Intelligent ginseng fruit picking robot with autonomous cruising function

Abstract

The utility model discloses an intelligent ginseng fruit picking robot with an autonomous cruising function, which relates to the technical field of intelligent agricultural equipment and comprises a ground rail group, a gantry frame, a guide rail group, a picking execution mechanism, a gas absorption and collection device and a control system. The picking execution mechanism comprises an air suction type clamping and shearing picking execution mechanism and a picking execution mechanism connecting platform; according to the utility model, a complex agricultural planting environment of ginseng can be overcome, rapid and stable movement can be realized, and components of each part in the control box control motors, steering engines and sensors to work orderly. The air suction type clamping, shearing and picking executing mechanism effectively picks ginseng fruits in different scenes and in different poses, the ginseng fruits are threshed by rotating the clamping vibrator, finally, fruit grains are sucked into a collecting box through the air pressure suction pump device, and picking is completed. The intelligent ginseng fruit picking robot can effectively perform automatic picking, can effectively replace a manual picking mode, and promotes healthy and rapid development of the ginseng industry.

Description

Technical Field

[0001] The utility model relates to the technical field of smart agricultural equipment, and more specifically to an autonomous cruising ginseng fruit intelligent picking robot. Background Art

[0002] Ginseng fruit is the mature fruit of ginseng plant that grows for many years. It is also called ginseng berry and also the seed of ginseng. Ginseng fruit has many functional ingredients such as ginsenoside, protein, syringaresinol, etc. like ginseng, and has important economic and medicinal value. At present, ginseng is widely produced. It is mainly distributed in Northeast China. It is usually planted on the surface of the ridge. After sowing ginseng seeds, they grow for many years. Ginseng is formed inside the soil and ginseng plants are formed outside the soil. Ginseng plants usually grow vertically and the average height is 300-600mm. Finally, ginseng fruit is formed at the top of the plant. Ginseng fruit is composed of dozens of oval fruit grains that are densely packed together on the ginseng stalks. The whole is umbrella-shaped and supported by the ginseng stems. Each fruit grain is small in size and light in weight. It is easily disturbed by vibration, which causes the fruit grain to fall off the ginseng stems. In early spring or late summer every year, ginseng fruits mature one after another and the surface becomes bright red. At this time, they can be picked. As the world's largest ginseng producer, China's ginseng planting area is constantly expanding, and the output of ginseng fruit will also increase rapidly. However, the picking of ginseng fruit has not yet been mechanized and intelligent, and is still a traditional manual picking model with low efficiency, high labor intensity and high employment costs. Therefore, in order to meet the needs of social development, the development of an intelligent ginseng fruit picking robot is the only way to promote the healthy development of the ginseng industry. Utility Model Content

[0003] The purpose of the utility model is to solve the above-mentioned technical problems. The utility model provides an autonomous cruising ginseng fruit intelligent picking robot, which reaches the ginseng fruit picking position and performs the picking work through a guide rail group installed on a gantry frame and a series-parallel hybrid robotic arm with one degree of freedom, and combines a visual sensor to drive a clamping and scissoring end effector mechanism and an air suction sleeve.

[0004] In order to achieve the above-mentioned purpose, the utility model specifically adopts the following technical solutions: an autonomous cruising ginseng fruit intelligent picking robot can quickly move between ridges and reach the ginseng fruit growing area through a pre-installed ground track group; secondly, the air suction clamping and shearing picking actuator starts to work, which drives the clamping and shearing end actuator and the air suction sleeve to reach the ginseng fruit picking position and implement the picking work through the guide rail group installed on the gantry frame and a 6-degree-of-freedom serial-parallel hybrid mechanical arm and a visual sensor. Specifically, the clamping and shearing end actuator begins to continuously clamp the ginseng stem and straighten it, wherein the inner side of the clamping plate is attached with a rubber gasket, which can protect the ginseng stem from being clamped off and clamp the ginseng stem, and at the same time, the shearing blades with an inner staggered structure below cut the ginseng stem through the action of the springs on both sides and the rubber gasket, and then the 6-degree-of-freedom serial-parallel hybrid mechanical arm drives the air suction sleeve installed thereon to reach the top of the ginseng fruit and cover the ginseng fruit as a whole, at this time, the rotating clamping vibrator below the air suction sleeve begins to close and clamp the ginseng stem, and at the same time, the bottom of the air suction sleeve is sealed. The rotary clamping vibrator is equipped with a contact sensor and a vibration sensor. When the rotary clamping vibrator is closed and contacts the ginseng stem, the contact sensor sends a command to the vibration sensor to start driving the pick to vibrate the ginseng fruit, thereby causing the fruit particles to fall off. Finally, the air pressure suction pump device starts working and sucks the fruit particles into the collection box through the air suction pipe, thus completing the picking.

