mechanism;

[0039] Figure 8 This is a schematic diagram of the blade shifting mechanism;

[0040] Figure 9 This is a schematic diagram showing the cooperation relationship between the base, the branch-breaking mechanism, and the grape branch-holding mechanism;

[0041] Figure 10 A schematic diagram of the grape branch clamping mechanism.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Base; 2. Vision module; 2a. Depth camera; 2b. Camera bracket; 3. Leaf-mounting mechanism; 3a. Second servo motor; 3b. Rotating shaft; 3c. Baffle mounting base; 3d. Baffle; 3d1. Second rocker arm; 3d2. Second driving gear; 3d3. Second driven gear; 3d4. Grape branch clearance groove; 3e. Second micro motor; 4. Grape bunch holding mechanism; 4a. First rocker arm; 4a1. First driving gear; 4a2. First driven gear; 4b. 4c, First servo motor; 4c1, Flexible support; 4c2, Flexible outer layer; 4c3, Elastic support rib; 4c4, Compression spring assembly; 4d, Hand-like pad; 4e, Mechanical finger; 4e1, First joint; 4e2, Second joint; 4e21, Arc-shaped guide groove; 4e3, Third joint; 4e4, First micro drive module; 4e41, Micro electric actuator; 4e42, Three-bar linkage; 4e43, Sliding guide rod; 4e5, Second micro... Drive module; 4e51, First micro motor; 4e52, External gear ring; 4e53, Planetary carrier; 4e54, Sun gear; 4e55, Planetary gears; 4e56, First bevel gear; 4e57, Gear mounting bracket; 4e58, Second bevel gear; 4e6, Two-bar linkage; 4e9, Anti-slip protrusions; 4f, Tension spring; 4g, Extension support block; 4h, Support bowl; 4i, Extended bracket; 5, Grape branch clamping mechanism; 5a, Active clamping arm; 5a1, First... Three active teeth; 5a2, second anti-slip teeth; 5b, driven gripping arm; 5b1, third driven teeth; 5b2, thickened groove; 5b3, first anti-slip teeth; 5c, third micro motor; 6, branch breaking mechanism; 6a, active branch breaking blade; 6a1, fourth active teeth; 6b, driven branch breaking blade; 6b1, fourth driven teeth; 6c, fourth micro motor; 8, tracked vehicle; 8a, vehicle body; 8b, tracked walking mechanism; 9, robotic arm; 10, grape storage basket. Detailed Implementation

[0044] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0045] like Figure 2 As shown, a humanoid harvesting module mainly includes a base 1 and a vision module 2. The base 1 serves as the mounting foundation for each harvesting actuator and can be made of metal, engineering plastics, or composite materials to balance strength and weight. The vision module 2 is used to identify the position, posture, and relative spatial relationship of the grape bunches, grape branches, and grape leaves to be harvested.

[0046] In this embodiment, the base 1 is provided with a leaf-blocking mechanism 3, a branch-cutting mechanism 6, a grape branch clamping mechanism 5, and a grape bunch holding mechanism 4 arranged sequentially from top to bottom. This vertical arrangement matches the natural growth state of grapes: grape leaves and branches are usually located above the grape bunches, which hang naturally downwards. Therefore, the leaf-blocking mechanism 3 is located at the top to prioritize blocking the grape leaves, the branch-cutting mechanism 6 is located near the position where the grape branch is to be cut, the grape branch clamping mechanism 5 is located below the branch-cutting mechanism 6 to clamp the cut grape branch, and the grape bunch holding mechanism 4 is located below to hold the main body of the grape bunch.

[0047] The vision module 2 includes a depth camera 2a and a camera mount 2b. The depth camera 2a is mounted on the end of the robotic arm 9 or on the base 1 via the camera mount 2b. The depth camera 2a can acquire image and depth information of the grape bunch and its surrounding environment to determine the center of the grape bunch, the position of the grape branch, the extension direction of the grape branch, and the area obscured by grape leaves. The vision module 2 can be electrically connected to a robot controller, which controls the actions of the robotic arm 9 and the various actuators of the humanoid picking module based on the recognition results.

[0048] The depth camera 2a, also known as a 3D camera, can acquire the distance information from a target point in an image to the camera, and combine this information with the coordinates of the target point in the two-dimensional image to obtain the corresponding three-dimensional spatial information of the target point. Using the three-dimensional information of the grape bunch and its surrounding environment, the robot can be assisted in identifying the positions of the grape bunch, grape branches and leaves, obstacles, and the grape storage basket 10. In this embodiment, the depth camera 2a can be an Intel RealSense D435 depth camera, or other binocular depth cameras, structured light depth cameras, TOF depth cameras, or RGB-D cameras.

