Fruit picking robot

Abstract

The fruit picking robot relates to the technical field of fruit picking and comprises a vehicle body, the front side wall of the vehicle body is fixedly connected with a central controller, the top of the vehicle body is fixedly connected with a height adjusting assembly, and the front side of the top of the height adjusting assembly is fixedly connected with a mechanical arm assembly. The end, away from the height adjusting assembly, of the mechanical arm assembly is fixedly connected with a self-adaptive fruit picking assembly. According to the self-adaptive fruit picking device, self-adaptive adjustment can be carried out according to the actual condition of fruits through the arranged self-adaptive fruit picking assembly, it is ensured that the fruits can be stably clamped, the situations that the fruits are crushed and scratched due to excessive clamping are avoided, the mechanical arm assembly achieves movement in different directions through rotation and stretching of all joints, and therefore the fruit picking effect is improved. The picking range of the robot is greatly expanded, the height adjusting assembly is arranged, the height of the device can be flexibly adjusted according to the actual heights of different fruit trees, and the adaptability of the robot to the fruit trees of different heights is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a fruit picking robot. Background Art

[0002] A fruit-picking robot is an automated device designed specifically for orchards or farmland environments. It integrates cutting-edge technologies such as advanced robotics, computer vision, artificial intelligence, and the Internet of Things, aiming to replace or assist humans in performing efficient, precise, and non-destructive fruit picking operations. Fruit-picking robots are suitable for a variety of orchard environments, such as apple orchards, pear orchards, peach orchards, and strawberry gardens. In these environments, robots can replace or assist humans in performing efficient and precise fruit picking operations, reducing labor costs and improving picking efficiency and quality. With the continuous advancement of agricultural modernization and the increasing demand for food safety and quality, fruit-picking robots will have broader market prospects and application space. The following problems exist in existing technologies:

[0003] Existing fruit picking robots do not have height adjustment components. For those fruits on fruit trees that are beyond their fixed height range, the robots will not be able to effectively reach and pick them, resulting in a large number of fruits located at high places being missed, seriously limiting the robot's picking range and reducing its actual application value in the orchard; the existing devices do not have mechanical arm components, making it difficult for the devices to cover all positions of the fruit trees. For those fruits that are not within their fixed picking range, the robots will not be able to reach them, seriously limiting the robot's picking range. At the same time, since the posture cannot be adjusted according to the specific position and shape of the fruits, the accuracy and quality of fruit picking will also be affected; in addition, the existing devices do not have adaptive fruit picking components, and the fruits may be crushed or damaged due to excessive clamping force, seriously affecting the quality and commercial value of the fruits, and increasing the risk of economic losses in the orchard. Utility Model Content

[0004] The utility model provides a fruit picking robot to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A fruit picking robot comprises a vehicle body, wherein two driving wheels symmetrically arranged front and rear are fixedly connected to the left and right sides of the vehicle body, the outer walls of the two driving wheels are provided with tracks, the front side wall of the vehicle body is fixedly connected to a central controller, the central controller is electrically connected to the vehicle body, the top of the vehicle body is fixedly connected to a height adjustment component, the top rear side of the height adjustment component is fixedly connected to a fruit box, the top front side of the height adjustment component is fixedly connected to a mechanical arm component, and the end of the mechanical arm component away from the height adjustment component is fixedly connected to an adaptive fruit picking component.

[0007] A further improvement of the technical solution of the present utility model is that: the height adjustment component includes a base, which is fixedly connected to the top of the vehicle body, and a screw rod is rotatably connected to the middle of the front and rear inner walls of the base, and the rear side wall of the base is fixedly connected to a motor 1, the output end of the motor 1 passes through the interior of the base and is fixedly connected to the screw rod, and the front and rear inner walls of the base are fixedly connected to two sliding rods 1 symmetrically arranged on the left and right, the outer wall of the screw rod is threadedly connected to a threaded sleeve, and the left and right sides of the threaded sleeve are fixedly connected to a fixed rod 1, and the ends of the two fixed rods 1 on the left and right that are away from each other are fixedly connected to sliding sleeves that are slidably connected to the outer walls of the two sliding rods 1 on the left and right, and the central controller is electrically connected to the motor 1.

