Energy-saving mechanical arm picking device

Abstract

The utility model discloses an energy-saving mechanical arm picking device, which relates to the field of automatic picking and comprises an intelligent mechanical arm, two ends of the intelligent mechanical arm are respectively and fixedly provided with a mounting seat and a bottom plate, and one side, far away from the intelligent mechanical arm, of the mounting seat is provided with a shearing mechanism for shearing pepper rhizomes. A connecting seat is fixedly arranged on one side, close to the shearing mechanism, of the mounting seat; the shearing mechanism comprises a mounting box fixedly arranged on one side of the top of the mounting base, a lead screw and a shear body are rotationally arranged in the mounting box, and the top of the connecting base is fixedly arranged at the bottom of the mounting box; the clamping mechanism is used for clamping peppers, the clamping mechanism comprises a clamping ring arranged below the scissor body, a plurality of limiting blocks are fixedly arranged on the inner surface of the clamping ring, a gap between every two limiting blocks is a ventilation space, a ventilation hole is formed in the surface of the clamping ring, and the ventilation hole is communicated with the ventilation space. According to the utility model, the shears are used for shearing pepper rhizomes, cuts are smooth, and pepper damage can be prevented.

Description

Technical Field

[0001] This application relates to the field of automated harvesting, and in particular to an energy-saving robotic arm harvesting device. Background Technology

[0002] Chili peppers are an important economic crop widely cultivated globally, playing a pivotal role in industries such as food, pharmaceuticals, and cosmetics. In recent years, with the continuous growth of market demand, the scale of chili pepper cultivation has been expanding. However, the chili pepper harvesting process faces many challenges, becoming a bottleneck restricting the efficient development of the industry.

[0003] Traditional chili harvesting methods mainly rely on manual labor. Although manual harvesting allows for flexible handling of complex chili growing environments based on experience, better identification of chili maturity, and avoidance of damage to fruits and plants, it is extremely inefficient.

[0004] Utility model patent with publication number CN220528638U discloses a red chili pepper harvesting robot. However, the device has the following shortcomings in actual use:

[0005] During the harvesting process, the device clamps the chili peppers by bringing the left and right clamps inside the main body close together, and then cuts the chili pepper stems by moving the cutter horizontally. However, since the chili pepper stems vary in thickness, when cutting the thicker chili pepper stems with a flat cut, the cut is prone to unevenness, which can damage the chili peppers and plants. This makes it difficult to preserve the harvested chili peppers for a long time and reduces the quality of the harvested chili peppers. Summary of the Invention

[0006] To address the issue of damage that can easily occur when harvesting chili peppers by machine, this invention provides an energy-saving robotic arm harvesting device.

[0007] This utility model is achieved using the following technical solution: An energy-saving robotic arm harvesting device includes an intelligent robotic arm. One end of the intelligent robotic arm is fixedly equipped with a mounting base. A cutting mechanism for cutting chili pepper stems is provided on the side of the mounting base away from the intelligent robotic arm. A connecting base is fixedly equipped on the side of the mounting base near the cutting mechanism, and a clamping mechanism is provided on the connecting base. The cutting mechanism includes a mounting box fixedly mounted on the top side of the mounting base. A lead screw is rotatably mounted inside the mounting box. The cutting mechanism also includes a motor fixedly mounted inside the mounting box. The motor is fixedly connected to the lead screw. A transmission block is threaded onto the surface of the lead screw. A slider is fixedly connected to the bottom of the transmission block. A groove cooperating with the slider is opened inside the mounting box. A transmission rod is fixedly mounted at one end of the transmission block, and two ends of the transmission rod are rotatably mounted with… Two drive rods are rotatably mounted at both ends of the scissor body. The clamping mechanism includes a clamping ring located below the scissor body and a drive box fixed to the connecting seat. A second motor is fixed inside the drive box, and a shuttle wheel located inside the transmission box is connected to the second motor. Drive blocks are symmetrically arranged inside the transmission box, and guide blocks are fixedly connected to the bottom of the drive blocks. A guide groove adapted to the guide block is opened on the inner surface of the transmission box. The shuttle wheel is located between the two drive blocks. One end of the drive block is fixed to an elastic element, and the other end of the elastic element is fixed to the inner surface of the transmission box. A transmission frame is fixed to the top of the drive block. Grooves are symmetrically opened on the top of the transmission box. After the transmission frame passes through the groove, a transmission plate is fixed to its end. The transmission plate is fixed to the outer surface of the clamping ring.