[0049] like Figures 2-10 As shown, the grape bunch holding mechanism 4 includes a holding bowl 4h, an extended bracket 4i, two opposing first rocker arms 4a, and gripping components respectively installed at the outer ends of the two first rocker arms 4a.

[0050] The inner ends of both first rocker arms 4a are rotatably mounted on the base 1. A first servo motor 4b is mounted on the base 1, which controls the rotation of one of the first rocker arms 4a. A row of first driving teeth 4a1 is integrally formed on the outer edge of the inner end of the first rocker arm 4a directly driven by the first servo motor 4b, and a row of first driven teeth 4a2 is integrally formed on the outer edge of the inner end of the other first rocker arm 4a. The first driving teeth 4a1 and the first driven teeth 4a2 mesh with each other.

[0051] When the first servo motor 4b drives one of the first rocker arms 4a to rotate, the first rocker arm 4a drives the first driven tooth 4a2 to rotate via the first driving tooth 4a1, thereby causing the other first rocker arm 4a to rotate synchronously in the opposite direction. As a result, the two sets of gripping assemblies can simultaneously open in a direction away from each other, or simultaneously close in a direction closer to each other.

[0052] The support bowl 4h is mounted on the base 1 via an extension bracket 4i, and is located directly below the two sets of clamping assemblies. The support bowl 4h can be a shallow bowl-shaped, curved tray-shaped, or mesh-like structure with an open top. Its inner surface is preferably provided with a flexible padding layer, such as a rubber layer, a silicone layer, or a flexible sponge layer, to reduce the impact when the bottom of the grape bunch comes into contact with the support bowl 4h. The extension bracket 4i extends the support bowl 4h downward relative to the base 1 so that the support bowl 4h can enter under the grape bunch and support the grape bunch from the bottom.

[0053] like Figures 2-6 As shown, each gripping assembly includes a flexible support 4c and a multi-degree-of-freedom human-hand-like holding mechanism disposed inside the flexible support 4c. The two flexible supports 4c are positioned opposite each other, forming a structure resembling two hands embracing a bunch of grapes. Both flexible supports 4c are arc-shaped, and the distance between them gradually decreases from the middle to both ends. This structure allows for a large accommodating space in the middle of the grape bunch when the two gripping assemblies are closed, while also providing appropriate vertical restraint on the grape bunch.

[0054] The multi-degree-of-freedom anthropomorphic hand support mechanism includes an anthropomorphic hand pad 4d, an extended support block 4g, a tension spring 4f, and multiple mechanical fingers 4e. The anthropomorphic hand pad 4d is fixedly installed on the side of the corresponding flexible support 4c near the grape bunch, specifically fixed to the flexible inner layer 4c1 of the flexible support 4c. The anthropomorphic hand pad 4d is preferably made of flexible or semi-flexible materials, such as rubber and silicone; alternatively, it can adopt a structure with a rigid frame encased in a flexible pad to balance support and cushioning.

[0055] An extended support block 4g is positioned below the palm-shaped pad 4d and connected to it via multiple tension springs 4f. The extended support block 4g also rests on the lower part of the corresponding flexible support 4c. When the grape bunches are positioned between the two clamping components, the extended support block 4g contacts the lower side or lower edge of the grape bunches, working in conjunction with the support bowl 4h to support them. The tension springs 4f allow the extended support block 4g to float relative to the palm-shaped pad 4d under stress, thus achieving flexible support and preventing the extended support block 4g from rigidly pressing against the grapes.

[0056] Multiple mechanical fingers 4e are distributed along the width of the flexible support 4c and mounted on the top of the palm-shaped pad 4d. Each mechanical finger 4e includes a first joint 4e1, a second joint 4e2, and a third joint 4e3. The first joint 4e1, the second joint 4e2, and the third joint 4e3 are hinged sequentially from top to bottom, with the lower end of the third joint 4e3 hinged to the top of the palm-shaped pad 4d, thereby allowing the third joint 4e3 to rotate toward or away from adjacent gripping components.