[0005] In order to achieve the above-mentioned purpose, the utility model preliminarily introduces the key structural arrangements from two aspects: the overall ginseng fruit picking robot and the separate air suction type clamping, shearing and picking actuator, including:

[0006] Ground track assembly: Since the ground conditions in the ginseng planting environment are not suitable for wheeled or crawler mechanical equipment to work, it is necessary to design a ground track. The ground track assembly is mainly composed of a ground track transmission motor, a guide rail base, a ground track fixing, a guide rail slider, a dust baffle, a guide rail contact pulley and a gear rack. The ground track transmission motor drives the internal gear rack of the guide rail slider to mesh and move, so that the guide rail slider drives the entire ginseng fruit picking robot to move on the guide rail base.

[0007] Traveling mechanism: Since ginseng is planted on the bed surface, the traveling mechanism is formed by a gantry frame and a guide rail group. The gantry frame is mainly composed of hollow rectangular steel, reinforcing ribs, universal wheels, support plates and fasteners, so as to support or install other working mechanisms and facilitate manual movement of the gantry frame; the guide rail group is composed of a screw guide transmission motor, a screw guide, a vertical screw guide support platform, a vertical screw guide fastener, a support guide, a support guide fixing, a linear cylindrical guide and a picking actuator connecting slider, so as to facilitate the air suction clamping shearing picking actuator to move freely in the ZOY plane of the Cartesian coordinate system.

[0008] Picking actuator: The picking actuator is mainly composed of several supporting connectors and air-suction clamping and shearing picking actuators, wherein the supporting connectors are not described here. The air-suction clamping and shearing picking actuator is mainly composed of various servos and motors, 6-DOF serial-parallel hybrid robotic arms, air suction sleeve adjustable connectors, air suction sleeves, visual sensors, rotary clamping vibrators and clamping and shearing end actuators. Based on the Cartesian coordinate system, the 6-DOF serial-parallel hybrid robotic arms are mainly composed of the first XOY rotating base, the second XOZ rotating connecting rod, the third XOZ rotating motor support base, the fourth clamping end actuator moving connecting rod, the fifth XOY rotating connecting rod, and the sixth air suction sleeve electric push rod, wherein the first, second, and third are series structures, and the fourth, fifth, and sixth are parallel structures. The 6-DOF serial-parallel hybrid robotic arms can be used to assist the air suction sleeve and the clamping and shearing end actuator to reach the ginseng fruit picking position and perform picking work. The rotary clamping vibrator is mainly composed of a clamping slide, a linear slide platform, a rotary main transmission curved slide platform, a master-slave meshing gear, a steering gear support platform, a paddle, a vibration sensor and a contact sensor, and is finally connected to the bottom of the air suction sleeve. The clamping and shearing end actuator is mainly composed of an end actuator support platform, a transmission gear, a propulsion connecting rod, a clamp, a spring, a rubber gasket, an inner staggered shear blade, etc., wherein the clamp and the inner staggered shear blade assist the air suction sleeve and the rotary clamping vibrator to complete the picking work.

[0009] Air absorption and collection device: The air absorption and collection device mainly generates air pressure through an air pressure suction pump device to absorb fruit particles, wherein the air absorption and collection device is mainly composed of an air suction pipeline, an air pressure suction pump device and a collection box.

[0010] Sensor and control system: The control system includes components such as a controller, an integrated board, an STM32 single-chip microcomputer main control board, a power supply, and a visual development board, all of which are installed in a control box. The sensors include visual sensors, contact sensors, and vibration sensors, wherein the visual sensor is installed on the clamp-type end actuator, and is used to combine machine vision and positioning technology to assist the picking actuator to reach the ginseng fruit picking position and achieve precise picking. The contact sensor and vibration sensor are installed inside the rotating clamping vibrator, and are used to sense whether the ginseng fruit has reached the air suction sleeve and implement vibration to cause the fruit to fall off.