[0008] This technical solution involves using a clamping mechanism to hold the chili peppers after the cutting mechanism cuts their stems, and then using the movement of an intelligent robotic arm to accurately place the peppers in the storage location, thereby improving the harvesting efficiency and quality of the chili peppers.

[0009] Motor 1 provides power to rotate the lead screw, thereby controlling the movement of the transmission block along the lead screw surface. The movement of the transmission block drives the transmission rod to move, causing the drive rod to swing, providing power for the opening and closing of the scissors body, thus cutting the chili pepper stem through the opening and closing of the scissors body. Motor 2 provides power to control the movement of the internal structure of the transmission box. Motor 2 drives the shuttle wheel to rotate, causing the two drive blocks to move away from each other, serving as the power to control the movement of the two clamping rings. When the two drive blocks move away from each other, they are limited by elastic elements, and they can automatically move closer together after the drive blocks lose the thrust of the shuttle wheel, serving as the power for the clamping rings to clamp the chili pepper. A transmission frame that is slidably mounted on the top of the drive block is fixedly installed on the top of the transmission box. A transmission plate that is fixed on the outer surface of the clamping ring is fixedly installed at the end of the transmission frame away from the transmission box. The movement of the drive block drives the movement of the transmission frame, which in turn drives the movement of the clamping rings, thus clamping and releasing the chili pepper.

[0010] The aforementioned energy-saving robotic arm harvesting device has multiple limiting blocks fixed to the inner surface of the clamping ring. The gap between every two limiting blocks serves as a ventilation space, and ventilation holes are opened on the surface of the clamping ring, communicating with the ventilation space. The limiting blocks enhance the clamping force of the clamping ring when holding the chili peppers, and the ventilation space between the limiting blocks and the ventilation holes allow air to be used to dehumidify the surface of the chili peppers during the rotation of the robotic arm.

[0011] In the aforementioned energy-saving robotic arm harvesting device, the output shaft of motor two is fixedly provided with a transmission shaft that passes through the bottom of the transmission box, and a shuttle-shaped wheel located inside the transmission box is fixedly provided on the transmission shaft.

[0012] In the aforementioned energy-saving robotic arm harvesting device, the elastic element is a spring.

[0013] The aforementioned energy-saving robotic arm harvesting device has an arc-shaped limiting block that can adapt to different sizes of chili peppers, thereby increasing the gripping range of the clamping ring.

[0014] The aforementioned energy-saving robotic arm harvesting device has a base plate fixed to one end of the intelligent robotic arm, and a storage bucket is also fixed to the base plate. This device can be fixed to the chili harvesting mechanism as its harvesting robotic arm via the base plate, and the storage bucket is used to store the harvested chilies.

[0015] In the aforementioned energy-saving robotic arm harvesting device, a first microswitch is fixedly mounted on the surface of the transmission box, positioned within the space between the transmission frame surface and the transmission box surface. The contacts of the first microswitch face the transmission frame surface and are located above a groove on the transmission box surface. A second microswitch is fixedly mounted on the inner surface of a clamping ring closest to the scissor body, located between two limiting blocks. The contacts of the second microswitch are away from the inner surface of the clamping ring and protrude beyond the obstruction range of the two limiting blocks. When the transmission frame touches the contact of the first microswitch, it indicates that the distance between the two transmission frames and the distance between the two clamping rings are at their maximum, and the first microswitch provides a signal indicating that the clamping ring distance is at its maximum. After the clamping rings clamp a chili pepper, the chili pepper touches the contact of the second microswitch, indicating that the clamping ring is clamping the chili pepper, and the second microswitch provides a signal indicating that the clamping ring is clamping the chili pepper. The signals from the two microswitches can be used to control a second motor.

