Picking robot with flexible gripper and cutting mechanism
By designing a picking robot with flexible hand claws and cutting mechanism, the problem of poor picking of soft fruits in the skin of traditional picking robots is solved, and efficient and low-damage picking of soft fruits is achieved, which improves the sensitivity and versatility of picking.
Patent Information
- Application Number
- CN202420527797.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-19
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-03-19
AI Technical Summary
The existing picking robots use traditional robots, which have problems such as scratching the surface of fruits and vegetables, low sensitivity and poor versatility, and are especially not suitable for fruits with soft skin, and flexible claws are prone to damage fruit trees and branches when picking.
A picking robot with flexible hand claws and cutting mechanism is designed, using a rear-drive chassis mechanism and a six-degree of freedom robotic arm. The flexible hand claws are combined with flexible material and force sensors, and the shear picking method is adopted to reduce damage to the fruit. The tool and picking claws are integrated to reduce control difficulty.
It realizes smooth picking of softer skin fruits, reduces damage to fruits and fruit trees, improves the sensitivity and versatility of picking, and reduces the difficulty of identification and control.
Smart Images
Figure CN222442379U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of agricultural picking machinery, in particular to a picking robot with flexible claws and a cutting mechanism. Background Art
[0002] With the continuous development of agriculture, the scale of fruit and vegetable production in my country has continued to increase, but the labor cost has continued to increase. At the same time, with the development of intelligent, information-based and networked science and technology, automated agricultural harvesting robots with mechanical harvesting have been proposed to reduce labor. Among them, the picking hand is an indispensable part and is the end effector of the harvesting robot, which is used to complete the docking with the target fruit and the task of picking the fruit.
[0003] Existing picking robots use traditional manipulators, which have the characteristics of scratching the surface of fruits and vegetables, low sensitivity, and poor versatility. They are not suitable for fruits with light surface quality and easily damaged surface. Existing flexible grippers use flexible materials in materials, and most of them use methods such as pulling and twisting off the fruit stems to pick fruits and vegetables, which is easy to damage fruit trees and branches; left and right clamping grippers are used to identify and cut off fruit stems, which are difficult to identify. Summary of the invention
[0004] Therefore, in order to solve the above problems, the utility model discloses a picking robot with a flexible hand and a cutting mechanism. The picking robot is used to pick fruits with softer skins, has sufficient joint space, and uses a flexible hand as the execution end. During the picking process, the robot moves smoothly and turns flexibly. The flexible hand further reduces damage by combining a flexible material with a force sensor and adopting a shearing picking method. The integrated design of the cutter fruit stem cutting and the picking hand can reduce the difficulty of control and reduce the difficulty of identification and control. The utility model has two fruit storage bins, and the fruits are classified and placed by identifying the maturity of the fruits.
[0005] In order to achieve the above object, the present invention adopts the following technical solution:
[0006] A picking robot with a flexible gripper and a cutting mechanism comprises a rear-drive chassis mechanism, a mechanical arm mechanism, a grasping mechanism, a blade cutting mechanism, and a rotating mechanism, wherein the grasping mechanism, the blade cutting mechanism, and the rotating mechanism constitute the flexible gripper. The rear-drive chassis mechanism is provided with two rubber wheels and a universal wheel for driving the robot, and the rear-drive chassis mechanism is also provided with a fruit storage bin for storing the picked fruits; the mechanical arm mechanism moves according to the time-varying requirements of the spatial posture through the rotation of the fuselage, the rotation of the shoulder joint and the wrist joint, and brings the execution end close to the picking target; the grasping mechanism is used for clamping the fruit; the blade cutting mechanism is used for cutting the fruit stem; and the rotating mechanism is used to control the pitching movement of the wrist joint of the mechanical arm.
[0007] Preferably, the rear-drive chassis mechanism includes L-shaped and T-shaped carbon plates, aluminum tubes, two rubber wheels, a universal wheel, an upper acrylic plate, a lower acrylic plate and two fruit storage bins. The L-shaped and T-shaped carbon plates are tightly connected to the aluminum tubes through threaded connections to form a tic-tac-toe-shaped vehicle frame. The vehicle frame is connected to two rubber wheels and a universal wheel at the bottom and is threadedly fastened to the lower acrylic plate at the top. The lower acrylic plate is supported by nylon columns and connected to the upper acrylic plate. The lower side of the fruit storage bin is threadedly connected to the aluminum tube of the vehicle frame.