[0057] The first joint 4e1, the second joint 4e2, and the third joint 4e3 are preferably made of anti-slip rubber or anti-slip silicone, or an anti-slip rubber or anti-slip silicone layer is wrapped around the rigid frame. The surfaces of the first joint 4e1 and the second joint 4e2 away from the corresponding flexible support 4c both have an array of anti-slip protrusions 4e9. The anti-slip protrusions 4e9 increase the friction between the mechanical finger 4e and the grape bunch, allowing the mechanical finger 4e to stably hold the grape bunch with a smaller clamping force, reducing pressure on the grapes.

[0058] like Figures 3-5 As shown, a first micro-drive module 4e4 is installed in the third joint 4e3. The first micro-drive module 4e4 is used to control the rotation of the second joint 4e2 relative to the third joint 4e3 in a direction closer to or further away from the adjacent gripping assembly.

[0059] The second joint 4e2 is hinged to the third joint 4e3 on the side closest to the corresponding flexible support 4c. Both sides of the second joint 4e2 along the width direction of the flexible support 4c are connected to the third joint 4e3 via a two-bar linkage 4e6. The two-bar linkage 4e6 may include two hinged links, the outer ends of which are respectively hinged to the second joint 4e2 and the third joint 4e3, for auxiliary support and guidance of the rotation of the second joint 4e2.

[0060] The second joint 4e2 has opposing arc-shaped guide grooves 4e21 on both sides along the width direction of the flexible support 4c. The first micro-drive module 4e4 includes a micro electric actuator 4e41, a three-link 4e42, and a sliding guide rod 4e43. The guide sleeve of the micro electric actuator 4e41 is fixedly installed in the third joint 4e3 through a actuator bracket, and the outer end of the actuator of the micro electric actuator 4e41 is connected to the middle part of the sliding guide rod 4e43 through the three-link 4e42. The sliding guide rod 4e43 extends along the width direction of the flexible support 4c, and its two ends are slidably inserted into the corresponding arc-shaped guide grooves 4e21 on both sides of the second joint 4e2.

[0061] When the miniature electric actuator 4e41 extends or retracts, it drives the sliding guide rod 4e43 to move along a preset direction via the three-link 4e42. Since the sliding guide rod 4e43 is restricted at both ends by the arc-shaped guide groove 4e21, after sliding to either end of the arc-shaped guide groove 4e21, the sliding guide rod 4e43 continues to apply force, causing the second joint 4e2 to rotate relative to the third joint 4e3, thereby achieving bending or extension of the middle part of the mechanical finger 4e. Simultaneously, when the second joint 4e2 contacts the grape bunch and receives a reaction force, the sliding guide rod 4e43 can also produce a certain amount of clearance sliding in the arc-shaped guide groove 4e21, thus allowing the second joint 4e2 to exhibit moderate compliant deflection, avoiding excessive concentrated pressure on local grapes.

[0062] like Figures 4-6 As shown, a second micro-drive module 4e5 is installed in the second joint 4e2. The second micro-drive module 4e5 is used to control the rotation of the first joint 4e1 relative to the second joint 4e2 in a direction closer to or further away from the adjacent gripping assembly.

[0063] The second micro drive module 4e5 includes a first micro motor 4e51, an external gear ring 4e52, a planetary carrier 4e53, a sun gear 4e54, multiple planetary gears 4e55, a first bevel gear 4e56, a gear mounting bracket 4e57, and a second bevel gear 4e58. The first micro motor 4e51 and the external gear ring 4e52 are fixedly mounted in the second joint 4e2. The sun gear 4e54 is synchronously mounted on the motor shaft of the first micro motor 4e51. Multiple planetary gears 4e55 are rotatably mounted on the planetary carrier 4e53 and distributed between the sun gear 4e54 and the external gear ring 4e52, with each planetary gear 4e55 simultaneously meshing with both the sun gear 4e54 and the external gear ring 4e52. The first bevel gear 4e56 is synchronously mounted on one end of the planetary carrier 4e53 near the first joint 4e1. The first joint 4e1 is fixedly connected to the second joint 4e2 via a gear mounting bracket 4e57, and the second bevel gear 4e58 meshes with the first bevel gear 4e56.

[0064] When the first micro motor 4e51 rotates, it drives the sun gear 4e54 to rotate. The sun gear 4e54 drives each planet gear 4e55 to roll around the external gear ring 4e52, thereby driving the planet carrier 4e53 to output low speed and high torque. The planet carrier 4e53 drives the first bevel gear 4e56 to rotate, and the first bevel gear 4e56 drives the second bevel gear 4e58 to rotate, which in turn drives the first joint 4e1 to rotate relative to the second joint 4e2 through the gear mounting bracket 4e57. Due to the use of a planetary reduction structure, the movement of the first joint 4e1 is more stable, making it easier to precisely hold the grape bunches.