[0008] The locking mechanism is configured to lock the locking mechanism, and the locking mechanism comprises locking the locking mechanism, wherein the locking mechanism comprises locking cams, wherein the locking mechanism comprises locking cams for the at least one locking cam, and the locking mechanism comprises locking cams for the at least one locking cam.

[0009] A further improvement of the technical solution of the present utility model is that: the robotic arm assembly includes a fixed seat, the bottom of the fixed seat is fixedly connected to the top front side of the upper plate, the inner top wall of the fixed seat is fixedly connected to motor 2, the output end of motor 2 passes through the top of the fixed seat and is fixedly connected to the rotating seat, the left and right outer walls of the rotating seat are rotatably connected to the first robotic arm, the interior of the rotating seat is fixedly connected to motor 3, the output end of motor 3 passes through the left outer wall of the rotating seat and is fixedly connected to the first robotic arm, the first robotic arm is rotatably connected to the second robotic arm relative to the inner wall on the side away from the rotating seat, the right side wall of the first robotic arm is fixedly connected to motor 4, the output end of motor 4 passes through the interior of the first robotic arm and is fixedly connected to the second robotic arm, and the central controller is electrically connected to motor 2, motor 3, and motor 4 respectively.

[0010] A further improvement of the technical solution of the present utility model is that: the adaptive fruit picking component includes a fixed plate, the rear side wall of the fixed plate is fixedly connected to the front side of the second mechanical arm, the bottom of the fixed plate is fixedly connected to the motor five, the output end of the motor five passes through the top of the fixed plate and is fixedly connected to the rotating plate, the front and rear sides of the rotating plate are rotatably connected to the arc-shaped connecting rod, the ends of the front and rear two arc-shaped connecting rods away from the rotating plate are rotatably connected to the moving block, the inner walls of the left and right moving blocks are slidably connected to the guide rail fixedly connected to the front side wall of the fixed plate, the front side walls of the left and right moving blocks are fixedly connected to the clamping blocks, the opposite surfaces of the left and right clamping blocks are fixedly connected to the pressure sensors, and the central controller is electrically connected to the motor five and the left and right pressure sensors respectively.

[0011] Due to the adoption of the above technical solution, the present invention has achieved the following technical advancements compared to the prior art:

[0012] 1. The utility model provides a fruit picking robot. Through the adaptive fruit picking component, it can make adaptive adjustments according to the actual situation of the fruit, ensure that the fruit can be firmly clamped, and realize adaptive clamping action for fruits of different sizes and hardness. At the same time, it can also effectively avoid the occurrence of crushing or scratching of the fruit due to excessive clamping, thereby ensuring the integrity of the fruit.

[0013] 2. The utility model provides a fruit picking robot, which has a mechanical arm assembly that can achieve movement in different directions through the rotation and extension of each joint, ensuring that it can reach fruits located in different positions of the fruit tree, such as the tips of branches, inside the crown, etc., greatly expanding the picking range of the robot. At the same time, relying on the multi-joint structure and flexible movement characteristics of the mechanical arm assembly, the robot can more accurately locate each fruit, effectively improving the accuracy of fruit picking and ensuring the picking quality.

[0014] 3. The utility model provides a fruit picking robot. Through the provided height adjustment component, the height position of the mechanical arm component and the adaptive fruit picking component can be flexibly adjusted according to the actual height of different fruit trees, so as to accurately aim at fruits at different heights, ensuring that the fruit at high places will not be unable to be reached due to insufficient height, thereby greatly improving the robot's adaptability to fruit trees of different heights, enabling it to effectively carry out picking work in various orchard environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the height adjustment component structure of the utility model;

[0017] Figure 3Another height adjusting assembly structure schematic view of the utility model;

[0018] Figure 4 Mechanical arm assembly structure schematic view of the utility model;

[0019] Figure 5 Self-adaptive fruit picking assembly structure schematic view of the utility model.