[0008] Preferably, the mechanical arm mechanism includes a waist rotation inner support plate, a waist rotation outer support plate, a rotating support ring, a waist rotation upper support plate, a waist rotation joint motor, a motor mounting plate, a waist rotation lifting plate, a shoulder rotation motor, a motor seat, a flange disc, a lower joint arm, an elbow rotation motor, an upper joint arm, a wrist joint rotating motor, a special-shaped flange disc, and a copper column. The waist rotation inner support plate is connected to the lower acrylic plate through the copper column, and maintains a certain distance from the upper acrylic plate, and is tightly connected to the waist rotation outer support plate through a thread. After the waist rotation outer support plate is connected to the waist rotation inner support plate, the two form a circular ring gap, and the rotating support ring is fixedly installed in this circular ring gap. The waist rotation upper support plate is fixedly connected to the waist rotation outer support plate through the copper column, and is clamped with the waist rotation inner support plate to rotate the support ring. The waist rotation joint motor is fixedly connected to the lower acrylic plate, and its output part is fixedly connected to the motor mounting plate. The motor mounting plate The mounting plate is in the inner circle of the rotating support ring and can rotate relative to it, and is connected to the waist-turn lifting plate through a copper column, so that a certain distance is formed between the motor mounting plate and the waist-turn lifting plate, which is convenient for installing the motor seat. The waist-turn lifting plate is connected to the motor seat, and the motor seat is connected to the shoulder-turn motor, whose rotor is connected to the flange disc, and the flange disc is threadedly connected to the main lower joint arm. The main lower joint arm is connected to the secondary lower joint arm through the copper column support, and the secondary lower joint arm is connected to the shoulder-turn motor to form a rotating pair, and is fixedly connected to another flange disc. The flange disc is fixedly connected to the rotor of the elbow-turn motor and is fixedly connected to one side of the upper joint arm. The other side of the upper joint arm is connected to the elbow-turn motor to form a rotating pair, and a copper column is installed in the middle of the upper joint arm to enhance its own rigidity. The upper joint arm is also fixedly connected to the wrist joint rotating motor, and the rotor of the wrist joint motor is fixedly connected to the special-shaped flange.
[0009] Preferably, the gripping mechanism includes a flexible gripper frame, flexible fingers, a gripping connecting rod, a connecting rod connector, an optical axis, an optical axis connector, a transmission connecting rod, a pinion, an internal gear, a steering gear output end mounting plate, a deep groove ball bearing, a large steering gear, and a steering gear mounting gasket. The flexible gripper frame is connected with a flexible finger, which is made of a silicone material and has a force sensor disposed therein. One end of the flexible finger is connected to the flexible gripper frame, and the other end is connected to the gripping connecting rod, both forming a revolute pair. The clamping connecting rod is connected to the connecting rod connecting piece to form a rotating pair, the connecting rod connecting piece is fixedly connected to one end of the optical axis, the optical axis passes through the hole on the flexible gripper frame, and the other end thereof is fixedly connected to the optical axis connecting piece, the optical axis connecting piece is connected to the transmission connecting rod to form a rotating pair, the transmission connecting rod is connected to the center hole of the pinion gear and the eccentric circular hole of the steering gear output end mounting plate to form a rotating pair, the pinion gear and the internal gear are meshed with each other, the internal gear is fixed on the flexible gripper frame, a deep groove ball bearing is embedded in the flexible gripper frame, a steering gear output shaft mounting plate is embedded in the deep groove ball bearing, the steering gear output shaft mounting plate is fixedly connected to the output end of the large steering gear, the large steering gear is fixedly connected to the steering gear mounting gasket, and they are fixedly mounted on the flexible gripper frame together.
[0010] Preferably, the blade cutting mechanism includes a small rotary cutting servo, a small servo mounting sheet metal, a tool rotating plate, a small feed servo, and a knife handle. The output end of the small rotary cutting servo is fixedly connected to the tool rotating plate, the tool rotating plate is fixedly connected to two small servo mounting sheet metals, the small servo mounting sheet metal is threadedly connected to the small feed servo, the output end of the small feed servo is connected to the knife handle, and a blade is installed on the knife handle for cutting fruit stems.