[0065] like Figure 2As shown, the flexible support 4c includes a flexible inner layer 4c1 and a flexible outer layer 4c2. The flexible inner layer 4c1 is located on the side closer to the grape bunch, and the flexible outer layer 4c2 is located on the side farther away from the corresponding multi-degree-of-freedom humanoid hand-like gripping mechanism. The hand-like pad 4d is fixedly mounted on the flexible inner layer 4c1.

[0066] Multiple sets of elastic support ribs 4c3 are integrally formed between the flexible inner layer 4c1 and the flexible outer layer 4c2, and are distributed sequentially from top to bottom. The elastic support ribs 4c3 can be distributed obliquely, arc-shaped, wavy, or in a grid pattern, so as to generate elastic deformation and provide rebound force when the flexible support 4c is compressed.

[0067] Multiple sets of compression springs 4c4 are elastically supported between the flexible inner layer 4c1 and the flexible outer layer 4c2, with each set of compression springs 4c4 located in the upper middle part of the corresponding flexible support 4c. Each set of compression springs 4c4 may include one or more compression springs. Since the upper part of the grape bunch is usually connected to the grape branch, the grapes are relatively concentrated, and the center of gravity of the grape bunch is mostly located in the upper middle area, setting the compression spring sets 4c4 in the upper middle part of the flexible support 4c can improve the support capacity of this area, making it less likely for the grape bunch to slip out of the clamping assembly during transportation.

[0068] Furthermore, the upper distance between the two flexible supports 4c is greater than the lower distance to match the structural characteristics of the grape bunch, which is larger at the top and smaller at the bottom, thereby improving the stability of the grape bunch clamping.

[0069] In this embodiment, the mechanical finger 4e can form a multi-degree-of-freedom covering motion, similar to that of a human hand finger, through the sequential cooperation of the third joint 4e3, the second joint 4e2, and the first joint 4e1. After the mechanical finger 4e contacts the grape bunch, it can not only gradually conform to the outer surface of the grape bunch through active driving, but also achieve a certain degree of passive compliance through the elastic deformation of the arc-shaped guide groove 4e21 and the flexible support 4c, so as to adapt to uneven distribution of grapes, local protrusions, or irregular bunch shape on the surface of the grape bunch.

[0070] like Figure 7 and Figure 8 As shown, the blade shifting mechanism 3 includes a second servo motor 3a, a rotating shaft 3b, a baffle mounting base 3c, two baffles 3d, and a second micro motor 3e. The second servo motor 3a is mounted on the top of the base 1. The motor shaft of the second servo motor 3a extends vertically upward and is synchronously connected to the rotating shaft 3b. The baffle mounting base 3c is synchronously mounted on the rotating shaft 3b. Therefore, the second servo motor 3a can drive the baffle mounting base 3c and the two baffles 3d mounted on the baffle mounting base 3c to rotate around the central axis of the rotating shaft 3b via the rotating shaft 3b.

[0071] Two baffles 3d are arranged horizontally opposite each other. A second rocker arm 3d1 is integrally formed on the inner end of each baffle 3d, and the inner ends of both second rocker arms 3d1 are rotatably mounted on a baffle mounting base 3c. A second micro motor 3e is mounted on the baffle mounting base 3c, and the second micro motor 3e controls the rotation of one of the second rocker arms 3d1. A second driving tooth 3d2 is integrally formed on the outer edge of the inner end of the second rocker arm 3d1 driven by the second micro motor 3e, and a second driven tooth 3d3 is integrally formed on the outer edge of the inner end of the other second rocker arm 3d1. The second driving tooth 3d2 meshes with the second driven tooth 3d3.

[0072] The outer edges of the two baffles 3d that are close to each other are recessed to form grape branch clearance grooves 3d4, and the two grape branch clearance grooves 3d4 are arranged opposite each other. When the two baffles 3d are close to each other, the two grape branch clearance grooves 3d4 together form a grape branch passage hole for the grape branch to pass through.