[0020] In the figure: 10, vehicle body;11, central controller;12, drive wheel;13, track;14, fruit box;2, height adjusting assembly;20, base;21, screw rod;22, motor one;23, sliding rod one;24, fixed block one;25, threaded sleeve;26, connecting rod one;27, fixed rod one;28, sliding sleeve;29, connecting rod two;290, fixed block two;291, fixed rod two;292, side plate;293, sliding rod two;294, moving seat;295, upper plate;3, mechanical arm assembly;30, fixed seat;31, motor two;32, rotating seat;33, second mechanical arm;34, motor three;35, first mechanical arm;36, motor four;4, self-adaptive fruit picking assembly;40, fixed plate;41, motor five;42, rotating plate;43, arc connecting rod;44, moving block;45, guide rail;46, pressure sensor;47, clamping block. Specific implementation

[0021] In order to make the technical means, creation features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific implementation manners:

[0022] As Figure 1 Indicated, the utility model provides a kind of fruit picking robot, including vehicle body 10, the left and right sides of vehicle body 10 are both fixedly connected with two front and rear symmetry setting drive wheel 12, the outer wall of front and rear two drive wheels 12 is sleeved with track 13, the front side wall of vehicle body 10 is fixedly connected with central controller 11, central controller 11 is electrically connected with vehicle body 10, the top of vehicle body 10 is fixedly connected with height adjusting assembly 2, the top rear side of height adjusting assembly 2 is fixedly connected with fruit box 14, the top front side of height adjusting assembly 2 is fixedly connected with mechanical arm assembly 3, and the end of mechanical arm assembly 3 away from height adjusting assembly 2 is fixedly connected with self-adaptive fruit picking assembly 4.

[0023] The vehicle body 10 constitutes the basic mobile platform of the robot, and a motor and battery and other components can be set inside it to drive the driving wheel 12 to rotate. The central controller 11 is electrically connected to the vehicle body 10 and is responsible for controlling and coordinating various operations of the entire robot. When the central controller 11 issues a movement command, it controls the driving wheel 12 to rotate, and the track 13 rotates accordingly. The friction between the track 13 and the ground pushes the vehicle body 10 to realize forward, backward, turning and other moving movements in the work site such as the orchard, so that the robot can reach the position near the fruit tree where the fruit needs to be picked. The fruit box 14 provided can be used to hold the picked fruit.

[0024] like Figure 2 、 Figure 3 As shown, the height adjustment assembly 2 includes a base 20, which is fixedly connected to the top of the vehicle body 10, and a screw rod 21 is rotatably connected to the middle of the front and rear inner walls of the base 20, and a motor 22 is fixedly connected to the rear side wall of the base 20. The output end of the motor 22 passes through the interior of the base 20 and is fixedly connected to the screw rod 21. The front and rear inner walls of the base 20 are fixedly connected to two sliding rods 23 symmetrically arranged on the left and right. The outer wall of the screw rod 21 is threadedly connected to a threaded sleeve 25, and the left and right sides of the threaded sleeve 25 are fixedly connected to a fixed rod 27, and the ends of the left and right fixed rods 27 away from each other are fixedly connected to a sliding sleeve 28 slidably connected to the outer walls of the left and right sliding rods 23, and the central controller 11 is electrically connected to the motor 22.

[0025] like Figure 2 、 Figure 3 As shown, the front side of the inner bottom wall of the base 20 is fixedly connected to two left-right symmetrical fixed blocks 24, the tops of the left and right fixed blocks 24 are rotatably connected to a connecting rod 26, the ends of the left and right connecting rods 26 away from the fixed block 24 are rotatably connected to a moving seat 294, and the interior of the moving seat 294 is slidably connected to two left-right symmetrical sliding rods 293, the front and rear sides of the left and right sliding rods 293 are fixedly connected to side plates 292, the tops of the front and rear side plates 292 are fixedly connected to an upper plate 295, and the bottom front side of the upper plate 295 is fixedly connected to two left-right symmetrical fixed blocks 290, the opposite surfaces of the left and right fixed blocks 290 are fixedly connected to a fixing rod 291, and the outer walls of the fixing rod 291 are rotatably connected to a connecting rod 29 on both sides, the ends of the left and right connecting rods 29 away from the fixed rod 291 are respectively rotatably connected to the left and right sliding sleeves 28, and the middle part of the connecting rod 29 is rotatably connected to the middle part of the connecting rod 26.