[0011] Preferably, the rotating mechanism includes a wrist joint shaft, a deep groove ball bearing, a wrist joint arm, a small motor, a small flange disc, a motor output shaft mounting plate, and a copper column. The outer ring of the wrist joint shaft is mounted with a deep groove ball bearing, the outer ring of the deep groove ball bearing is mounted on one side of the wrist joint arm so that the grasping mechanism and the wrist joint arm can rotate relative to each other, the other side of the wrist joint arm is fixedly connected to the body of the small motor, the output end of the small motor is fixedly connected to the small flange disc, the small flange disc is fixedly connected to the motor output shaft mounting plate, and the motor output shaft mounting plate is fixedly connected to the internal gear in the grasping mechanism through the copper column.
[0012] The utility model provides a picking robot structure with a flexible hand claw, which has the following beneficial effects: the device adopts a rear-drive chassis, has good acceleration performance, is conducive to vehicle starting, acceleration or climbing, and has more sensitive steering, which improves the stability of the robot. The device uses a six-degree-of-freedom mechanical arm with sufficient joint space, and can complete the complex movement of fruit grabbing. The flexible hand claw mechanism of the device is composed of a grabbing mechanism and a rotating cutting mechanism. The contraction and opening degree of the mechanical claw is controlled by a force sensor, and then the magnitude of the force is strictly controlled, and the damage to the fruit is further reduced by the flexible material. The linear motion of the optical axis is driven by the internal meshing transmission of the gear, and the transmission efficiency is high and the transmission accuracy is good. And by using the steering gear control, the angle can be accurately controlled, thereby accurately controlling the linear motion of the optical axis and the contraction and expansion of the hand claw, and reducing the quality and cost of the hand claw. A rotating cutting mechanism is added, and the clamping mechanism and the cutting mechanism are integrated, and the method of cutting the fruit stalk further reduces the damage to the fruit and branches. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Attached Figure 1 It is a schematic diagram of the overall structure of the utility model;
[0014] Attached Figure 2 This is a schematic diagram of the rear-drive chassis structure of the utility model;
[0015] Attached Figure 3 This is a schematic diagram of the structure of the mechanical arm mechanism of the utility model;
[0016] Attached Figure 4 It is a schematic diagram of the structure of the grabbing mechanism of the flexible claw mechanism of the utility model;
[0017] Attached Figure 5 This is a schematic diagram of the blade cutting mechanism structure of the flexible claw mechanism of the utility model;
[0018] Attached Figure 6 It is a schematic diagram of the rotary mechanism structure of the flexible hand claw mechanism of the utility model.
[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0020] Rear drive chassis mechanism 1, mechanical arm mechanism 2, grabbing mechanism 3, blade cutting mechanism 4, rotating mechanism 5, L-shaped carbon plate 11, T-shaped carbon plate 12, aluminum tube 13, rubber wheel 14, universal wheel 15, lower acrylic plate 16, nylon column 17, upper acrylic plate 18, fruit storage bin 19, waist rotation inner support plate 21, copper column 22, waist rotation outer support plate 23, rotating support ring 24, waist rotation upper support plate 25, copper column 26, waist rotation joint motor 27, motor mounting plate 28, copper column 29, waist rotation lifting plate 210, motor seat 211, shoulder rotation motor 212, flange disc 213, main lower joint arm 214, copper column 215, auxiliary lower joint arm 216, flange disc 217, elbow rotation motor Machine 218, upper joint arm 219, copper column 220, wrist joint rotating motor 221, special-shaped flange 222, flexible claw frame 31, flexible finger 32, clamping connecting rod 33, connecting rod connector 34, optical axis 35, optical axis connector 36, transmission connecting rod 37, small gear 38, internal gear 39, servo output end mounting plate 310, deep groove ball bearing 311, large servo 312, servo mounting gasket 313, rotary cutting small servo 41, tool rotating plate 42, small servo mounting sheet metal 43, feed small servo 44, tool handle 45, wrist joint shaft 51, deep groove ball bearing 52, wrist joint arm 53, small motor 54, small flange disc 55, motor output shaft mounting plate 56, copper column 57. DETAILED DESCRIPTION
[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments:
[0022] like Figure 1 The utility model relates to a picking robot with a flexible gripper and a cutting mechanism, comprising a rear-drive chassis mechanism 1, a mechanical arm mechanism 2, a grasping mechanism 3, a blade cutting mechanism 4, and a rotating mechanism 5. The grasping mechanism 3, the blade cutting mechanism 4, and the rotating mechanism 5 constitute a flexible gripper.