[0073] During harvesting, the robotic arm 9 first moves the humanoid harvesting module to the vicinity of the target grape bunch. After the vision module 2 identifies the position of the grape branches and leaves, the second servo motor 3a first drives the two baffles 3d to rotate as a whole, so that the grape branch clearance grooves 3d4 are roughly aligned with the grape branches. Subsequently, the second micro motor 3e drives the two baffles 3d to move closer to each other, so that the grape branches are located in the grape branch passage formed by the two grape branch clearance grooves 3d4, while the grape leaves are blocked by the baffles 3d above the leaf-blocking mechanism 3. If the grape branches are bent or tilted significantly, the second servo motor 3a can continue to fine-tune the overall angle of the two baffles 3d to adapt to the posture of the grape branches.

[0074] like Figure 9 and Figure 10 As shown, the grape branch clamping mechanism 5 includes an active clamping arm 5a, a driven clamping arm 5b, and a third micro motor 5c. Both the active clamping arm 5a and the driven clamping arm 5b are rotatably mounted on the base 1. The third micro motor 5c is mounted on the base 1 and is used to control the rotation of the active clamping arm 5a.

[0075] The active gripping arm 5a has a third active tooth 5a1 integrally formed on the outer edge of its inner end, and the driven gripping arm 5b has a third driven tooth 5b1 integrally formed on the outer edge of its inner end. The third active tooth 5a1 and the third driven tooth 5b1 mesh. Therefore, when the third micro motor 5c drives the active gripping arm 5a to rotate, the active gripping arm 5a can drive the driven gripping arm 5b to rotate synchronously in the opposite direction, so that the active gripping arm 5a and the driven gripping arm 5b open or close synchronously.

[0076] In this embodiment, the driven clamping arm 5b has a thickened groove 5b2 on the side near the active clamping arm 5a, and the thickened groove 5b2 is adapted to the shape of the outer end of the active clamping arm 5a. When the active clamping arm 5a and the driven clamping arm 5b are closed, the outer end of the active clamping arm 5a can extend into the thickened groove 5b2, thereby forming an interlaced clamping structure to improve adaptability to grape branches of different thicknesses.

[0077] The driven clamping arm 5b is also provided with first anti-slip teeth 5b3 distributed on both sides of the thickening groove 5b2, and the active clamping arm 5a is provided with second anti-slip teeth 5a2 on the side near the driven clamping arm 5b. The first anti-slip teeth 5b3 and the second anti-slip teeth 5a2 cooperate with each other. When clamping the grape branch, the first anti-slip teeth 5b3 and the second anti-slip teeth 5a2 can lock the surface of the grape branch, improve the clamping friction, and prevent the grape branch from slipping out of the clamping mechanism after being cut.

[0078] In this embodiment, the grape branch clamping mechanism 5 is located above the grape bunch holding mechanism 4 and below the branch breaking mechanism 6, so that the grape branch can be reliably clamped before it is broken, and the clamping state is maintained after the branch is broken. This ensures that even if the cut grape bunch swings during the movement of the robotic arm 9, the remaining branch segment at the upper end can still be stably constrained by the clamping mechanism 5, preventing the whole bunch from falling suddenly.

[0079] like Figure 9 As shown, the branch-breaking mechanism 6 includes an active branch-breaking blade 6a, a driven branch-breaking blade 6b, and a fourth micro motor 6c. Both the active branch-breaking blade 6a and the driven branch-breaking blade 6b are rotatably mounted on the base 1. The fourth micro motor 6c is mounted on the base 1 and is used to control the rotation of the active branch-breaking blade 6a.

[0080] The active pruning blade 6a has a fourth active tooth 6a1 integrally formed on the outer edge of its inner end, and the driven pruning blade 6b has a fourth driven tooth 6b1 integrally formed on the outer edge of its inner end. The fourth active tooth 6a1 and the fourth driven tooth 6b1 mesh. When the fourth micro motor 6c drives the active pruning blade 6a to rotate, the active pruning blade 6a drives the fourth driven tooth 6b1 to rotate through the fourth active tooth 6a1, thereby causing the driven pruning blade 6b to rotate synchronously in the opposite direction. When the active pruning blade 6a and the driven pruning blade 6b approach each other, they can cut off the grape branch located between them.

[0081] In this embodiment, the active branch-cutting blade 6a and the driven branch-cutting blade 6b are preferably made of wear-resistant metal material, and their cutting edges can be set according to the hardness and diameter of the grape branch to ensure branch-cutting efficiency and cutting reliability. The branch-cutting mechanism 6 is located below the blade-blocking mechanism 3 and above the grape branch clamping mechanism 5. During harvesting, the grape branch clamping mechanism 5 first clamps the grape branch, and then the branch-cutting mechanism 6 cuts the grape branch. This avoids the grape branch shaking during cutting, improving cutting accuracy and thoroughness.