[0011] In summary, through the above technical solutions and structural arrangements, the utility model can overcome the complex agricultural planting environment of ginseng and achieve fast and stable movement, and the various components in the control box control the orderly operation of the motors, steering gears, and sensors of each part, so that the air suction clamping and shearing picking actuator can effectively pick ginseng fruits in different scenes and different postures and thresh the ginseng fruits through the rotating clamping vibrator, and finally suck the fruit into the collection box through the air pressure suction pump device to complete the picking. The ginseng fruit intelligent picking robot can effectively perform automated picking, can effectively replace the manual picking method, and promote the healthy and rapid development of the ginseng industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a three-dimensional diagram of a ginseng fruit picking robot in a preferred working mode of the utility model;

[0013] Figure 2 It is viewed from another perspective Figure 1 A stereoscopic image of a ginseng fruit picking robot;

[0014] Figure 3 yes Figure 1 The front view of the ginseng fruit picking robot;

[0015] Figure 4 yes Figure 2 A structural view of the ground track group of the ginseng fruit picking robot;

[0016] Figure 5 yes Figure 3 Front view of the air-suction gripping, shearing and picking actuator of the Chinese ginseng fruit picking robot;

[0017] Figure 6 yes Figure 3 A three-dimensional diagram of the air-suction gripping, shearing and picking actuator of the Chinese ginseng fruit picking robot;

[0018] Figure 7 yes Figure 5 Structural view of the clamping and shearing end effector of the medium-pressure suction clamping, shearing and picking actuator;

[0019] Figure 8 yes Figure 6 Structural view of the rotary clamping vibrator of the pneumatic suction shear end picking actuator.

[0020] Reference numerals:

[0021] Gantry frame: 1-hollow rectangular steel; 2-fasteners; 3-universal wheels; 4-reinforcement ribs; 7-support plate;

[0022] Ground track assembly: 6-ground track; 17-ground track drive motor; 22-guide rail base; 23-ground track fixing piece; 24-guide rail slider; 25-dust baffle; 26-guide rail contact pulley; 27-gear rack;

[0023] Guide rail assembly: 5-screw guide rail transmission motor; 8-screw guide rail; 9-vertical screw guide rail support platform; 10-vertical screw guide rail fastener; 14-support guide rail; 15-support guide rail fixing piece; 16-linear cylindrical guide rail; 20-picking actuator connecting slider;

[0024] Control system: 11-control box;

[0025] Gas absorption and collection device: 12-air pressure suction pump device; 13-collection box; 21-gas suction pipeline;

[0026] Picking actuator: 18-air suction clamping and shearing picking actuator; 19-picking actuator connecting platform;

[0027] Air suction clamping, shearing and picking actuator: 28-joint servo; 29-transmission motor; 30-electric push rod motor; 31-6-DOF serial-parallel hybrid robot arm; 32-clamping and shearing end actuator; 39-visual sensor; 40-air suction sleeve; 41-adjustable connector of air suction sleeve; 42-rotating clamping vibrator;

[0028] 6-DOF serial-parallel hybrid manipulator: Based on the Cartesian coordinate system, 33-first XOY rotating base; 34-second XOZ rotating connecting rod; 35-third XOZ rotating motor supporting base; 36-fourth end actuator moving connecting rod; 37-fifth XOY rotating connecting rod; 38-sixth air suction sleeve electric push rod;

[0029] Clip-scissor type end actuator: 43-end actuator support platform; 44-transmission gear; 45-advance connecting rod; 46-internal offset shear blade; 47-spring; 48-rubber gasket; 49-plywood;

[0030] Rotating clamping vibrator: 50-clamping slide; 51-linear slide platform; 52-rotating main transmission curved slide platform; 53-paddle; 54-contact sensor; 55-servo support platform; 56-master and slave meshing gears; 57-vibration sensor. DETAILED DESCRIPTION

[0031] The specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. It is worth noting that the specific implementation methods described below are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the description of the present invention, it should be understood that the terms "upper", "lower", "top", "bottom", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] Specific reference Figures 1 to 3 As shown. In order to meet the planting and growth environment of ginseng and ginseng fruit, the utility model uses hollow rectangular steel 1, fasteners 2, universal wheels 3, reinforcing ribs 4 and support plates 7 to form a gantry frame and is fixedly connected to the ground track 6, and the gantry frame is driven to move by the ground track transmission motor 17. Among them, the universal wheels 3 play the role of manually moving the ginseng fruit intelligent picking robot, and the support plate 7 plays the role of supporting other working mechanisms of the ginseng fruit intelligent picking robot. The guide rail group consists of a screw guide transmission motor 5, a screw guide 8, a vertical screw guide support platform 9, a vertical screw guide fastener 10, a support guide 14, a support guide fixture 15, a linear cylindrical guide 16 and a picking actuator connecting slider 20. The picking actuator connecting platform 19 is connected to the picking actuator connecting slider 20 to drive the air suction clamping and shearing picking actuator 18 to move freely in the ZOY plane in the Cartesian coordinate system, thereby increasing the working range of the picking actuator of the ginseng fruit intelligent picking robot; the air suction clamping and shearing picking actuator 18 can pick and thresh ginseng fruits in any posture due to its unique structural design arrangement, and then absorb the fallen fruit particles through the air pressure suction pump device 12, so that the fruit particles are sucked into the collection box 13 through the air suction pipe 21, and finally the picking is completed, wherein all controls are completed by various control elements in the control box 11.