[0023] like Figure 2 The rear-drive chassis mechanism 1 includes an L-shaped carbon plate 11, a T-shaped carbon plate 12, an aluminum tube 13, a rubber wheel 14, a universal wheel 15, a lower acrylic plate 16, a nylon column 17, an upper acrylic plate 18, and a fruit storage bin 19. The L-shaped carbon plate 11 and the T-shaped carbon plate 12 are used to connect the aluminum tubes 13. The two rubber wheels 14 serve as the driving power of the robot and are connected to the aluminum tubes 13 with the universal wheel 15. The lower acrylic plate 16 is connected to the aluminum tube 13. The upper acrylic plate 18 is installed through the nylon column 17 and is used to install motor-related accessories and hardware equipment such as control panels. The fruit storage bin 19 is connected to the aluminum tube 13 and forms a semi-enclosed space with the lower acrylic plate 16 for storing picked fruits.
[0024] like Figure 3The mechanical arm mechanism 2 includes a waist rotation inner support plate 21, a copper column 22, a waist rotation outer support plate 23, a rotating support ring 24, a waist rotation upper support plate 25, a copper column 26, a waist rotation joint motor 27, a motor mounting plate 28, a copper column 29, a waist rotation lifting plate 210, a motor seat 211, a shoulder rotation motor 212, a flange disc 213, a main lower joint arm 214, a copper column 215, a secondary lower joint arm 216, a flange disc 217, an elbow rotation motor 218, an upper joint arm 219, a copper column 220, and a wrist joint rotation motor 221, special-shaped flange 222, the inner support plate 21 of the waist rotation is installed on the lower acrylic plate 16 through the copper column 22, the outer support plate 23 of the waist rotation is tightly connected with the inner support plate 21 of the waist rotation, at this time, the inner support plate 21 of the waist rotation and the outer support plate 23 of the waist rotation form a circular ring gap, and the rotating support circular ring 24 is installed in the circular ring gap to form an interference fit, so that the inner support plate 21 of the waist rotation, the outer support plate 23 of the waist rotation and the rotating support circular ring 24 are fixedly connected, and the upper support plate 25 of the waist rotation is installed on the outer support plate 23 of the waist rotation through the copper column 26. The body of the waist rotation joint motor 27 is fixed on the lower acrylic plate 16, and the output part is on the motor mounting plate 28. The waist rotation joint motor 27 is used as the power of the mechanical arm waist rotation to drive the mechanical arm yaw axis to rotate. The motor mounting plate 28 is installed on the waist rotation lifting plate 210 through the copper column 29, and the motor seat 211 is connected to the waist rotation lifting plate 210 through threads. The body of the shoulder-turning motor 212 is fixed on the motor base 211, and the output shaft is fixedly connected with the flange disk 213, which drives the lower joint arm to move as the power of the shoulder-turning motor. The flange disk 213 is fixedly connected with the main lower joint arm 214 by thread, and the secondary lower joint arm 216 is rotated by the copper column 215, so that a fixed distance is arranged between the main lower joint arm 214 and the secondary lower joint arm 216. Meanwhile, the secondary lower joint arm 216 forms a revolute pair with the body of the shoulder-turning motor 212, can rotate relatively, and is fixedly connected with the flange disk 213. The output shaft of the elbow-turning motor 218 is fixedly connected with the flange disk 217, and the flange disk 217 is threadedly connected with the upper joint arm 219 again, and the upper joint arm 219 rotates relatively with the body of the elbow-turning motor 221, forming a revolute pair, and in order to keep the rigidity of the upper joint arm 219, the copper column 220 is installed between the upper joint arm 219. The body of the wrist joint rotating motor 221 is fixedly installed on the upper joint arm 219, the output shaft of the wrist joint rotating motor 221 is fixedly connected to the special-shaped flange 222, and the special-shaped flange 222 is fixedly connected to the rotating mechanism 5. The output shaft of the wrist joint rotating motor 221 rotates, driving the end actuator to rotate, thereby realizing the wrist rotation of the robot arm.