[0026] When the height of the device needs to be adjusted, the motor 122 on the base 20 is started under the control of the central controller 11, and the output end of the motor 12 drives the screw rod 21 to rotate. When the screw rod 21 rotates, the threaded sleeve 25 moves back and forth along the axial direction of the screw rod 21. At the same time, the fixed rods 127 on the left and right sides of the threaded sleeve 25 and the sliding sleeve 28 connected to the fixed rod 127 slide together along the sliding rod 123, which ensures the stability of the threaded sleeve 25 in the process of moving up and down and prevents it from deflecting. When the threaded sleeve 25 moves, it is coordinated with the connecting rods such as the connecting rod 126 and the connecting rod 29. The simultaneous rotation and pulling action enables the upper plate 295 to achieve smooth height changes, thereby driving the mechanical arm assembly 3 and the adaptive fruit picking assembly 4 installed on the top of the upper plate 295 to achieve height adjustment. Through the set height adjustment assembly 2, the height position of the mechanical arm assembly 3 and the adaptive fruit picking assembly 4 can be flexibly adjusted according to the actual height of different fruit trees to accurately align with fruits at different heights, ensuring that fruits at high places cannot be reached due to insufficient height, thereby greatly improving the robot's adaptability to fruit trees of different heights, enabling it to effectively carry out picking work in various orchard environments.

[0027] like Figure 4 As shown, the robotic arm assembly 3 includes a fixed base 30, the bottom of the fixed base 30 is fixedly connected to the top front side of the upper plate 295, the inner top wall of the fixed base 30 is fixedly connected to motor 2 31, the output end of motor 2 31 passes through the top of the fixed base 30 and is fixedly connected to the rotating base 32, the left and right outer walls of the rotating base 32 are rotatably connected to the first robotic arm 35, the interior of the rotating base 32 is fixedly connected to motor 34, the output end of motor 34 passes through the left outer wall of the rotating base 32 and is fixedly connected to the first robotic arm 35, the side of the first robotic arm 35 away from the rotating base 32 is rotatably connected to the second robotic arm 33 relative to the inner wall, the right side wall of the first robotic arm 35 is fixedly connected to motor 4 36, the output end of motor 4 36 passes through the interior of the first robotic arm 35 and is fixedly connected to the second robotic arm 33, and the central controller 11 is electrically connected to motor 2 31, motor 34, and motor 4 36 respectively.

[0028] When it is necessary to adjust the robotic arm assembly 3 to expand the picking range, the motor 2 31 on the top wall of the fixed seat 30 is started under the control of the central controller 11, and its output end drives the rotating seat 32 to rotate. The rotation of the rotating seat 32 can realize the horizontal rotation of the entire robotic arm assembly 3 and the adaptive fruit picking assembly 4 connected thereto, so that it can be adjusted to a suitable angle to approach the position of the fruit. At the same time, the motor 34 inside the rotating seat 32 is started under the control of the central controller 11. When the motor 34 rotates, it drives the first robotic arm 35 to swing around the connection point with the rotating seat 32, further adjusting the extension posture of the robotic arm to better approach the fruit. In addition, the motor 4 36 on the right side wall of the first robotic arm 35 is turned on. It is started under the control of the central controller 11. When the motor 4 36 rotates, it will drive the second robotic arm 33 to swing around the connection point in the first robotic arm 35. Through the coordinated swinging action of the first robotic arm 35 and the second robotic arm 33, the adaptive fruit picking component 4 can be delivered to the side of the fruit more accurately. The set robotic arm component 3 realizes movement in different directions through the rotation and extension of each joint, ensuring that it can reach fruits located at different positions of the fruit tree, such as the tips of branches, inside the crown, etc., greatly expanding the picking range of the robot. At the same time, relying on the multi-joint structure and flexible movement characteristics of the robotic arm component 3, the robot can more accurately locate each fruit, effectively improving the accuracy of fruit picking and ensuring the picking quality.