[0016] In the aforementioned energy-saving robotic arm harvesting device, the contact surface of the second micro switch is fixed with a rubber layer for protecting the chili peppers.

[0017] In summary, this utility model has at least one of the following beneficial technical effects:

[0018] 1. The two blades of the scissors work together to provide a relatively uniform cutting force, which is well adaptable to roots and stems of different thicknesses. The scissors also conform better to the shape of the chili root and stem, resulting in a clean cut. This reduces damage to the tissues around the chili root and stem during harvesting, helps prevent the chili from breaking, and improves the quality of the harvested chili.

[0019] 2. The chili pepper stems are cut by the opening and closing action of the scissors and the chili peppers are held in place by the clamping action of the clamping ring. The actions of the scissors and the clamping ring are powered by independent power sources, allowing for precise control of the opening and closing action of the scissors and the clamping action of the clamping ring. The cutting and clamping actions can be flexibly adjusted according to the actual situation during chili pepper harvesting. At the same time, the independent power sources of the two actions allow the cutting and clamping actions to be performed simultaneously, reducing waiting time during the harvesting process and improving harvesting efficiency.

[0020] 3. The limiting blocks can increase the clamping force of the clamping ring when holding the chili peppers. The ventilation space and ventilation holes between the two limiting blocks can use air to dehumidify the surface of the chili peppers when the intelligent robotic arm rotates, preventing the chili peppers from creating a humid environment through surface moisture after entering the storage bucket, thus ensuring the original quality and taste of the chili peppers and improving the harvesting quality. Attached Figure Description

[0021] Figure 1 This is a three-dimensional schematic diagram of this application.

[0022] Figure 2 This is a partial three-dimensional schematic diagram of this application.

[0023] Figure 3 This is a three-dimensional schematic diagram of the shearing mechanism and clamping mechanism of this application.

[0024] Figure 4 For this application Figure 3 Enlarged diagram of point A in the middle.

[0025] Figure 5 This is a three-dimensional schematic diagram of the clamping mechanism of this application.

[0026] Figure 6 For this application Figure 5 Enlarged diagram of point B in the middle.

[0027] Figure 7 This is a top view of the transmission box in this application.

[0028] Reference numerals: 1. Intelligent robotic arm; 2. Mounting base;

[0029] 3. Shearing mechanism; 31. Mounting box; 32. Motor 1; 33. Lead screw; 34. Transmission block; 35. Transmission rod; 36. Drive rod; 37. Scissors body;

[0030] 4. Connecting base;

[0031] 5. Clamping mechanism; 51. Drive box; 52. Motor II; 53. Transmission box; 54. Transmission shaft; 55. Shuttle wheel; 56. Drive block; 57. Elastic element; 58. Transmission frame; 59. Transmission plate; 510. Clamping ring; 511. Limiting block; 512. Vent hole;

[0032] 6. Storage bin; 7. Base plate; 8. First micro switch; 9. Second micro switch. Detailed Implementation

[0033] The following is in conjunction with the appendix Figures 1-7 This application will be described in further detail.

[0034] This utility model discloses an energy-saving robotic arm harvesting device, referring to... Figures 1-7 The system includes an intelligent robotic arm 1, which is based on the CS series from Elite Robotics. The two ends of the intelligent robotic arm 1 are respectively fixed with a mounting base 2 and a base plate 7, and a storage bucket 6 is fixed on the base plate 7.

[0035] It should be noted that the intelligent robotic arm 1 consists of six joints connected in series. Each joint is equipped with a high-performance motor and a precision reducer. The joints are connected by high-strength aluminum alloy connecting rods to form a multi-degree-of-freedom mechanical structure. The joint that connects the intelligent robotic arm 1 to the base plate 7 is the first joint, followed by the second, third, fourth, fifth, and sixth joints.

