Fruit and vegetable picking mechanism and picking robot

Abstract

The utility model discloses a fruit and vegetable picking mechanism and a picking robot, belongs to the field of agricultural mechanical equipment, and aims to solve the contradiction between the strength of a mechanical arm and the weight of the mechanical arm. The fruit and vegetable picking mechanism comprises a first supporting assembly, a second driving device, a second connecting assembly, a third driving device, a third transmission assembly, a third rotating swing arm and a fourth clamping assembly used for picking. The second driving device is arranged on the first supporting assembly, the first supporting assembly can provide support for the second driving device, an output shaft of the second driving device is connected with the second connecting assembly, and the second driving device can drive the second connecting assembly to rotate relative to the first supporting assembly. According to the fruit and vegetable picking mechanism, the driving component is arranged close to the base, the base is used for providing corresponding support, the output load of the driving device is effectively reduced, the weight of the working part of the mechanical arm is reduced, and the light weight of the mechanical arm becomes possible.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment, specifically to a fruit and vegetable harvesting mechanism and a harvesting robot. More specifically, this application provides a fruit and vegetable harvesting mechanism and a dual-arm harvesting robot using the same, which, as an auxiliary harvesting device, can effectively improve harvesting efficiency and reduce harvesting labor costs. Background Technology

[0002] Harvesting is an extremely important step in the production of agricultural products. In some cases, when fruits and vegetables such as eggplants, peppers, and apples encounter severe weather during their ripening stage, failure to harvest them in time will cause serious economic losses to farmers and indirectly affect the price of agricultural products.

[0003] Currently, these fruits and vegetables are mainly harvested manually. However, with social development, the number of young people willing to engage in agriculture has decreased, leading to a shortage of agricultural labor. At the same time, the harvesting of agricultural products is highly seasonal, with concentrated labor demand, resulting in difficulties in recruiting and high labor costs. The high cost of harvesting agricultural products objectively affects growers' income, reducing their willingness to grow crops and further restricting the development of the agricultural industry.

[0004] In recent years, with the continuous development of technology, automated equipment has been widely used in agriculture. From drones spraying pesticides to self-driving tractors, various intelligent mechanical devices are changing traditional agricultural production methods. In the field of agricultural product harvesting, the emergence of robotic arms has brought hope for solving the aforementioned problems.

[0005] Regarding blueberry harvesting, Chinese patent application CN202321911226.8 discloses a blueberry harvesting mechanism, which uses a stirring rod and a limiting ring to make ripe blueberries on the branches fall downwards by being struck by the stirring rod; and uses a vibrating screen to separate the blueberries from the leaves.

[0006] Regarding tobacco leaf harvesting, Chinese patent application CN202321859479.5 discloses a tobacco leaf harvesting mechanism; with this structure, when the frame moves on the ground, the first toothed chain and the second toothed chain clamp the tobacco leaf to the root radial side and move it, and the blades cut it.

[0007] Chinese patent application CN201911213336.5 discloses a conveyor-type chrysanthemum picking mechanism, which includes a housing, a carrying rope, a handle, a cutting mechanism, a flexible conveying mechanism, a screening and collecting mechanism, and a power supply mechanism. First, the carrying rope is slung diagonally over the shoulder, and the height is adjusted according to the user's height so that the housing is roughly close to the top of the chrysanthemum when horizontal, or slightly higher. Then, the switch is turned on, and the conveying motor and cutting motor start working. Next, holding the handle, the user aligns the inlet of the housing with the chrysanthemum stem below the chrysanthemum head. The conveying motor drives the synchronous belt to rotate, causing the bristles to rotate and push the chrysanthemum at the inlet into the inlet, close to the discharge trough. Then, it is cut by the cutter below and falls to the upper side of the discharge trough, moving forward along the housing by being pushed by the bristles.

[0008] Chinese patent application CN202323240392.2 discloses a split-type electric fruit harvesting mechanism, which includes a back plate. A screw motor is mounted on the front side of the back plate, with the output end of the screw motor facing forward and mounted on a shearing transmission mechanism. A pair of scissor blades are mounted on the front end of the shearing transmission mechanism in a cross configuration. An electric gripper is mounted on the front side of the back plate below the screw motor. The electric gripper drives two gripping arms at the front end to move towards or away from each other. The gripping arms are located below the scissor blades. When the screw motor operates, it drives the scissor blades to move towards each other and close to achieve shearing and harvesting. The gripping arms are close to the lower part of the scissor blades to effectively grip the fruit stem, effectively ensuring the shearing and harvesting action. The electric harvesting mechanism is compact in size and is especially suitable for use with smaller AGVs, robotic arms, etc., making it widely applicable.