[0033] The following is a systematic example of the key structural components of the ginseng fruit picking robot.

[0034] Specific reference Figure 4As shown, the ground track 6 is composed of a ground track transmission motor 17, a guide rail base 22, a ground track fixing member 23, a guide rail slider 24, a dust baffle 25, a guide rail contact pulley 26 and a gear rack 27. Specifically, due to the poor ground conditions in the ginseng planting environment, before the ginseng fruit picking robot works, it is necessary to install the ground track assembly in advance, fix the guide rail base 22 on the ground through the ground track fixing member 23, the guide rail slider 24 has a guide rail contact pulley 26 inside, and a dust baffle 25 is installed outside, and the ground track transmission motor 17 transmits power to the gear rack 27 to mesh, thereby driving the guide rail slider 24 to move linearly.

[0035] Specific reference Figure 5 and Figure 6 As shown, the air suction clamping and shearing picking actuator 18 of the ginseng fruit picking robot is mainly composed of a joint steering gear 28, a transmission motor 29, an electric push rod motor 30, a 6-DOF serial-parallel hybrid mechanical arm 31, a clamping and shearing end actuator 32, a visual sensor 39, an air suction sleeve 40, an air suction sleeve adjustable connector 41 and a rotating clamping vibrator 42. The joint steering gear 28, the transmission motor 29 and the electric push rod motor 30 respectively drive the 6-DOF serial-parallel hybrid mechanical arm 31, the clamping and shearing end actuator 32, the air suction sleeve 40 and the rotating clamping vibrator 42 to move accurately and orderly. The 6-DOF serial-parallel hybrid robot arm 31 is composed of a first XOY rotating base 33, a second XOZ rotating link 34, a third XOZ rotating motor supporting base 35, a fourth end actuator moving link 36, a fifth XOY rotating link 37 and a sixth air suction sleeve electric push rod 38. It can complete arbitrary posture movement in the Cartesian coordinate system, and can drive the clamping and scissoring end actuator 32 and the air suction sleeve 40 to accurately reach the ginseng fruit picking position and implement the picking work through the visual sensor 39. The air suction sleeve 40 is fixed to the sixth air suction sleeve electric push rod 38 through the air suction sleeve adjustable connector 41. It can move with the 6-DOF serial-parallel hybrid robot arm 31, and can also move in the XOY plane and Z axis direction in the Cartesian coordinate system independently. Specifically, when the clamping and scissoring end effector 32 clamps, straightens and cuts the ginseng stem, the air suction sleeve 40 will move to the top of the ginseng fruit and cover the entire fruit, and then the rotating clamping vibrator 42 will begin to close and clamp the ginseng stem, while sealing the bottom of the air suction sleeve 40 and applying a vibration effect, causing the fruit particles to detach, and finally the fruit particles are collected by the air pressure suction pump device 12, and finally the picking task is completed.

[0036] Specific reference Figure 7As shown, the clamping and scissoring end actuator 32 is composed of an end actuator support platform 43, a transmission gear 44, a push rod 45, an inner staggered shearing blade 46, a spring 47, a rubber gasket 48 and a clamping plate 49. When the clamping and scissoring end actuator 32 reaches the ginseng fruit picking position, the transmission gear 44 starts to mesh, driving the push rod 45 to move, so that the clamping plate 49 is retracted and finally fixes and straightens the ginseng stem, wherein the surface of the clamping plate 49 is equipped with a rubber gasket 48, which can help the clamping plate 49 to continue to converge without clamping off the ginseng stem, and at the same time, the inner staggered shearing blade 46 installed under the clamping plate 49 cuts off the ginseng stem through the spring 47 and the rubber gasket 48. When the picking is completed, the clamping plate 49 is widened outward, and the inner staggered shearing blade 46 returns to its original position due to the elastic force of the spring 47 and the rubber gasket 48. It is worth noting that the above shearing principle should take into account the mass, retractable distance and elasticity of the spring 47 and the rubber gasket 48, and then reasonably install the effective position of the inner staggered shearing blade 46.

