Picking robot

Abstract

The utility model discloses a picking robot, which belongs to the technical field of agricultural picking and comprises a moving component and a bearing component, the moving component is used for moving the robot, the bearing component is arranged above the moving component, and a picking frame can be placed on the bearing component; a support assembly is arranged on the moving assembly and can rotate relative to the moving assembly, a first sliding assembly is arranged on the support assembly, a second sliding assembly is arranged on the first sliding assembly, the sliding direction of the second sliding assembly is perpendicular to the sliding direction of the first sliding assembly, and a grabbing assembly is arranged on the second sliding assembly. The grabbing assembly can grab the picking frame and place the picking frame on the bearing assembly or can grab the picking object and place the picking object in the picking frame located on the bearing assembly. The automatic picking device is high in automation degree, can replace manual picking frame carrying and manual picking of picked objects, and reduces the labor intensity of picking personnel; meanwhile, through the first moving assembly, the picking efficiency is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural picking, and particularly relates to a picking robot. Background Art

[0002] Fruit and vegetable picking is a job with strong seasonality, complex operations, extremely high labor intensity and extremely low efficiency.

[0003] At present, most picking robots need to control picking tools to work, with low accuracy, resulting in slow picking speed and low efficiency. Moreover, the existing picking robots are relatively professional, but the vast majority of their users are farmers, so the operation of the robots cannot be too cumbersome. Furthermore, farmers have limited income, and when developing robots, the manufacturing cost must be reduced as much as possible, and the simplicity of maintenance must be improved. The picking robots on the market are cumbersome to operate and expensive, and are not suitable for small farmers to use for picking.

[0004] Therefore, it is urgent to design a picking robot to solve the above-mentioned problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a picking robot, which has the advantage of high picking efficiency of the picking robot and solves the problems mentioned in the background.

[0006] To achieve the above purpose, a specific technical solution of a picking robot of the utility model is as follows:

[0007] A picking robot includes a moving component and a supporting component. The moving component is used for the movement of the robot. The supporting component is arranged above the moving component, and the supporting component can place a picking basket. A bracket component is arranged on the moving component, and the bracket component can rotate relative to the moving component. A first sliding component is arranged on the bracket component, and the first sliding component can slide relative to the bracket component. A second sliding component is arranged on the first sliding component, and the second sliding component can slide relative to the first sliding component. The sliding direction of the second sliding component is perpendicular to the sliding direction of the first sliding component. A grasping component is arranged on the second sliding component, and the grasping component can rotate relative to the second sliding component. The grasping component can grasp the picking basket and place it on the supporting component or can grasp the picked object and place it in the picking basket located on the supporting component.

[0008] The first sliding component includes a first sliding part and a second sliding part. The first sliding part is connected to the bracket component, and the second sliding part is connected to the second sliding component. The sliding directions of the first sliding part and the second sliding part are the same. When the first sliding part slides relative to the bracket component, the second sliding part slides relative to the first sliding part, so that the sliding distance of the second sliding part is twice the sliding distance of the first sliding part.

[0009] Further, the moving assembly includes a first moving seat and a second moving seat, which are hinged by a connecting shaft. The first moving seat is provided with a first moving wheel and a second moving wheel, and the second moving seat is provided with a third moving wheel.

[0010] Further, the bracket assembly includes a support rod and a turntable, which are fixedly connected. The turntable is rotatably connected to the moving assembly. A third motor is fixedly connected to the support rod, and a first gear is fixedly connected to the output end of the third motor. A second gear is fixedly connected to the turntable through a gear shaft. The first gear meshes with the second gear. A toothed ring is provided inside the turntable, and the toothed ring meshes with the second gear. The third motor drives the bracket to rotate relative to the moving assembly through the first gear, the second gear and the toothed ring.

[0011] Further, the first sliding member includes a first sliding frame and a first rack. The first sliding frame is slidably connected to the support rod. A first motor is fixedly connected to the first sliding frame, and a third gear is fixedly connected to the output end of the first motor. A first rotating rod is rotatably connected to the first sliding frame, and a fourth gear and a fifth gear are fixedly connected to the first rotating rod. The third gear meshes with the fourth gear, and the fifth gear meshes with the first rack. The first rack is fixedly connected to the support rod. The first motor drives the first sliding frame to slide vertically relative to the bracket assembly through the third gear, the fourth gear, the fifth gear and the first rack. The first sliding frame is connected to the second sliding member.