[0036] The second joint is rotatably connected to the third joint, and the sixth joint is fixedly connected to the mounting base 2.

[0037] With the above settings, the harvested material is collected by rotating the third joint, which greatly reduces the energy consumption of the entire system and prevents the first joint from being overloaded by all the other joints, thus making the movement of the first joint very energy-consuming. This gives the device an energy-saving function during use.

[0038] Reference Figures 1-4A cutting mechanism 3 for cutting chili pepper roots is provided on the side of the mounting base 2 away from the intelligent robotic arm 1. A connecting seat 4 is fixedly provided on the side of the mounting base 2 near the cutting mechanism 3. The cutting mechanism 3 includes a mounting box 31 fixedly mounted on the top side of the mounting base 2. A lead screw 33 is rotatably mounted inside the mounting box 31. A connecting shaft is connected to the inner surface of the mounting box 31. A scissor body 37 is rotatably connected to the outer surface of the connecting shaft, and the connecting shaft is located in the middle of the scissor body 37. The top of the connecting seat 4 is fixedly connected to the bottom of the mounting box 31. The cutting mechanism 3 also includes a motor 32 fixedly mounted inside the mounting box 31. The output shaft of the motor 32 is fixedly connected to the lead screw 33. A transmission block 34 is threadedly connected to the surface of the lead screw 33. A slider is fixedly connected to the bottom of the transmission block 34. A sliding groove is opened inside the mounting box 31, and the slider can move in the sliding groove. When the transmission block 34 moves away from the motor 32 on the surface of the lead screw 33, the scissor body 37 gradually changes from a closed state to an open state. When the transmission block 34 moves closer to the motor 32 on the surface of the lead screw 33, the scissor body 37 gradually changes from an open state to a closed state. A transmission rod 35 is fixed at the end of the transmission block 34 away from the motor 32. Drive rods 36 are rotatably set at both ends of the transmission rod 35. The ends of the two drive rods 36 away from the transmission rod 35 are rotatably set at the two ends of the scissor body 37 close to the transmission rod 35. The two drive rods 36 are angularly distributed inside the mounting box 31. The blade length of the scissor body 37 is 5-8cm, and its opening and closing angle is 90°-120°. The overall length of the lead screw 33 needs to be set by the opening and closing angle.

[0039] With the above settings, the motor 32 drives the lead screw 33 to rotate, causing the transmission block 34 to move along the surface of the lead screw 33. The movement of the lead screw 33 drives the transmission block 34 to move, causing the drive rod 36 to swing, thereby controlling the unfolding angle of the scissor body 37, making the scissor body 37 suitable for cutting chili pepper roots of different sizes.

[0040] Reference Figures 1-7The clamping mechanism 5 includes two clamping rings 510 located below the scissor body 37. Multiple limiting blocks 511 are fixed to the inner surface of each clamping ring 510, with a vent space between each pair of limiting blocks 511. Ventilation holes 512 are opened on the surface of each clamping ring 510, communicating with the vent space. The clamping mechanism 5 also includes a drive box 51 fixed to the connecting seat 4 on the side away from the mounting seat 2. A second motor 52 is fixed inside the drive box 51, and a transmission shaft 54 ​​is fixed to the output shaft of the second motor 52. A transmission box 53 is fixed to the top of the drive box 51, and the transmission shaft 54 ​​passes through the bottom of the transmission box 53. A shuttle wheel 55 located inside the transmission box 53 is fixed to the top of the transmission shaft 54. Drive blocks 56 are symmetrically arranged inside the transmission box 53, and guides are fixedly connected to the bottom of each drive block 56. The transmission box 53 has a guide block 56, and the guide block is T-shaped. The inner surface of the transmission box 53 has a guide groove that matches the guide block. The guide block can slide along the guide groove. The shuttle wheel 55 is located between two drive blocks 56. An elastic element 57 is fixed at the end of the drive block 56 away from the shuttle wheel 55. The end of the elastic element 57 away from the drive block 56 is fixed to the inner surface of the transmission box 53. A transmission frame 58 is fixed at the top of the drive block 56. The top of the transmission box 53 has symmetrical grooves. The transmission frame 58 can move in the grooves, and the surface of the transmission frame 58 is in contact with the inner surface of the grooves. A transmission plate 59 is fixed at the end of the transmission frame 58 away from the transmission box 53. The transmission plate 59 is fixed to the outer surface of the clamping ring 510. The end of the limiting block 511 away from the inner surface of the clamping ring 510 is arc-shaped. The clamping ring 510 is made of flexible material.