[0082] The working process of the humanoid harvesting module in this embodiment is as follows:

[0083] In the first step, the vision module 2 acquires the spatial positions of the grape bunches, grape branches, and grape leaves. Based on the visual information, the controller controls the movement of the robotic arm 9, bringing the humanoid picking module closer to the target grape bunches and positioning the grape bunches between two sets of gripping components, while the grape branches are positioned within the working areas of the leaf-blocking mechanism 3, the branch-breaking mechanism 6, and the grape branch-holding mechanism 5.

[0084] The second step involves the activation of the leaf-shifting mechanism 3. The second servo motor 3a adjusts the overall angle of the two baffles 3d, aligning the grape branch clearance groove 3d4 with the grape branch. The second micro motor 3e drives the two baffles 3d to move closer together, allowing the grape branch to pass through the grape branch through-hole formed by the two grape branch clearance grooves 3d4, while simultaneously blocking the grape leaves above the baffles 3d.

[0085] The third step involves the movement of the grape bunch holding mechanism 4. The robotic arm 9 or the humanoid picking module makes a fine-tuning adjustment to position the holding bowl 4h below the bottom of the grape bunch. The first servo motor 4b drives the two first rocker arms 4a to close synchronously, causing the two sets of gripping components to approach the grape bunch from both sides. The holding bowl 4h lifts the grape bunch from the bottom, the extended support block 4g assists in supporting the lower part of the grape bunch, and the two palm-like pads 4d and robotic fingers 4e gradually come into contact with the outer side of the grape bunch.

[0086] In the fourth step, the robotic finger 4e performs a human-hand-like bending and gripping motion. The first micro-drive module 4e4 drives the second joint 4e2 to bend relative to the third joint 4e3, and the second micro-drive module 4e5 drives the first joint 4e1 to bend relative to the second joint 4e2, causing the robotic finger 4e to conform to the shape of the grape bunch. The flexible support 4c, tension spring 4f, and extended support block 4g generate cushioning and adaptive deformation during contact, reducing damage to the grapes.

[0087] Fifth step, the grape branch clamping mechanism 5 is activated. The third micro motor 5c drives the active clamping arm 5a and the driven clamping arm 5b to move closer to each other. The outer end of the active clamping arm 5a extends into the thickened groove 5b2 of the driven clamping arm 5b, and clamps the grape branch through the first anti-slip tooth 5b3 and the second anti-slip tooth 5a2.

[0088] Step 6: The branch-cutting mechanism 6 actuates. The fourth micro motor 6c drives the active branch-cutting blade 6a and the driven branch-cutting blade 6b to approach each other and cut the grape branch. Since the grape leaves are now isolated by the baffle 3d, the grape branch is fixed by the grape branch clamping mechanism 5, and the grape bunch is held by the grape bunch holding mechanism 4, the cutting process is stable and the grape bunch is not easy to fall off.

[0089] Step 7: Maintain the state after cutting. The grape bunch holding mechanism 4 continues to hold and support the grape bunch, while the grape branch clamping mechanism 5 continues to clamp the grape branch. After the robotic arm 9 moves the humanoid picking module above the grape storage basket 10, the grape branch clamping mechanism 5 can be controlled to release the grape branch, the robotic finger 4e extends, and the two sets of clamping components open, allowing the grape bunch to fall smoothly into the grape storage basket 10.

[0090] Example 2:

[0091] like Figure 1 As shown, this embodiment provides a grape-harvesting robot, including a tracked vehicle 8, a robotic arm 9, a grape storage basket 10, and the humanoid harvesting module of Embodiment 1.

[0092] The tracked vehicle 8 includes a chassis 8a and two sets of tracked walking mechanisms 8b mounted on both sides of the bottom of the chassis 8a. The two sets of tracked walking mechanisms 8b are arranged in parallel to each other, enabling them to move on soil, sand, gravel, or uneven ground in the vineyard. Compared with wheeled walking mechanisms, tracked walking mechanisms 8b have a larger ground contact area and better obstacle-crossing ability, which can improve the passability and stability of the grape-harvesting robot in the field environment.

[0093] The robotic arm 9 is mounted on the top of the vehicle body 8a, and preferably a multi-degree-of-freedom robotic arm. The base 1 of the humanoid picking module is mounted on the end of the robotic arm 9, and the vision module 2 is also mounted on the end of the robotic arm 9 or on the base 1, so that the vision module 2 can move closer to the target bunch of grapes with the humanoid picking module and acquire close-up images.