[0012] Further, the second sliding member includes a first sprocket, a second sprocket and a second sliding frame. The first sprocket is fixedly connected to the output end of the first motor. A second rotating rod is rotatably connected to the first sliding frame, and the second rotating rod is fixedly connected to the second sprocket. The first sprocket and the second sprocket are connected by a chain. A first synchronous pulley is fixedly connected to the second rotating rod. A third rotating rod is rotatably connected to the first sliding frame, and a second synchronous pulley is fixedly connected to the third rotating rod. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt. The second sliding frame is slidably connected to the first sliding frame. A synchronous belt clip is fixedly connected to the second sliding frame, and the synchronous belt clip is fixedly connected to the synchronous belt, so as to drive the second sliding frame to slide vertically relative to the first sliding frame through the synchronous belt. The second sliding frame is connected to the second sliding assembly.

[0013] Further, the second sliding assembly includes a slide rail, which is fixedly connected to the second sliding frame. A third sliding frame is slidably connected to the slide rail. The third sliding frame is connected to the sowing device. A second rack is fixedly connected to the third sliding frame. A second motor is fixedly connected to the slide rail, and a sixth gear is fixedly connected to the output end of the second motor. The sixth gear meshes with the second rack. The second motor drives the third sliding frame to slide horizontally relative to the second sliding frame through the second rack and the sixth gear.

[0014] Further, a rotating assembly is further included, which is arranged on the third sliding frame to drive the grasping assembly to rotate.

[0015] Furthermore, the rotating assembly includes a support plate fixedly connected to the third sliding carriage. A fourth motor is fixedly connected to the support plate. The output end of the fourth motor is fixedly connected to a seventh gear. An eighth gear is rotatably connected to the support plate. The seventh gear meshes with the eighth gear. The eighth gear is coaxially connected to the grasping assembly. The fourth motor drives the grasping assembly to rotate through the seventh gear and the eighth gear.

[0016] Furthermore, the grasping assembly includes a grasping base. A first clamping jaw and a second clamping jaw are provided on the grasping base. Clamping grooves are provided on the inner sides of the first clamping jaw and the second clamping jaw. The clamping grooves can be engaged with the picking frame or the picked object. The first clamping jaw and the second clamping jaw can move towards each other or away from each other to change the distance between the first clamping jaw and the second clamping jaw, so as to realize the clamping of the picking frame or the picked object.

[0017] Furthermore, the supporting assembly includes a supporting column. Through holes are provided on the picking frame. The picking frame is inserted onto the supporting column through the through holes.

[0018] The utility model has the following advantages: high degree of automation, which can replace manual handling of the picking frame and manual picking of the picked object, reducing the labor intensity of the picking personnel; at the same time, through the first moving assembly, the picking efficiency is greatly improved. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of the picking robot of the utility model;

[0020] Figure 2 is a schematic structural diagram of the moving assembly and the supporting assembly of the utility model;

[0021] Figure 3 is a schematic structural diagram of the bracket assembly of the utility model;

[0022] Figure 4 is a schematic structural diagram of the first sliding assembly of the utility model;

[0023] Figure 5 is a schematic structural diagram of the first sliding member and the second sliding member of the utility model;

[0024] Figure 6 is a schematic structural diagram of the second sliding assembly of the utility model;

[0025] Figure 7 is a schematic structural diagram of the grasping assembly of the utility model;

[0026] Figure 8 is a schematic structural diagram of the rotating assembly of the utility model;

[0027] Description of the markings in the figure: 1. Moving component; 11. First moving base; 12. Second moving base; 13. First moving wheel; 14. Second moving wheel; 15. Third moving wheel; 2. Supporting component; 21. Supporting column; 3. Bracket component; 31. Support rod; 32. Turntable; 33. Third motor; 34. First gear; 35. Second gear; 36. Tooth ring; 4. First sliding part; 41. First sliding frame; 42. First motor; 43. Third gear; 44. Fourth gear; 45. Fifth gear; 46. First rack; 5. Second sliding part; 51. First sprocket; 52. Second sprocket; 53. First synchronous wheel; 54. Second synchronous wheel; 55. Second sliding frame; 56. Synchronous belt clip; 6. Second sliding component; 61. Slide rail; 62. Third sliding frame; 63. Second rack; 64. Second motor; 65. Sixth gear; 7. First sliding component; 8. Grabbing component; 81. First jaw; 82. Second jaw; 83. Third rack; 84. Ninth gear; 85. Support plate; 86. Fourth motor; 87. Seventh gear; 88. Eighth gear; 89. Grabbing base; 9. Picking basket. Detailed implementation manners

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present utility model.