[0029] like Figure 5 As shown, the adaptive fruit picking component 4 includes a fixed plate 40, the rear side wall of the fixed plate 40 is fixedly connected to the front side of the second mechanical arm 33, the bottom of the fixed plate 40 is fixedly connected to a motor 5 41, the output end of the motor 5 41 passes through the top of the fixed plate 40 and is fixedly connected to a rotating plate 42, the front and rear sides of the rotating plate 42 are rotatably connected to an arc-shaped connecting rod 43, and the ends of the front and rear arc-shaped connecting rods 43 away from the rotating plate 42 are rotatably connected to a moving block 44, the inner walls of the left and right moving blocks 44 are slidably connected to a guide rail 45 fixedly connected to the front side wall of the fixed plate 40, the front side walls of the left and right moving blocks 44 are fixedly connected to a clamping block 47, and the opposite surfaces of the left and right clamping blocks 47 are fixedly connected to a pressure sensor 46, and the central controller 11 is electrically connected to the motor 5 41 and the left and right pressure sensors 46, respectively.

[0030] When it is necessary to clamp the fruit, the motor 5 41 is started under the control of the central controller 11, and the output end of the motor 5 41 drives the rotating plate 42 connected thereto to rotate. The arc-shaped connecting rods 43 connected to the front and rear sides of the rotating plate 42 will change position as the rotating plate 42 rotates, thereby driving the moving block 44 connected thereto to slide on the guide rail 45, so that the left and right clamping blocks 47 move closer to or farther away from each other as the moving block 44 moves, thereby realizing the clamping action of the fruit. When the clamping block 47 is in the process of clamping the fruit, the pressure sensor 46 will sense the clamping pressure in real time. If the pressure is too high, the clamping block 47 will move closer to or farther away from each other. If the pressure is too high, the central controller 11 will control the motor 5 41 to make fine adjustments based on the information fed back by the pressure sensor 46, so that the clamping block 47 is appropriately loosened to avoid damage to the fruit. If the pressure is too low, the central controller 11 will control the motor 5 41 to further tighten the clamping block 47. The adaptive fruit picking component 4 can be adaptively adjusted according to the actual situation of the fruit to ensure that the fruit can be firmly clamped and the adaptive clamping action of fruits of different sizes and hardness can be achieved. At the same time, it can also effectively avoid the occurrence of crushing or scratching of the fruit due to excessive clamping, thereby ensuring the integrity of the fruit.

[0031] It should be noted that the central controller 11 , the vehicle body 10 , and the pressure sensor 46 are all existing technologies and will not be described in detail here.

[0032] Let’s talk about the working principle of the fruit picking robot in detail.

[0033] like Figures 1-5 As shown, when the height of the device needs to be adjusted, the motor 122 on the base 20 is started under the control of the central controller 11, and the output end of the motor 12 drives the screw rod 21 to rotate. When the screw rod 21 rotates, the threaded sleeve 25 moves back and forth along the axial direction of the screw rod 21. At the same time, the fixed rods 127 on the left and right sides of the threaded sleeve 25 and the sliding sleeve 28 connected to the fixed rod 127 slide together along the sliding rod 123, which ensures the stability of the threaded sleeve 25 during the up and down movement and prevents it from deflecting. When the threaded sleeve 25 moves, it is connected to the connecting rod 126, the connecting rod 229 and other connecting rods. The coordinated rotation and pulling action enables the upper plate 295 to achieve smooth height changes, thereby driving the mechanical arm assembly 3 and the adaptive fruit picking assembly 4 installed on the top of the upper plate 295 to achieve height adjustment. Through the set height adjustment assembly 2, the height position of the mechanical arm assembly 3 and the adaptive fruit picking assembly 4 can be flexibly adjusted according to the actual height of different fruit trees to accurately align with fruits at different heights, ensuring that fruits at high places cannot be reached due to insufficient height, thereby greatly improving the robot's adaptability to fruit trees of different heights, enabling it to effectively carry out picking work in various orchard environments.