[0009] Simplifying harvesting mechanisms, improving harvesting efficiency, and reducing harvesting costs have become urgent problems to be solved. Therefore, this application proposes a harvesting mechanism to address these issues. Utility Model Content

[0010] The purpose of this invention is to provide a fruit and vegetable harvesting mechanism and a harvesting robot that resolves the contradiction between the strength and weight of the robotic arm. Unlike existing technologies that place the drive components at multiple locations on the robotic arm, the fruit and vegetable harvesting mechanism of this application positions the drive components close to the base, utilizing the base for support. This not only effectively reduces the output load of the drive device but also lowers the weight of the working part of the robotic arm, making lightweight robotic arm possible. Furthermore, this invention offers better stability and reliability, meeting harvesting requirements and possessing high application value and promising prospects, making it worthy of large-scale promotion and application.

[0011] To achieve the above objectives, this application adopts the following technical solution:

[0012] A fruit and vegetable harvesting mechanism includes a first support component, a second drive device, a second connection component, a third drive device, a third transmission component, a third rotating swing arm, and a fourth clamping component for harvesting.

[0013] The second drive device is mounted on the first support assembly, and the first support assembly provides support for the second drive device. The output shaft of the second drive device is connected to the second connecting assembly, and the second drive device can drive the second connecting assembly to rotate relative to the first support assembly.

[0014] The third drive device is connected to the second connecting assembly, and the second connecting assembly provides support for the third drive device; the third transmission assembly includes a third drive wheel, a third rotating shaft, a third driven wheel, and a third transmission belt;

[0015] The third driving device is located on the second connecting component at one end close to the second driving device, the third rotating shaft is located at the other end of the second driving device, the third rotating shaft is rotatably connected to the second connecting component and can rotate relative to the second connecting component, the third rotating arm is fixedly connected to the third rotating shaft and the third rotating shaft can drive the third rotating arm to rotate synchronously.

[0016] The third driving wheel is mounted on the output shaft of the third driving device and the third driving device can drive the third driving wheel to rotate. The third driven wheel is mounted on the third rotating shaft and the third driven wheel is fixedly connected to the third rotating shaft. The third transmission belt is mounted on the third driving wheel and the third driven wheel, and the third driving device can drive the third rotating swing arm to rotate in sequence through the third driving wheel, the third transmission belt, the third driven wheel, and the third rotating shaft.

[0017] The fourth clamping assembly is connected to the third rotating arm, and the third rotating arm can provide support for the fourth clamping assembly.

[0018] The third drive wheel is fixedly connected to the output shaft of the third drive device.

[0019] The first support assembly includes a first upper support plate, a first lower support plate, and a first sidewall connecting plate. There is at least one first sidewall connecting plate. The first upper support plate and the first lower support plate are arranged parallel to each other and are connected as one unit by the first sidewall connecting plate. A first rotation space is formed between the first upper support plate and the first lower support plate for relative rotation of the second connecting assembly. The second driving device is disposed on the first upper support plate and the first upper support plate can provide support for the second driving device. The output shaft of the second driving device passes through the first upper support plate and the first lower support plate in sequence, and the second driving device can rotate relative to the first upper support plate and the first lower support plate respectively. The second connecting assembly is fixedly connected to the output shaft of the second driving device, and the second driving device can drive the second connecting assembly to rotate relative to the first support assembly.

[0020] There are two first sidewall connecting plates. The first upper support plate and the first lower support plate are respectively arranged in the horizontal direction. The first sidewall connecting plate is arranged in parallel in the vertical direction. The two ends of the first sidewall connecting plate are respectively connected to the first upper support plate and the first lower support plate as a whole. The first support assembly is in the shape of a rectangular tube. The second connecting assembly is located inside the first support assembly.

[0021] The second connecting assembly includes a second proximal connecting plate near the second driving device, a second distal connecting plate away from the second driving device, and a second connecting rod, wherein there are two second distal connecting plates and two second connecting rods.

[0022] The two second distal connecting plates are arranged parallel to each other, and a second rotation space is formed between the two second distal connecting plates for setting the third rotating swing arm;

[0023] Two second connecting rods are arranged parallel to each other. One end of the second connecting rod is connected to the second proximal connecting plate, and the other end of the second connecting rod is connected to the second distal connecting plate. The second proximal connecting plate, the second connecting rod and the second distal connecting plate are connected as one unit.

[0024] The second drive device is mounted on the second proximal connecting plate and the second proximal connecting plate can provide support for the second drive device. The third rotating shaft passes through the two second distal connecting plates respectively, and one end of the third rotating swing arm is located in the second rotation space.

[0025] The second and third drive devices are motors, respectively.

[0026] It also includes a control system, and the second drive device and the third drive device are respectively connected to the control system.

[0027] The fourth clamping assembly includes a fourth jaw and a fourth driving device for driving the fourth jaw to work. The fourth jaw is connected to one end of the third rotating arm away from the third rotating shaft, and the third rotating arm can provide support for the fourth jaw. The fourth driving device is connected to the fourth jaw and can drive the fourth jaw to work in order to realize the clamping and picking operation of the item to be picked.