[0029] Those skilled in the art can understand that although some of the embodiments herein include some features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present utility model and forms different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0030] Next, refer to the attached Figure 1 to the attached Figure 8 to describe a picking robot of the present utility model.

[0031] A picking robot, comprising a moving component 1 and a supporting component 2. The moving component 1 is used for the movement of the robot. The supporting component 2 is arranged above the moving component 1, and the picking box 9 can be placed on the supporting component 2. A bracket component 3 is arranged on the moving component 1. The bracket component 3 can rotate relative to the moving component 1. A first sliding component 7 is arranged on the bracket component 3. The first sliding component 7 can slide relative to the bracket component 3. A second sliding component 6 is arranged on the first sliding component 7. The second sliding component 6 can slide relative to the first sliding component 7. The sliding direction of the second sliding component 6 is perpendicular to the sliding direction of the first sliding component 7. A grasping component 8 is arranged on the second sliding component 6. The grasping component 8 can rotate relative to the second sliding component 6. The grasping component 8 can grasp the picking box 9 and place it on the supporting component 2 or can grasp the picked object and place it in the picking box 9 located on the supporting component 2.

[0032] By setting the moving component 1, the robot can move straight and turn. By setting the bracket component 3, the first sliding component 7, the second sliding component 6 and the grasping component 8 of the robot can rotate relative to the moving component 1 to change the orientation of the grasping component 8 of the robot. By setting the first sliding component 7, the second sliding component 6 and the grasping component 8 of the robot can slide relative to the bracket component 3 to change the height of the grasping component 8 of the robot. By setting the second sliding component 6, the grasping component 8 of the robot can slide horizontally relative to the first sliding component 7 to change the extension length of the grasping component 8 of the robot. By setting that the grasping component 8 can rotate, it can adapt to different working conditions and can grasp under different working conditions. By setting the grasping component 8, the effect that the picking box 9 can be grasped and placed on the supporting component 2 or the picked object can be grasped and placed in the picking box 9 located on the supporting component 2 is achieved.

[0033] Specifically, the moving component 1 includes a first moving seat 11 and a second moving seat 12. The first moving seat 11 and the second moving seat are hinged by a connecting shaft. The first moving seat 11 is provided with a first moving wheel 13 and a second moving wheel 14. The second moving seat 12 is provided with a third moving wheel 15. In this embodiment, by setting the first moving seat 11 and the second moving seat 12 and hinging the first moving seat 11 and the second moving seat 12, the road surface with different slopes can be adapted, and the smooth movement of the moving component 1 can be realized.

[0034] Specifically, the bracket assembly 3 includes a support rod 31 and a turntable 32. The support rod 31 and the turntable 32 are fixedly connected. The turntable 32 is rotatably connected to the moving assembly 1. A third motor 33 is fixedly connected to the support rod 31. The output end of the third motor 33 is fixedly connected to a first gear 34. The turntable 32 is fixedly connected to a second gear 35 through a gear shaft. The first gear 34 meshes with the second gear 35. A toothed ring 36 is provided inside the turntable 32. The toothed ring 36 meshes with the second gear 35. The third motor 33 drives the bracket to rotate relative to the moving assembly 1 through the first gear 34, the second gear 35 and the toothed ring 36.

[0035] When the third motor 33 is started, the first gear 34 thereon rotates. Since the first gear 34 meshes with the second bevel gear and the toothed ring 36 meshes with the second gear 35, the toothed ring 36 drives the turntable 32 to rotate, so that the bracket assembly 3 can rotate relative to the moving assembly 1, and the rotation direction of the bracket assembly 3 is controlled by the rotation direction of the third motor 33.