[0025] like Figure 4The grasping mechanism 3 includes a flexible gripper frame 31, a flexible finger 32, a gripping connecting rod 33, a connecting rod connector 34, an optical axis 35, an optical axis connector 36, a transmission connecting rod 37, a small gear 38, an internal gear 39, a steering gear output end mounting plate 310, a deep groove ball bearing 311, a large steering gear 312, and a steering gear mounting gasket 313. The flexible finger 32 is made of silicone. This technology is an existing technology. A force sensor is provided on the inner side of the flexible finger 32. The force can be controlled according to the force sensor to control the size of the force, thereby controlling the contraction and expansion of the gripper. The finger 32 is connected to the gripping link 33 to form a revolving pair. The gripping link 33 is connected to the link connector 34 to form a revolving pair. The link connector 34 is fixedly connected to the optical axis 35. The optical axis 35 passes through the fixed flexible gripper frame 35 and is fixedly connected to the optical axis connector 36. The optical axis connector 36 is connected to the transmission link 37 to form a revolving pair. The transmission link 37 is connected to the pinion 38 to form a revolving pair. The pinion 38 is meshed with the internal gear 39, and the internal gear 39 is fixed on the flexible gripper frame 31. The pinion 38 is connected to the steering gear output end mounting plate 310 to form a revolving pair. The steering gear output end mounting plate 310 is installed on the inner ring of the deep groove ball bearing 311, and the deep groove ball bearing 311 is installed in the flexible gripper frame 31. The output end of the large steering gear 312 is fixedly connected to the steering gear output end mounting plate 310, and the fuselage is fixedly connected to the steering gear mounting gasket 313 and installed together on the flexible gripper frame 31. The output shaft of the large steering gear 312 rotates, driving the pinion 38 and the internal gear 39 to mesh with each other, causing the transmission connecting rod 37 to swing, thereby driving the optical axis 35 to move linearly to control the opening and closing of the gripper.
[0026] like Figure 5 The blade cutting mechanism 4 includes a small rotary cutting servo 41, a tool rotating plate 42, a small servo mounting sheet metal 43, a small feeding servo 44, and a handle 45. The body of the small rotary cutting servo 41 is fixed on the flexible gripper frame 31, and the output end is fixedly connected to the tool rotating plate 42. Two small servo mounting sheets 43 are installed on the tool rotating plate 42 to fix the body of the small feeding servo 44. The output end of the small feeding servo 44 is fixedly installed with the handle 45, and a cutting blade is installed at the end of the handle 45. The output shaft of the small feeding servo 44 rotates to make the handle 45 with a blade close to the fruit, and the output shaft of the small rotary cutting servo 41 rotates to make the tool rotating plate 42 move around the center of the gripper to complete the cutting of the fruit stem.
[0027] like Figure 6The slewing mechanism 5 includes a wrist joint shaft 51, a deep groove ball bearing 52, a wrist joint arm 53, a small motor 54, a small flange disc 55, a motor output shaft mounting plate 56, and a copper column 57. The wrist joint shaft 52 and the body of the large steering gear 312 are fixedly connected to the flexible gripper frame 31. The deep groove ball bearing 52 is mounted on the wrist joint shaft 56 and embedded in the wrist joint arm 58. The body of the small motor 54 is fixed to the wrist joint arm 53, and the output end is fixedly connected to the small flange disc 55. The small flange disc 55 is fixedly connected to the motor output shaft mounting plate 56. The motor output shaft mounting plate 56 is fixed to the flexible gripper frame 31 through the copper column 57. The output shaft of the small motor 54 rotates, driving the flexible gripper frame 31 to rotate, so that the grasping mechanism 3 and the wrist joint arm 53 rotate relative to each other, and the wrist joint of the picking robot is rotated.