[0041] It should be noted that the elastic element 57 can be a spring.

[0042] With the above setup, the second motor 52 drives the transmission shaft 54 ​​to rotate, the transmission shaft 54 ​​rotates the shuttle wheel 55, causing the two drive blocks 56 to move away from each other, the two drive blocks 56 moving away from each other causes the two transmission frames 58 to move away from each other, the two transmission frames 58 moving away from each other causes the two transmission plates 59 to move away from each other, and the two transmission plates 59 moving away from each other causes the two clamping rings 510 to move away from each other. Thus, the clamping distance between the two clamping rings 510 can be adjusted according to the size of the chili peppers, so that the clamping rings 510 can clamp chili peppers of different sizes.

[0043] Reference Figure 3 A first micro switch 8 is fixedly installed on the surface of the transmission box 53, so that the first micro switch 8 is located in the space between the surface of the transmission frame 58 and the surface of the transmission box 53. The contacts on the first micro switch 8 face the surface of the transmission frame 58 and are located above the groove on the surface of the transmission box 53. The first micro switch 8 adopts the MQS57 series of Asialink Technology Co., Ltd.

[0044] Reference Figure 3A second micro switch 9 is fixedly installed on the inner surface of the clamping ring 510 located between the two limiting blocks 511, closest to the scissor body 37. The contacts on the second micro switch 9 are away from the inner surface of the clamping ring 510 and protrude from the blocking range of the two limiting blocks 511. A rubber layer for protecting the chili pepper is fixed on the surface of the contacts on the second micro switch 9. The second micro switch 9 adopts the MQS57 series of Asialink Technology Co., Ltd.

[0045] It should be noted that: users can install relay one and relay two at the end of the connector 4 near the transmission box 53, and install the drive module at the end of the connector 4 near the motor 2 52;

[0046] Connect one end of the first micro switch 8 to the positive terminal of the power supply and the other end to one end of the coil of the first relay. Connect the other end of the coil of the first relay to the negative terminal of the power supply. Connect one end of the normally open contact of the first relay to the appropriate voltage terminal of the power supply and the other end to the control signal input terminal of the first drive module. Connect the positive and negative terminals of the second motor 52 to the corresponding output terminals of the first drive module.

[0047] In the initial state, the normally closed contact of the first micro switch 8 is closed, the coil of the first relay is energized, its normally open contact is closed, the first drive module receives the signal, and the second motor 52 is in the running state; when the first micro switch 8 is triggered, the normally closed contact opens, the coil of the first relay is de-energized, the normally open contact opens, the first drive module stops working, and the second motor 52 stops running.

[0048] Connect one end of the second micro switch 9 to the positive terminal of the power supply and the other end to one end of the coil of the second relay. Connect the other end of the coil of the second relay to the negative terminal of the power supply. Connect one end of the normally open contact of the second relay to the appropriate voltage terminal of the power supply and the other end to the control signal input terminal of the second drive module. Connect the positive and negative terminals of the second motor 52 to the corresponding output terminals of the second drive module.

[0049] In the initial state, the normally closed contact of the second micro switch 9 is closed, the coil of the second relay is energized, its normally open contact is closed, the second drive module receives the signal, and the second motor 52 is in the running state; when the second micro switch 9 is triggered, the normally closed contact opens, the coil of the second relay is de-energized, the normally open contact opens, the second drive module stops working, and the second motor 52 stops running.