[0036] Specifically, the first sliding assembly 7 includes a first sliding member 4 and a second sliding member 5. The first sliding member 4 is connected to the bracket assembly 3. The second sliding member 5 is connected to the second sliding assembly 6. The sliding directions of the first sliding member 4 and the second sliding member 5 are the same. When the first sliding member 4 slides relative to the bracket assembly 3, the second sliding member 5 slides relative to the first sliding member 4, so that the sliding distance of the second sliding member 5 is twice the sliding distance of the first sliding member 4.

[0037] The first sliding member 4 includes a first sliding frame 41 and a first rack 46. The first sliding frame 41 is slidably connected to the support rod 31. A first motor 42 is fixedly connected to the first sliding frame 41. The output end of the first motor 42 is fixedly connected to a third gear 43. A first rotating rod is rotatably connected to the first sliding frame 41. A fourth gear 44 and a fifth gear 45 are fixedly connected to the first rotating rod. The third gear 43 meshes with the fourth gear 44. The fifth gear 45 meshes with the first rack 46. The first rack 46 is fixedly connected to the support rod 31. The first motor 42 drives the first sliding frame 41 to slide vertically relative to the bracket assembly 3 through the third gear 43, the fourth gear 44, the fifth gear 45 and the first rack 46. The first sliding frame 41 is connected to the second sliding member 5.

[0038] By starting the first motor 42, the third gear 43 thereon rotates. Since the third gear 43 meshes with the fourth gear 44, the fifth gear 45 meshes with the first rack 46, and the first rack 46 is fixedly connected to the support rod 31, when the third gear 43 rotates, it slides relative to the first rack 46, so that the first sliding frame 41 can slide up and down relative to the support rod 31, and the sliding direction of the first sliding frame 41 is controlled by the rotation direction of the first motor 42.

[0039] The second sliding member 5 includes a first sprocket 51, a second sprocket 52 and a second sliding frame 55. The first sprocket 51 is fixedly connected to the output end of the first motor 42. A second rotating rod is rotatably connected to the first sliding frame 41, and the second rotating rod is fixedly connected to the second sprocket 52. The first sprocket 51 and the second sprocket 52 are connected by a chain. A first synchronous pulley 53 is fixedly connected to the second rotating rod. A third rotating rod is rotatably connected to the first sliding frame 41, and a second synchronous pulley 54 is fixedly connected to the third rotating rod. The first synchronous pulley 53 and the second synchronous pulley 54 are connected by a synchronous belt. The second sliding frame 55 is slidably connected to the first sliding frame 41. A synchronous belt clip 56 is fixedly connected to the second sliding frame 55, and the synchronous belt clip 56 is fixedly connected to the synchronous belt, so as to drive the second sliding frame 55 to slide vertically relative to the first sliding frame 41 through the synchronous belt. The second sliding frame 55 is connected to the second sliding assembly 6.

[0040] When the third gear 43 rotates, at the same time, the first sprocket 51 rotates synchronously. Since the first sprocket 51 and the second sprocket 52 are connected by a chain, the second sprocket 52 rotates, so that the first synchronous pulley 53 rotates. Since the first synchronous pulley 53 and the second synchronous pulley 54 are connected by a synchronous belt, the second synchronous pulley 54 rotates and the synchronous belt moves. Since the synchronous belt clip 56 is fixedly connected to the synchronous belt, the second sliding frame 55 slides synchronously and in the same sliding direction as the first sliding frame 41. Thus, the sliding distance of the second sliding frame 55 is twice the sliding distance of the first sliding frame 41, thereby improving the sliding efficiency of the first sliding assembly 7.

[0041] Specifically, the second sliding assembly 6 includes a slide rail 61. The slide rail 61 is fixedly connected to the second sliding frame 55. A third sliding frame 62 is slidably connected to the slide rail 61. The third sliding frame 62 is connected to the seeding device. A second rack 63 is fixedly connected to the third sliding frame 62. A second motor 64 is fixedly connected to the slide rail 61. The output end of the second motor 64 is fixedly connected to a sixth gear 65. The sixth gear 65 meshes with the second rack 63. The second motor 64 drives the third sliding frame 62 to slide horizontally relative to the second sliding frame 55 through the second rack 63 and the sixth gear 65.