[0028] The movement process of the entire picking robot with a flexible gripper and a cutting mechanism is as follows: drive the rear-drive chassis 1 to make the picking robot pick at the first picking point; after identification and calculation of the position and posture of the robotic arm, each motor is driven to make the execution end close to the picking object; the waist rotation joint motor 27, the shoulder rotation motor 212, the elbow rotation motor 218, the wrist joint rotation motor 221, and the small motor 54 are driven simultaneously; the output shaft of the waist rotation joint motor 27 rotates to realize the YAW axis movement; the output shaft of the shoulder rotation motor 218 rotates to drive the upper robotic arm 219 to move; the output shaft of the wrist joint rotation motor 221 rotates to realize the rotation of the execution end; the output shaft of the small motor 54 rotates to realize the pitch movement of the execution end; at the same time, the output shaft of the large servo 312 rotates to drive the small gear 38 to mesh with the internal gear 38, thereby realizing the linear motion of the optical axis 35, realizing the opening and closing of the flexible fingers 32, and grasping the picking object. The output shaft of the feeding small servo 44 rotates, so that the knife handle 45 approaches the fruit, and the output shaft of the rotary cutting small servo 41 rotates, so that the knife rotating plate 42 moves around the center of the hand claw, so that the knife handle 45 cuts back and forth on the fruit stem to complete the cutting of the fruit stem. By identifying the maturity of the fruit, the mechanical arm mechanism 2 is driven to classify the picked fruits and put them into the fruit storage bin 19. This cycle is repeated. After picking the fruits within this range, the rear drive chassis 1 is driven to the next picking point for picking until all picking tasks are completed.
[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A picking robot with a flexible gripper and a cutting mechanism, characterized in that: It includes a rear-drive chassis mechanism, a mechanical arm mechanism, a grasping mechanism, a blade cutting mechanism, and a rotating mechanism. The grasping mechanism, the blade cutting mechanism, and the rotating mechanism constitute a flexible gripper, wherein the rear-drive chassis mechanism is provided with two rubber wheels and a universal wheel for driving the robot, and the rear-drive chassis mechanism is also provided with a fruit storage bin for storing picked fruits; the mechanical arm mechanism moves according to the time-varying requirements of the spatial posture through the rotation of the fuselage, the rotation of the shoulder joint and the wrist joint, and brings the execution end close to the picking target; the grasping mechanism is used for clamping the fruit; the blade cutting mechanism is used for cutting off the fruit stem; and the rotating mechanism is used to control the pitching movement of the wrist joint of the mechanical arm.
2. A picking robot with a flexible gripper and a cutting mechanism as claimed in claim 1, characterized in that: The rear-wheel drive chassis structure includes L-shaped and T-shaped carbon plates, aluminum tubes, two rubber wheels, a universal wheel, an upper acrylic plate, a lower acrylic plate and two fruit storage bins. The L-shaped and T-shaped carbon plates are tightly connected to the aluminum tubes through threaded connections to form a tic-tac-toe-shaped vehicle frame. The aluminum tubes are connected to two rubber wheels and a universal wheel at the bottom and are threadedly fastened to the lower acrylic plate at the top. The lower acrylic plate is supported by nylon columns and connected to the upper acrylic plate. The lower side of the fruit storage bin is threadedly connected to the aluminum tube of the vehicle frame.