[0050] The implementation principle of an energy-saving robotic arm harvesting device according to an embodiment of this application is as follows: When using this device, motor 2 52 is started, motor 2 52 drives transmission shaft 54 ​​to rotate, transmission shaft 54 ​​drives shuttle wheel 55 to rotate, thereby causing two drive blocks 56 to move away from each other, the two drive blocks 56 moving away from each other causes two transmission frames 58 to move away from each other, the two transmission frames 58 moving away from each other causes two transmission plates 59 to move away from each other, the two transmission plates 59 moving away from each other causes two clamping rings 510 to move away from each other, thereby adjusting the clamping distance between the two clamping rings 510 to the maximum clamping distance. When the clamping distance between the two clamping rings 510 is adjusted to the maximum clamping distance, the transmission frame 58 presses the normally closed contact of the first micro switch 8, causing the normally closed contact of the first micro switch 8 to open, and causing motor 2 52 to stop running.

[0051] The two drive blocks 56 move away from each other and press the elastic element 57, causing the elastic element 57 to deform.

[0052] Start the intelligent robotic arm 1 and put all joints into operation. When the chili root is in the middle of the exposed part of the scissor body 37 and the chili is between the two clamping rings 510, the intelligent robotic arm 1 stops operating.

[0053] When motor 2 52 is restarted, it drives the transmission shaft 54 ​​to rotate. The rotation of the transmission shaft 54 ​​drives the shuttle wheel 55 to rotate. The shuttle wheel 55 gradually moves away from the drive block 56, causing the drive block 56 to lose the thrust of the shuttle wheel 55. The elastic element 57 loses the pressure of the drive block 56 and gradually returns to its original shape. The two drive blocks 56 move closer to each other with the help of the rebound force of the elastic element 57. The two drive blocks 56 move closer to each other, causing the two clamping rings 510 to move closer to each other. When the inner surface of the limiting block 511 contacts the chili pepper, the chili pepper squeezes the contacts on the second micro switch 9, causing the normally closed contacts of the second micro switch 9 to open, thereby stopping the operation of motor 2 52. This allows the clamping rings 510 to clamp the chili pepper. The clamping force of the clamping rings 510 can be improved by setting the limiting block 511 and the ventilation space.

[0054] Start motor 32, which drives lead screw 33 to rotate. This causes transmission block 34 to move closer to motor 32 along the surface of lead screw 33. Transmission block 34 then drives transmission rod 35 to move closer to motor 32. Transmission rod 35 drives drive rod 36 to gradually change from an inclined state to a horizontal state. During this change, drive rod 36 moves scissor body 37 closer to both ends of drive rod 36. When the two ends of scissor body 37 are on the same horizontal line, the ends of scissor body 37 away from drive rod 36 cut the chili root. After cutting the chili root, stop motor 32.

[0055] The intelligent robotic arm 1 is restarted, and the clamped chili peppers are moved to the top of the storage bucket 6 by rotating the third joint. During the rotation, air is introduced to the surface of the chili peppers through the ventilation hole 512 to dry the surface moisture. Then the operation of the intelligent robotic arm 1 is stopped, and the motor 2 52 is restarted to move the two clamping rings 510 away from each other, thereby freeing the chili peppers from the clamping rings 510 and placing them inside the storage bucket 6, completing the harvesting of the chili peppers. The above steps are repeated to start harvesting the next batch of chili peppers.

[0056] The base plate 7 of this utility model device is installed on the chili harvesting mechanism, which facilitates the movement of the device to the chili harvesting point. The chili harvesting mechanism is equipped with a chili identification system, a control system, etc. The chili is identified by a camera, and then the intelligent robotic arm, motor one and motor two in this device are controlled. The signals of the two micro switches can also be connected to the control system of the chili harvesting mechanism to facilitate motor control.