[0028] The fourth jaw is a pneumatic jaw, and the fourth driving device is a fourth air pipe connected to an air source.

[0029] A harvesting robot includes the aforementioned fruit and vegetable harvesting mechanism and a fifth vertical adjustment unit. The fifth vertical adjustment unit is connected to the first support component of the fruit and vegetable harvesting mechanism and can drive the first support component to move in the vertical direction.

[0030] There are two fruit and vegetable harvesting mechanisms, and each of the two harvesting mechanisms is connected to the fifth vertical adjustment unit.

[0031] Two fruit and vegetable picking organizations share a first support component; or two fruit and vegetable picking organizations each use a separate first support component.

[0032] The fifth vertical adjustment unit includes a fifth support base, a fifth vertical support assembly, a fifth drive device, and a fifth transmission assembly;

[0033] The fifth vertical support component includes a fifth vertical guide rail, a fifth vertical pulley, and a fifth pulley fixing shaft. There are two fifth vertical guide rails, and the two fifth vertical guide rails are arranged parallel to each other. The fifth vertical guide rails are connected to the fifth support base as a whole to form a fifth intermediate body.

[0034] The fifth vertical pulley and the fifth pulley fixed shaft are (2N+2) in number, where N is a natural number and N≥1; the fifth pulley fixed shaft is mounted on the first support assembly and the first support assembly can drive the fifth pulley fixed shaft to move synchronously; the fifth vertical pulley is mounted on the fifth pulley fixed shaft and the fifth vertical pulley can rotate freely relative to the fifth pulley fixed shaft;

[0035] For a single fifth vertical guide rail, the fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rail, and the first support component is sequentially fixed through the fifth pulley shaft, and the fifth vertical pulley can move axially relative to the fifth vertical guide rail;

[0036] The fifth transmission assembly includes a fifth driving pulley, a fifth rotating shaft, a fifth driven pulley, and a fifth transmission belt;

[0037] The fifth driving device is connected to the fifth intermediate body, and the fifth intermediate body can provide support for the fifth driving device. The fifth driving wheel is mounted on the output shaft of the fifth driving device, and the fifth driving device can drive the fifth driving wheel to rotate. The two ends of the fifth rotating shaft are connected to the fifth vertical guide rail, and the fifth vertical guide rail can provide support for the fifth rotating shaft. The fifth driven wheel is mounted on the fifth rotating shaft, and the fifth driven wheel can rotate relative to the fifth vertical guide rail. The fifth transmission belt is mounted on the fifth driving wheel and the fifth driven wheel, and the fifth driving device can drive the fifth driven wheel to rotate relative to the fifth vertical guide rail through the fifth driving wheel and the fifth transmission belt in sequence. The first support assembly is connected to the fifth transmission belt, and the fifth driven wheel can drive the first support assembly to move synchronously.

[0038] The fifth drive device is mounted on the fifth support base.

[0039] The fifth driving device is a motor, and the fifth driving device is connected to the control system.

[0040] There are 8 fifth vertical pulleys and 8 fixed shafts for the fifth pulleys. The 8 fifth vertical pulleys are divided into two groups. The 4 fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rail and the fifth vertical pulleys can move along the axial direction of the fifth vertical guide rail.

[0041] The fifth pulley fixing shaft is connected to the first side wall connecting plate, and the first side wall connecting plate can provide support for the fifth pulley fixing shaft.

[0042] To address the aforementioned issues, this application provides a fruit and vegetable harvesting mechanism and a dual-arm harvesting robot using the same. The development and application of agricultural robots not only represents a revolution in agricultural production methods but also liberates traditional agricultural labor, brings new development opportunities to the agricultural industry, and promotes the modernization of agriculture.

[0043] The fruit and vegetable harvesting organization proposed in this application is mainly used for harvesting operations, which can greatly improve harvesting efficiency and reduce operating costs. At the same time, the fruit and vegetable harvesting organization and its harvesting robot proposed in this application are not affected by weather and time, and can work continuously, effectively ensuring the timeliness of agricultural product harvesting. Attached Figure Description

[0044] Figure 1 This is a three-dimensional structural diagram of the fruit and vegetable harvesting mechanism and harvesting robot in Example 1.

[0045] Figure 2 This is a top view of the fruit and vegetable harvesting mechanism and harvesting robot in Example 1.

[0046] The markings in the diagram are: 1. First support assembly, 2. Second drive device, 3. Second proximal connecting plate, 4. Second distal connecting plate, 5. Second connecting rod, 10. Third rotating swing arm, 11. Third drive device, 20. Fourth pawl, 21. Fourth drive device, 30. Fifth support base, 31. Fifth drive device, 32. Fifth transmission assembly, 33. Fifth vertical guide rail. Detailed Implementation

[0047] The present invention will now be described in detail with reference to the accompanying drawings.