3. A picking robot with a flexible gripper and a cutting mechanism as claimed in claim 1, characterized in that: The mechanical arm mechanism includes an inner waist support plate, an outer waist support plate, a rotating support ring, an upper waist support plate, a waist joint motor, a motor mounting plate, a waist lifting plate, a shoulder motor, a motor seat, a flange disc, a lower joint arm, an elbow motor, an upper joint arm, a wrist joint rotating motor, a special-shaped flange disc, and a copper column. The inner waist support plate is connected to the lower acrylic plate through the copper column, and maintains a certain distance from the upper acrylic plate, and is tightly connected to the outer waist support plate through a thread. After the outer waist support plate is connected to the inner waist support plate, a circular ring gap is formed between the two. The rotating support ring is fixedly installed in this circular ring gap. The upper waist support plate is fixedly connected to the outer waist support plate through the copper column, and is clamped with the inner waist support plate to rotate the support ring. The waist joint motor is fixedly connected to the lower acrylic plate, and its output part is fixedly connected to the motor mounting plate. The motor mounting The plate is in the inner circle of the rotating support ring and can rotate relative to it, and is connected to the waist-turn lifting plate through a copper column, so that a certain distance is formed between the motor mounting plate and the waist-turn lifting plate, which is convenient for installing the motor seat. The waist-turn lifting plate is connected to the motor seat, and the motor seat is connected to the shoulder-turn motor, and its rotor is connected to the flange disc. The flange disc is threadedly connected to the main lower joint arm, and the main lower joint arm is connected to the secondary lower joint arm through the copper column support. The secondary lower joint arm is connected to the shoulder-turn motor to form a rotating pair, and is fixedly connected to another flange disc. The flange disc is fixedly connected to the rotor of the elbow-turn motor and fixedly connected to one side of the upper joint arm. The other side of the upper joint arm is connected to the elbow-turn motor to form a rotating pair, and a copper column is installed in the middle of the upper joint arm to enhance its own rigidity. The upper joint arm is also fixedly connected to the wrist joint rotating motor, and the rotor of the wrist joint motor is fixedly connected to the special-shaped flange.
4. A picking robot with a flexible gripper and a cutting mechanism as claimed in claim 1, characterized in that: The gripping mechanism includes a flexible gripper frame, flexible fingers, a clamping link, a link connector, an optical axis, an optical axis connector, a transmission link, a pinion, an internal gear, a steering gear output end mounting plate, a deep groove ball bearing, a large steering gear, and a steering gear mounting gasket. The flexible fingers are connected to the flexible gripper frame, and the flexible fingers are made of silicone material. A force sensor is arranged inside the flexible fingers. One end of the flexible finger is connected to the flexible gripper frame, and the other end is connected to the clamping link, both of which form a rotating pair. The clamping link is connected to the link connector to form a rotating pair. The link connector is fixedly connected to one end of the optical axis. The optical axis passes through the flexible The hole on the flexible gripper frame is arranged, and the other end of the hole is fixedly connected to the optical axis connecting piece, the optical axis connecting piece is connected to the transmission connecting rod to form a rotating pair, the transmission connecting rod is connected to the center hole of the pinion gear and the eccentric circular hole of the steering gear output end mounting plate to form a rotating pair, the pinion gear and the internal gear are meshed with each other, the internal gear is fixed on the flexible gripper frame, the flexible gripper frame is embedded with a deep groove ball bearing, the deep groove ball bearing is embedded with a steering gear output shaft mounting plate, the steering gear output shaft mounting plate is fixedly connected to the output end of the large steering gear, the large steering gear is fixedly connected to the steering gear mounting gasket, and they are fixedly mounted on the flexible gripper frame together.
5. A picking robot with a flexible gripper and a cutting mechanism as claimed in claim 1, characterized in that: The blade cutting mechanism includes a small rotary cutting servo, a small servo mounting sheet metal, a tool rotating plate, a small feed servo, and a knife handle. The output end of the small rotary cutting servo is fixedly connected to the tool rotating plate, the tool rotating plate is fixedly connected to two small servo mounting sheet metals, the small servo mounting sheet metal is threadedly connected to the small feed servo, the output end of the small feed servo is connected to the knife handle, and a blade is installed on the knife handle for cutting fruit stems.
6. A picking robot with a flexible gripper and a cutting mechanism as claimed in claim 1, characterized in that: The rotating mechanism includes a wrist joint shaft, a deep groove ball bearing, a wrist joint arm, a small motor, a small flange disc, a motor output shaft mounting plate, and a copper column. The outer ring of the wrist joint shaft is installed with a deep groove ball bearing, the outer ring of the deep groove ball bearing is installed on one side of the wrist joint arm so that the grasping mechanism and the wrist joint arm can rotate relative to each other, the other side of the wrist joint arm is fixedly connected to the body of the small motor, the output end of the small motor is fixedly connected to the small flange disc, the small flange disc is fixedly connected to the motor output shaft mounting plate, and the motor output shaft mounting plate is fixedly connected to the internal gear in the grasping mechanism through the copper column.