[0094] A grape storage basket 10 is installed on the top of the vehicle body 8a to store harvested grape bunches. A flexible cushioning pad can be installed inside the grape storage basket 10 to reduce impact damage when the grape bunches fall into the basket.

[0095] In this embodiment, when the grape-harvesting robot is working, the tracked vehicle 8 moves to the vicinity of the grape trellis or vines; the vision module 2 identifies the target grape bunch; the robotic arm 9 drives the humanoid harvesting module to approach the target grape bunch; the humanoid harvesting module completes the harvesting in the order of plucking leaves, holding, clamping branches, and pruning; the robotic arm 9 then transfers the grape bunch to the grape storage basket 10 and releases the grape bunch. Thus, the robot can realize automatic grape harvesting.

[0096] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention. Those skilled in the art, under the guidance of the present invention, can make various similar representations without departing from the spirit and claims of the present invention, and such modifications all fall within the protection scope of the present invention.

Claims

1. A humanoid picking module, comprising a base and a vision module, characterized in that, The base is equipped with a leaf-blocking mechanism, a branch-breaking mechanism, a grape branch clamping mechanism, and a grape bunch holding mechanism arranged sequentially from top to bottom. When the vision module recognizes the grape bunch and its attached grape branches and leaves, the leaf blocking mechanism first isolates all the grape leaves above it, then the grape bunch holding mechanism lifts and holds the grape bunch, next the grape branch clamping mechanism clamps the grape branch, and finally the branch cutting mechanism cuts the grape branch. After completion, the grape bunch holding mechanism remains in the state of lifting and holding the grape bunch, and the grape branch clamping mechanism remains in the state of clamping the grape branch.

2. The anthropomorphic harvesting module according to claim 1, characterized in that, The grape bunch holding mechanism includes a bowl and two opposing first rocker arms. The inner ends of the two first rocker arms are rotatably mounted on a base, and the outer ends are fixedly connected to downwardly extending gripping components. A first servo motor for controlling the rotation of one of the first rocker arms is mounted on the base. A row of first active teeth is integrally formed on the outer edge of the inner end of the first rocker arm, and a row of first driven teeth that mesh with the first active teeth is integrally formed on the outer edge of the inner end of the other first rocker arm. The two gripping components can rotate synchronously in a direction away from or close to each other under the control of the first servo motor. The bowl is mounted on the base via an extended bracket and is located directly below the two sets of clamping components.

3. The anthropomorphic harvesting module according to claim 2, characterized in that, Each gripping assembly includes a deformable flexible support and a multi-degree-of-freedom humanoid hand support mechanism disposed on the side of the flexible support near the adjacent gripping assembly. The two flexible supports are arc-shaped structures with the distance between them gradually decreasing from the middle to both ends. Each multi-degree-of-freedom humanoid hand support mechanism includes a palm-shaped pad fixedly mounted on the corresponding flexible support, an extension support block connected to the lower part of the palm-shaped pad by multiple tension springs, and multiple mechanical fingers distributed along the width direction of the flexible support and mounted on the top of the palm-shaped pad. The extension support blocks are respectively supported on the lower part of the corresponding flexible support. Each mechanical finger includes a first joint, a second joint, and a third joint hinged sequentially from top to bottom. The lower end of the third joint is hinged to the top of the palm-shaped pad, thereby enabling the third joint to rotate toward or away from the adjacent gripping assembly. The third joint is equipped with a first micro-drive module for controlling the rotation of the second joint toward or away from the adjacent gripping assembly, and the second joint is equipped with a second micro-drive module for controlling the rotation of the first joint toward or away from the adjacent gripping assembly.

4. The anthropomorphic harvesting module according to claim 3, characterized in that, The second joint is hinged to the third joint on the side near the corresponding flexible support. Both sides of the second joint along the width direction of the flexible support are connected to the third joint through a two-bar linkage. The second joint has opposing arc-shaped guide grooves on both sides along the width direction of the flexible support. The first micro drive module includes a micro electric actuator, a three-bar linkage, and a sliding guide rod. The guide sleeve of the micro electric actuator is fixedly installed in the third joint through a actuator bracket. The outer end of the push rod of the micro electric actuator is connected to the middle part of the sliding guide rod through the three-bar linkage. The two ends of the sliding guide rod are slidably inserted into the corresponding arc-shaped guide grooves.