[0042] By starting the second motor 64, the sixth gear 65 thereon rotates. Since the sixth gear 65 meshes with the second rack 63 and the second rack 63 is fixedly connected to the third sliding frame 62, the third sliding frame 62 can slide horizontally relative to the sixth gear 65, and the sliding direction of the third sliding frame 62 is controlled by the rotation direction of the third motor 33.

[0043] The picking robot further includes a rotating assembly, which is arranged on the third sliding carriage 62 to drive the grasping assembly 8 to rotate. Specifically, the rotating assembly includes a support plate 85 fixedly connected to the third sliding carriage 62. A fourth motor 86 is fixedly connected to the support plate 85. The output end of the fourth motor 86 is fixedly connected with a seventh gear 87. An eighth gear 88 is rotatably connected to the support plate 85. The seventh gear 87 meshes with the eighth gear 88. The eighth gear 88 is coaxially connected with the grasping assembly 8. The fourth motor 86 drives the grasping assembly 8 to rotate through the seventh gear 87 and the eighth gear 88.

[0044] By starting the fourth motor 86, the seventh gear 87 drives the eighth gear 88 to rotate, so that the grasping assembly 8 coaxially connected with the eighth gear 88 rotates synchronously, thereby changing the angle of the grasping assembly 8, enabling the grasping assembly 8 to adapt to different working conditions and achieving the effect of being able to grasp under different working conditions.

[0045] The grasping assembly 8 includes a grasping seat 89. The grasping seat 89 is provided with a first clamping jaw 81 and a second clamping jaw 82. Clamping grooves are arranged on the inner sides of the first clamping jaw 81 and the second clamping jaw 82. The clamping grooves can be clamped with the picking frame 9 or the picked object. The first clamping jaw 81 and the second clamping jaw 82 can move towards each other or away from each other to change the distance between the first clamping jaw 81 and the second clamping jaw 82, so as to realize the clamping of the picking frame 9 or the picked object. Specifically, third rack bars 83 are fixedly connected to both the first clamping jaw 81 and the second clamping jaw 82. A ninth gear 84 is arranged between the first clamping jaw 81 and the second clamping jaw 82. The ninth gear 84 meshes with the third rack bars 83, and the two third rack bars 83 are respectively located at both ends of the ninth gear 84. The ninth gear 84 is connected to an external power source, which can be a motor. Thus, when the motor rotates, the first clamping jaw 81 and the second clamping jaw 82 can move towards each other or away from each other.

[0046] The supporting assembly 2 includes a supporting column 21. Through holes are formed in the picking frame 9. The picking frame 9 is inserted onto the supporting column 21 through the through holes.

[0047] Preferably, the specific number of the supporting columns 21 is three. In other embodiments of the present invention, the specific number of the supporting columns 21 can also be multiple.

[0048] Preferably, the top end of the supporting column 21 is conical. Thus, when the picking frame 9 is inserted onto the supporting column 21 through the through hole, it first contacts the conical shape of the supporting column 21, which is convenient for insertion. In other embodiments of the present invention, the top end of the supporting column 21 can also be of other shapes as long as it is convenient for the through hole of the picking frame 9 to be inserted.

[0049] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A picking robot, characterized in that: It comprises a moving component and a supporting component, the moving component is used for the movement of the robot, the supporting component is arranged above the moving component, and the supporting component can place a picking frame; the moving component is provided with a bracket component, the bracket component can rotate relative to the moving component, the bracket component is provided with a first sliding component, the first sliding component can slide relative to the bracket component, the first sliding component is provided with a second sliding component, the second sliding component can slide relative to the first sliding component, the sliding direction of the second sliding component is perpendicular to the sliding direction of the first sliding component, the second sliding component is provided with a grabbing component, the grabbing component can rotate relative to the second sliding component, the grabbing component can grab the picking frame and place it on the supporting component, or can grab the picked objects and place them in the picking frame located on the supporting component; The first sliding component includes a first sliding member and a second sliding member. The first sliding member is connected to the bracket component, and the second sliding member is connected to the second sliding component. The first sliding member and the second sliding member have the same sliding direction. When the first sliding member slides relative to the bracket component, the second sliding member slides relative to the first sliding member, so that the sliding distance of the second sliding member is twice the sliding distance of the first sliding member.