[0034] When it is necessary to adjust the robotic arm assembly 3 to expand the picking range, the motor 2 31 on the top wall of the fixed seat 30 is started under the control of the central controller 11, and its output end drives the rotating seat 32 to rotate. The rotation of the rotating seat 32 can realize the horizontal rotation of the entire robotic arm assembly 3 and the adaptive fruit picking assembly 4 connected thereto, so that it can be adjusted to a suitable angle to approach the position of the fruit. At the same time, the motor 34 inside the rotating seat 32 is started under the control of the central controller 11. When the motor 34 rotates, it drives the first robotic arm 35 to swing around the connection point with the rotating seat 32, further adjusting the extension posture of the robotic arm to better approach the fruit. In addition, the motor 4 36 on the right side wall of the first robotic arm 35 is turned on. It is started under the control of the central controller 11. When the motor 4 36 rotates, it will drive the second robotic arm 33 to swing around the connection point in the first robotic arm 35. Through the coordinated swinging action of the first robotic arm 35 and the second robotic arm 33, the adaptive fruit picking component 4 can be delivered to the side of the fruit more accurately. The set robotic arm component 3 realizes movement in different directions through the rotation and extension of each joint, ensuring that it can reach fruits located at different positions of the fruit tree, such as the tips of branches, inside the crown, etc., greatly expanding the picking range of the robot. At the same time, relying on the multi-joint structure and flexible movement characteristics of the robotic arm component 3, the robot can more accurately locate each fruit, effectively improving the accuracy of fruit picking and ensuring the picking quality.

[0035] When it is necessary to clamp the fruit, the motor 5 41 is started under the control of the central controller 11, and the output end of the motor 5 41 drives the rotating plate 42 connected thereto to rotate. The arc-shaped connecting rods 43 connected to the front and rear sides of the rotating plate 42 will change position as the rotating plate 42 rotates, thereby driving the moving block 44 connected thereto to slide on the guide rail 45, so that the left and right clamping blocks 47 move closer to or farther away from each other as the moving block 44 moves, thereby realizing the clamping action of the fruit. When the clamping block 47 is in the process of clamping the fruit, the pressure sensor 46 will sense the clamping pressure in real time. If the pressure is too high, the clamping block 47 will move closer to or farther away from each other. If the pressure is too high, the central controller 11 will control the motor 5 41 to make fine adjustments based on the information fed back by the pressure sensor 46, so that the clamping block 47 is appropriately loosened to avoid damage to the fruit. If the pressure is too low, the central controller 11 will control the motor 5 41 to further tighten the clamping block 47. The adaptive fruit picking component 4 can be adaptively adjusted according to the actual situation of the fruit to ensure that the fruit can be firmly clamped and the adaptive clamping action of fruits of different sizes and hardness can be achieved. At the same time, it can also effectively avoid the occurrence of crushing or scratching of the fruit due to excessive clamping, thereby ensuring the integrity of the fruit.

[0036] The above generally describes the present invention in detail. However, it is obvious to those skilled in the art that modifications or improvements may be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A fruit picking robot, comprising a vehicle body (10), characterized in that: The left and right sides of the vehicle body (10) are fixedly connected to two driving wheels (12) arranged symmetrically in front and back, and the outer walls of the two driving wheels (12) in front and back are provided with tracks (13). The front side wall of the vehicle body (10) is fixedly connected to a central controller (11), and the central controller (11) is electrically connected to the vehicle body (10). The top of the vehicle body (10) is fixedly connected to a height adjustment component (2), the top rear side of the height adjustment component (2) is fixedly connected to a fruit box (14), the top front side of the height adjustment component (2) is fixedly connected to a mechanical arm component (3), and the end of the mechanical arm component (3) away from the height adjustment component (2) is fixedly connected to an adaptive fruit picking component (4).