[0037] Specific reference Figure 8 As shown, the rotary clamping vibrator 42 is composed of a clamping slide 50, a linear slide platform 51, a rotary main transmission curved slide platform 52, a paddle 53, a contact sensor 54, a steering gear support platform 55, a master-slave meshing gear 56 and a vibration sensor 57. The working principle of the rotary clamping vibrator 42 is similar to the principle of the camera shutter structure. When the air suction sleeve 40 covers the ginseng fruit, the master-slave meshing gear 56 starts to move, driving the rotary main transmission curved slide platform 52 to rotate, and then the clamping slide 50 is caused to shrink and move inward and outward through the joint action of the linear slide platform 51 and the rotary main transmission curved slide platform 52. When the four clamping slides 50 are closed inward, the paddle 53 on it starts to contact the ginseng stem and clamp the ginseng, and then the contact sensor 54 on the paddle 53 starts to transmit a signal to the vibration sensor 57 after contacting the ginseng stem, and then the vibration sensor 57 starts to drive the paddle 53 to produce a vibration effect after receiving the signal, and then the fruit grains fall off the ginseng stem.

[0038] Working process description:

[0039] The above is a detailed exemplary description of the overall structure and key components of the ginseng fruit picking robot of the utility model. The following will summarize the picking process of the ginseng fruit intelligent picking robot, which can be more conducive to a clear understanding of the component composition, working principle and advantages of the ginseng fruit picking robot;

[0040] The ginseng fruit picking robot controls the various parts of the ginseng fruit picking robot to work in an orderly manner through the various components in the control box 11. Among them, the ground rail transmission motor 11 first drives the rail slider 24 to move on the rail base 22, thereby driving the gantry frame fixed on the rail slider 24 to move, that is, driving the entire ginseng fruit intelligent picking robot to move to the ginseng fruit area;

[0041] Secondly, the screw guide rail transmission motor 5 drives the various guide rails in the guide rail group to move in an orderly manner. Specifically, the screw guide rail 8 drives the air suction clamping, shearing and picking actuator 18 to move freely on the ZOY plane in the Cartesian coordinate system, wherein the support rail 14 and the linear cylindrical guide rail 16 play the role of assisting the movement and supporting the air suction clamping, shearing and picking actuator 18. Therefore, the guide rail group will drive the air suction clamping, shearing and picking actuator 18 to the predetermined position of the ginseng fruit picking point through the visual sensor 39, that is, directly above the ginseng fruit. Since the ginseng plant grows vertically upward and the top is formed with ginseng fruit, under ideal conditions, the ginseng plant and fruit do not fall over and stand upright. However, in actual situations, part of the ginseng plant may fall over due to the top-heavy ginseng plant and the interference of wind from the external environment, and the ginseng fruit appears in a variety of different positions and postures, which increases the difficulty of picking ginseng fruit. To cope with this situation, the air-suction clamping and shearing picking actuator 18 is designed with a 6-DOF serial-parallel hybrid robot arm 31, which can drive the clamping and shearing end actuator 32 and the air suction sleeve 40 to complete any posture movement. Therefore, when the air-suction clamping and shearing actuator 18 reaches the predetermined position of the ginseng fruit picking point, it controls the joint servo 28, the transmission motor 29, and the electric push rod motor 30 again through the visual sensor 39 to drive the clamping and shearing end actuator 32 and the air suction sleeve 40 to the ginseng fruit picking position, that is, 10-30mm away from the ginseng core and the ginseng stem, and starts the picking work;

[0042] Then the transmission gear 44 on the clamping and scissoring end actuator 32 starts to mesh and drives the propulsion connecting rod 45 to move, so that the clamping plate 49 continues to retract and finally fixes and straightens the ginseng stem. At the same time, the inner staggered shearing blade 46 installed under the clamping plate 49 cuts off the ginseng stem through the combined action of the spring 47 and the rubber gasket 48. After that, the clamping and shearing end actuator 32 stops working, and the fifth XOY rotating connecting rod 37 and the sixth air suction sleeve electric push rod 38 on the 6-DOF serial-parallel hybrid robot arm 31 drive the air suction sleeve 40 to cover the entire ginseng fruit, and then the rotating clamping vibrator starts to work, and the four clamping slides 50 are closed through the joint action of the linear slide platform 51 and the rotating main transmission curve slide platform 52, and the paddle 53 installed on the clamping slide 50 starts to contact the ginseng stem, and then the contact sensor 54 on the paddle 53 starts to transmit a signal to the vibration sensor 57, and then the vibration sensor 57 starts to drive the paddle 53 to vibrate the ginseng stem after receiving the signal, so that the ginseng fruit in the air suction sleeve 40 falls off the ginseng stem;