[0057] The above are merely optional embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. An energy-saving robotic arm harvesting device, characterized in that: The system includes an intelligent robotic arm (1), with a mounting base (2) fixed at one end of the intelligent robotic arm (1). A shearing mechanism (3) is provided on one side of the mounting base (2). A connecting seat (4) is fixed on the side of the mounting base (2) near the shearing mechanism (3). A clamping mechanism (5) is provided on the connecting seat (4). The shearing mechanism (3) includes a mounting box (31) fixed on the mounting base (2). A lead screw (33) is rotatably installed inside the mounting box (31). The shearing mechanism (3) also includes a motor (32) fixed inside the mounting box (31). The motor (32) is fixedly connected to the lead screw (33). A transmission block (34) is threaded onto the surface of the lead screw (33). A slider is fixedly connected to the bottom of the transmission block (34). A groove that cooperates with the slider is opened inside the mounting box (31). A transmission rod (35) is fixed at one end of the transmission block (34). Two drive rods (36) are rotatably installed at both ends of the transmission rod (35). The ends of the two drive rods (36) are rotatably installed on the scissor body (37). The clamping mechanism (5) includes a clamping ring (510) located below the scissor body (37) and a drive box (51) fixed on the connecting seat (4). A second motor (52) is fixed inside the drive box (51). A shuttle wheel (55) located inside the transmission box (53) is connected to the second motor (52). A drive block (56) is symmetrically arranged inside the transmission box (53). A guide block is fixedly connected to the bottom of the drive block (56). The inner surface of the transmission box (53) is provided with a guide block. The guide groove is adapted to the block, the shuttle wheel (55) is located between the two drive blocks (56), the drive block (56) is fixed to one end of the elastic member (57), the other end of the elastic member (57) is fixed to the inner surface of the transmission box (53), the top of the drive block (56) is fixed with a transmission frame (58), the top of the transmission box (53) is symmetrically provided with grooves, the transmission frame (58) passes through the groove and its end is fixed with a transmission plate (59), and the transmission plate (59) is fixed to the outer surface of the clamping ring (510).

2. The energy-saving robotic arm harvesting device according to claim 1, characterized in that: Multiple limiting blocks (511) are fixed on the inner surface of the clamping ring (510). The gap between each pair of limiting blocks (511) is a ventilation space. A ventilation hole (512) is opened on the surface of the clamping ring (510), and the ventilation hole (512) is connected to the ventilation space.

3. An energy-saving robotic arm harvesting device according to claim 1 or 2, characterized in that: The output shaft of motor 2 (52) is fixedly provided with a drive shaft (54) that passes through the bottom of the transmission box (53), and a shuttle wheel (55) located inside the transmission box (53) is fixedly provided on the drive shaft (54).

4. An energy-saving robotic arm harvesting device according to claim 1 or 2, characterized in that: The elastic element (57) is a spring.

5. An energy-saving robotic arm harvesting device according to claim 1 or 2, characterized in that: The limiting block (511) is arc-shaped.

6. An energy-saving robotic arm harvesting device according to claim 1 or 2, characterized in that: The other end of the intelligent robotic arm (1) is fixed with a base plate (7), and a storage bucket (6) is also fixed on the base plate (7).

7. An energy-saving robotic arm harvesting device according to claim 1 or 2, characterized in that: A first micro switch (8) is fixedly installed on the surface of the transmission box (53), so that the first micro switch (8) is located in the space between the surface of the transmission frame (58) and the surface of the transmission box (53). The contacts on the first micro switch (8) face the surface of the transmission frame (58) and are located above the groove on the surface of the transmission box (53). A second micro switch (9) is fixedly installed on the inner surface of the clamping ring (510) closest to the scissor body (37) between the two limiting blocks (511). The contacts on the second micro switch (9) are far away from the inner surface of the clamping ring (510) and protrude from the blocking range of the two limiting blocks (511).

8. The energy-saving robotic arm harvesting device according to claim 7, characterized in that: The contact surface of the second micro switch (9) is fixed with a rubber layer for protecting the chili pepper.

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