5. The anthropomorphic harvesting module according to claim 3 or 4, characterized in that, The second micro drive module includes a planetary carrier and a first micro motor and an external gear ring fixedly installed in the second joint. A sun gear is synchronously mounted on the motor shaft of the first micro motor. Multiple planet gears distributed between the sun gear and the external gear ring are rotatably mounted on the planetary carrier. Each planet gear meshes with both the sun gear and the external gear ring simultaneously. A first bevel gear is synchronously mounted on the end of the planetary carrier near the corresponding first joint. A second bevel gear meshing with the first bevel gear is fixedly connected to the end of the first joint near the corresponding second joint through a gear mounting bracket.

6. The anthropomorphic harvesting module according to claim 3, characterized in that, Each flexible support includes a flexible inner layer and a flexible outer layer located on the side of the flexible inner layer away from the corresponding multi-degree-of-freedom human hand gripping mechanism. The palm pads are fixedly installed on the corresponding flexible inner layers. The flexible inner layer and the corresponding flexible outer layer are integrally formed to support multiple sets of elastic support ribs distributed sequentially from top to bottom. The flexible inner layer and the corresponding flexible outer layer are elastically supported by multiple sets of compression springs, and each set of compression springs is located in the upper middle part of the corresponding flexible support.

7. The anthropomorphic harvesting module according to claim 1, characterized in that, The blade shifting mechanism includes two horizontally arranged baffles and a second servo motor mounted on the top of the base. The motor shaft of the second servo motor extends vertically upward and is synchronously connected to a rotating shaft. A baffle mounting seat is synchronously mounted on the rotating shaft. The inner ends of the baffles are integrally formed with second rocker arms. The inner ends of the two second rocker arms are rotatably mounted on the baffle mounting seat. A second micro motor for controlling the rotation of one of the second rocker arms is mounted on the baffle mounting seat. A row of second driving teeth is integrally formed on the outer edge of the inner end of the second rocker arm. A row of second driven teeth that mesh with the second driving teeth is integrally formed on the outer edge of the inner end of the other second rocker arm. The outer edges of the two baffles that are close to each other are recessed to form grape branch clearance grooves. The two grape branch clearance grooves are arranged opposite each other. The two baffles can be synchronously rotated in a direction away from or close to each other under the control of the second micro motor to enlarge or reduce the grape branch through hole formed by the two grape branch clearance grooves.

8. The anthropomorphic harvesting module according to claim 1, characterized in that, The grape branch clamping mechanism includes an active clamping arm and a driven clamping arm, both rotatably mounted on a base. A third micro motor for controlling the rotation of the active clamping arm is mounted on the base. A row of third active teeth is integrally formed on the outer edge of the inner end of the active clamping arm, and a row of third driven teeth that mesh with the third active teeth is integrally formed on the outer edge of the inner end of the driven clamping arm. The driven clamping arm has a thickening groove adapted to the active clamping arm and first anti-slip teeth distributed on both sides of the thickening groove on the side near the active clamping arm. The active clamping arm has a second anti-slip tooth adapted to the first anti-slip tooth on the side near the driven clamping arm. The active clamping arm and the driven clamping arm can rotate synchronously in a direction away from or close to each other under the control of the third micro motor, so that the outer end of the active clamping arm extends into or exits the thickening groove.

9. The anthropomorphic harvesting module according to claim 1, characterized in that, The branch-breaking mechanism includes an active branch-breaking blade and a driven branch-breaking blade, both rotatably mounted on a base. A fourth micro motor for controlling the rotation of the active branch-breaking blade is mounted on the base. A row of fourth active teeth is integrally formed on the outer edge of the inner end of the active branch-breaking blade, and a row of fourth driven teeth that mesh with the fourth active teeth is integrally formed on the outer edge of the inner end of the driven branch-breaking blade. The active branch-breaking blade and the driven branch-breaking blade can rotate synchronously in directions away from or close to each other under the control of the fourth micro motor.

10. A grape-harvesting robot, characterized in that, The invention includes a tracked vehicle and a humanoid picking module as described in any one of claims 1-9. The tracked vehicle includes a vehicle body and two sets of tracked walking mechanisms installed parallel to each other on both sides of the bottom of the vehicle body. A robotic arm and a grape storage basket are installed on the top of the vehicle body. The base and the vision module are both installed at the end of the robotic arm.

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