2. The fruit picking robot according to claim 1, characterized in that: The height adjustment assembly (2) includes a base (20), the base (20) is fixedly connected to the top of the vehicle body (10), the middle of the front and rear inner walls of the base (20) are rotatably connected with a screw rod (21), the rear side wall of the base (20) is fixedly connected with a motor (22), the output end of the motor (22) passes through the interior of the base (20) and is fixedly connected to the screw rod (21), the front and rear inner walls of the base (20) are fixedly connected with two left and right symmetrically arranged sliding rods (23), the outer wall of the screw rod (21) is threadedly connected with a threaded sleeve (25), the left and right sides of the threaded sleeve (25) are fixedly connected with a fixed rod (27), the ends of the left and right fixed rods (27) away from each other are fixedly connected with a sliding sleeve (28) slidably connected to the outer walls of the left and right sliding rods (23), and the central controller (11) is electrically connected to the motor (22).

3. The fruit picking robot according to claim 2, characterized in that: The front side of the inner bottom wall of the base (20) is fixedly connected to two left-right symmetrical fixed blocks (24), the tops of the left and right fixed blocks (24) are rotatably connected to a connecting rod (26), and the ends of the left and right connecting rods (26) away from the fixed block (24) are rotatably connected to a movable seat (294), and the interior of the movable seat (294) is slidably connected to two left-right symmetrically arranged sliding rods (293), and the front and rear sides of the left and right sliding rods (293) are fixedly connected to side plates (292), and the tops of the front and rear side plates (292) are connected to the movable seat (294). An upper plate (295) is fixedly connected, and two left-right symmetrical fixed blocks (290) are fixedly connected to the front side of the bottom of the upper plate (295), and the opposite surfaces of the left and right fixed blocks (290) are fixedly connected to fixed rods (291), and the left and right sides of the outer wall of the fixed rods (291) are rotatably connected to connecting rods (29), and the ends of the left and right connecting rods (29) away from the fixed rods (291) are rotatably connected to the left and right sliding sleeves (28) respectively, and the middle part of the connecting rods (29) is rotatably connected to the middle part of the connecting rod (26).

4. The fruit picking robot according to claim 3, characterized in that: The mechanical arm assembly (3) includes a fixed seat (30), the bottom of the fixed seat (30) is fixedly connected to the top front side of the upper plate (295), the inner top wall of the fixed seat (30) is fixedly connected to the second motor (31), the output end of the second motor (31) passes through the top of the fixed seat (30) and is fixedly connected to the rotating seat (32), the left and right outer walls of the rotating seat (32) are rotatably connected to the first mechanical arm (35), the interior of the rotating seat (32) is fixedly connected to the third motor (34), the output end of the third motor (34) It penetrates the left outer wall of the rotating seat (32) and is fixedly connected to the first mechanical arm (35); the first mechanical arm (35) is connected to the second mechanical arm (33) by rotating relative to the inner wall on the side away from the rotating seat (32); the right side wall of the first mechanical arm (35) is fixedly connected to the motor four (36); the output end of the motor four (36) penetrates the interior of the first mechanical arm (35) and is fixedly connected to the second mechanical arm (33); the central controller (11) is electrically connected to the motor two (31), the motor three (34), and the motor four (36) respectively.

5. The fruit picking robot according to claim 4, characterized in that: The adaptive fruit picking assembly (4) comprises a fixed plate (40), the rear side wall of the fixed plate (40) is fixedly connected to the front side of the second mechanical arm (33), the bottom of the fixed plate (40) is fixedly connected to a motor five (41), the output end of the motor five (41) passes through the top of the fixed plate (40) and is fixedly connected to a rotating plate (42), the front and rear sides of the rotating plate (42) are both rotatably connected to arc-shaped connecting rods (43), and the front and rear two arc-shaped connecting rods (43) are away from the rotating plate. One end of (42) is rotatably connected to a moving block (44), the inner walls of the left and right moving blocks (44) are slidably connected to a guide rail (45) fixedly connected to the front side wall of the fixed plate (40), the front side walls of the left and right moving blocks (44) are fixedly connected to a clamping block (47), the opposite surfaces of the left and right clamping blocks (47) are fixedly connected to a pressure sensor (46), and the central controller (11) is electrically connected to the motor five (41) and the left and right pressure sensors (46) respectively.

Images