2. The harvesting robot according to claim 1, characterized in that: The moving assembly comprises a first moving seat and a second moving seat, the first moving seat and the second moving seat are hinged via a connecting shaft, the first moving seat is provided with a first moving wheel and a second moving wheel, and the second moving seat is provided with a third moving wheel.

3. The harvesting robot according to claim 1, characterized in that: The bracket assembly includes a support rod and a turntable, the support rod and the turntable are fixedly connected, the turntable is rotatably connected to the moving assembly, a third motor is fixedly connected to the support rod, an output end of the third motor is fixedly connected to a first gear, the turntable is fixedly connected to a second gear via a gear shaft, the first gear is meshed with the second gear, a gear ring is provided in the turntable, the gear ring is meshed with the second gear, and the third motor drives the bracket to rotate relative to the moving assembly via the first gear, the second gear and the gear ring.

4. The harvesting robot according to claim 1, characterized in that: The first sliding member includes a first sliding frame and a first rack, the first sliding frame is slidably connected to the support rod, the first sliding frame is fixedly connected to a first motor, an output end of the first motor is fixedly connected to a third gear, the first sliding frame is rotatably connected to a first rotating rod, the first rotating rod is fixedly connected to a fourth gear and a fifth gear, the third gear is meshed with the fourth gear, the fifth gear is meshed with the first rack, the first rack is fixedly connected to the support rod, the first motor drives the first sliding frame to slide vertically relative to the bracket assembly through the third gear, the fourth gear, the fifth gear and the first rack, and the first sliding frame is connected to the second sliding member.

5. The harvesting robot according to claim 4, characterized in that: The second sliding member includes a first sprocket, a second sprocket and a second sliding frame, the first sprocket is fixedly connected to the output end of the first motor, the first sliding frame is rotatably connected to the second rotating rod, the second rotating rod is fixedly connected to the second sprocket, the first sprocket and the second sprocket are connected by a chain, the second rotating rod is fixedly connected to the first synchronous wheel, the first sliding frame is rotatably connected to the third rotating rod, the third rotating rod is fixedly connected to the second synchronous wheel, the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt, the second sliding frame is slidably connected to the first sliding frame, a synchronous belt clip is fixedly connected to the second sliding frame, the synchronous belt clip is fixedly connected to the synchronous belt, so as to drive the second sliding frame to slide vertically relative to the first sliding frame through the synchronous belt, and the second sliding frame is connected to the second sliding assembly.

6. The harvesting robot according to claim 5, characterized in that: The second sliding assembly includes a slide rail, which is fixedly connected to the second sliding frame, a third sliding frame is slidably connected to the slide rail, the third sliding frame is connected to the sowing device, a second rack is fixedly connected to the third sliding frame, a second motor is fixedly connected to the slide rail, a sixth gear is fixedly connected to the output end of the second motor, the sixth gear is meshed with the second rack, and the second motor drives the third sliding frame to slide laterally relative to the second sliding frame through the second rack and the sixth gear.

7. The harvesting robot according to claim 6, characterized in that: It also includes a rotating assembly, which is arranged on the third sliding frame to drive the grabbing assembly to rotate.

8. The harvesting robot according to claim 7, characterized in that: The rotating assembly includes a support plate fixedly connected to the third sliding frame, a fourth motor is fixedly connected to the support plate, a seventh gear is fixedly connected to the output end of the fourth motor, an eighth gear is rotatably connected to the support plate, the seventh gear is meshed with the eighth gear, the eighth gear is coaxially connected to the grabbing assembly, and the fourth motor drives the grabbing assembly to rotate via the seventh gear and the eighth gear.

9. The harvesting robot according to claim 8, characterized in that: The grabbing assembly includes a grabbing seat, on which a first clamping jaw and a second clamping jaw are provided. The inner sides of the first clamping jaw and the second clamping jaw are provided with clamping grooves, which can be engaged with a picking frame or a picked object. The first clamping jaw and the second clamping jaw can move toward or away from each other to change the distance between the first clamping jaw and the second clamping jaw, so as to achieve clamping of the picking frame or the picked object.

10. The harvesting robot according to claim 1, characterized in that: The supporting component comprises a supporting column, a through hole is opened on the picking frame, and the picking frame is plugged into the supporting column through the through hole.

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