[0043] Finally, the air pressure suction pump device 12 starts to work, generating air pressure in the air suction pipe 21 to suck the fruit particles, and finally the picking work is completed after all the fruit particles are absorbed into the collection box 13. It is worth noting that the ginseng fruit intelligent picking robot has multiple and different types of motors and sensors, which are orderly controlled and processed by various components in the control box 11.

[0044] The technical solutions provided by the embodiments of the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only applicable to help understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, according to the embodiments of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An autonomous cruising ginseng fruit intelligent picking robot, characterized in that: include: A ground track assembly, which is installed on the ground; A gantry frame, the bottom end of which is mounted on a ground track assembly; A guide rail assembly, which is mounted on the gantry frame; A picking actuator, comprising an air suction type clamping and shearing picking actuator (18) and a picking actuator connecting platform (19), wherein the picking actuator connecting platform (19) is installed with a guide rail assembly; An air suction and collection device is installed on the gantry frame, the air suction and collection device comprises an air suction pipeline (21), an air pressure suction pump device (12), and a collection box (13) which are sequentially connected to each other, and the suction end of the air suction pipeline (21) is installed with an air suction type clamping, shearing and picking actuator (18); A sensing and control system comprises a control box (11), wherein a controller, an integrated board, an STM32 single-chip microcomputer main control board, a power supply, and a visual development board are installed inside the control box (11).

2. The autonomous cruising ginseng fruit intelligent picking robot according to claim 1, characterized in that: The ground track assembly comprises a ground track (6), a ground track transmission motor (17), a guide rail base (22), a ground track fixing member (23), a guide rail slider (24), a dust baffle (25), a guide rail contact pulley (26), and a gear rack (27); the guide rail base (22) is slidably connected to the guide rail slider (24).

3. The autonomous cruising ginseng fruit intelligent picking robot according to claim 1, characterized in that: The gantry frame comprises a hollow rectangular steel material (1), a fastener (2), a universal wheel (3), a reinforcing rib (4), and a support plate (7). The bottom of the hollow rectangular steel material (1) is fixedly mounted on a guide rail slider (24).

4. The autonomous cruising ginseng fruit intelligent picking robot according to claim 1, characterized in that: The guide rail assembly comprises a screw guide rail transmission motor (5), a screw guide rail (8), a vertical screw guide rail support platform (9), a vertical screw guide rail fastener (10), a support guide rail (14), a support guide rail fixing member (15), a linear cylindrical guide rail (16), and a picking actuator connecting slide block (20).

5. The autonomous cruising ginseng fruit intelligent picking robot according to claim 1, characterized in that: The 6-DOF serial-parallel hybrid robot arm comprises, based on a Cartesian coordinate system, a first XOY rotating base (33), a second XOZ rotating connecting rod (34), a third XOZ rotating motor supporting base (35), a fourth end actuator moving connecting rod (36), a fifth XOY rotating connecting rod (37), and a sixth air suction sleeve electric push rod (38).

6. The autonomous cruising ginseng fruit intelligent picking robot according to claim 1, characterized in that: The air suction type clamping, shearing and picking actuator comprises a joint steering gear (28), a transmission motor (29), an electric push rod motor (30), a 6-DOF serial-parallel hybrid mechanical arm (31), a clamping and shearing end actuator (32), a visual sensor (39), an air suction sleeve (40), an air suction sleeve adjustable connector (41), and a rotary clamping vibrator (42).

7. The autonomous cruising ginseng fruit intelligent picking robot according to claim 6, characterized in that: The shearing-type end actuator (32) comprises an end actuator support platform (43), a transmission gear (44), a propulsion connecting rod (45), an inner staggered shear blade (46), a spring (47), a rubber gasket (48), and a clamping plate (49).

8. The autonomous cruising ginseng fruit intelligent picking robot according to claim 6, characterized in that: The rotary clamping vibrator comprises a clamping slide (50), a linear slide platform (51), a rotary main transmission curved slide platform (52), a paddle (53), a contact sensor (54), a steering gear support platform (55), a master-slave meshing gear (56), and a vibration sensor (57).

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