[0048] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0049] Example 1

[0050] Agricultural products are widely cultivated globally, serving as important economic crops and food sources. On the one hand, factors such as population aging and urbanization have led to a shortage of rural labor, resulting in frequent instances of unharvested agricultural products. This not only wastes produce but also severely impacts farmers' income and dampens their enthusiasm for future planting. On the other hand, traditional manual harvesting methods are inefficient, labor-intensive, and highly susceptible to weather conditions and the skill level of the harvesters, resulting in high harvesting costs and hindering the industry's development to some extent.

[0051] In recent years, with the advancement of science and technology, automation technology has gradually penetrated into the agricultural field, bringing new hope for solving the problem of harvesting agricultural products.

[0052] Therefore, this application provides a fruit and vegetable harvesting mechanism, the main purpose of which is to improve harvesting efficiency and reduce harvesting costs. Based on the improved structure, under the premise of the same driving device, it can significantly reduce the weight of the harvesting structure itself and increase the corresponding load capacity, which is conducive to the realization of automated agricultural product harvesting.

[0053] The fruit and vegetable harvesting mechanism includes a first support assembly, a second drive device, a second connecting assembly, a third drive device, a third transmission assembly, a third rotating swing arm, and a fourth clamping assembly. The second drive device is mounted on the first support assembly, which provides support for it. The output shaft of the second drive device is connected to the second connecting assembly, and the second drive device drives the second connecting assembly to rotate relative to the first support assembly.

[0054] Furthermore, the first support assembly includes a first upper support plate, a first lower support plate, and a first sidewall connecting plate; in one example, there are two first sidewall connecting plates. The first upper support plate and the first lower support plate are respectively arranged horizontally, and the two first sidewall connecting plates are arranged parallel to each other vertically. The first upper support plate and the first lower support plate are arranged parallel to each other, and the first upper support plate and the first lower support plate are connected as a whole by the first sidewall connecting plates; a first rotation space for relative rotation of the second connecting assembly is formed between the first upper support plate and the first lower support plate; furthermore, the second driving device is disposed on the first upper support plate, and the first upper support plate can provide support for the second driving device. Furthermore, both ends of the first sidewall connecting plate are respectively connected to the first upper support plate and the first lower support plate as a whole, and the first support assembly is generally rectangular tubular; the second connecting assembly is located inside the first support assembly. The output shaft of the second drive device passes through the first upper support plate and the first lower support plate in sequence, and the second drive device can rotate relative to the first upper support plate and the first lower support plate respectively; the second connecting component is fixedly connected to the output shaft of the second drive device, and the second drive device can drive the second connecting component to rotate relative to the first support component.

[0055] The second connecting assembly includes a second proximal connecting plate near the second driving device, a second distal connecting plate away from the second driving device, and two second distal connecting plates and two second connecting rods. The two second distal connecting plates are arranged parallel to each other, forming a second rotation space between them for mounting the third rotating arm. The two second connecting rods are also arranged parallel to each other, with one end connected to the second proximal connecting plate and the other end connected to the second distal connecting plate. The second proximal connecting plate, the second connecting rod, and the second distal connecting plate are integrally connected. The second driving device is mounted on the second proximal connecting plate, and the second proximal connecting plate provides support for the second driving device. A third rotating shaft passes through both second distal connecting plates, and one end of the third rotating arm is located within the second rotation space.

[0056] The third drive unit is connected to the second connecting assembly, and the second connecting assembly provides support for the third drive unit. The third transmission assembly includes a third driving wheel, a third rotating shaft, a third driven wheel, and a third transmission belt. The third drive unit is located on the second connecting assembly at one end near the second drive unit, and the third rotating shaft is located at the other end of the second drive unit; the third rotating shaft is rotatably connected to the second connecting assembly and can rotate relative to the second connecting assembly. Simultaneously, the third rotating arm is fixedly connected to the third rotating shaft, and the third rotating shaft can drive the third rotating arm to rotate synchronously.

[0057] The third driving wheel is mounted on the output shaft of the third drive device, and the third drive device can drive the third driving wheel to rotate. The third driven wheel is mounted on the third rotating shaft, and the third driven wheel is fixedly connected to the third rotating shaft. The third transmission belt is mounted on the third driving wheel and the third driven wheel, and the third drive device can drive the third rotating arm to rotate sequentially through the third driving wheel, the third transmission belt, the third driven wheel, and the third rotating shaft. The fourth clamping assembly is connected to the third rotating arm, and the third rotating arm can provide support for the fourth clamping assembly, which is used for harvesting. Furthermore, the third driving wheel is fixedly connected to the output shaft of the third drive device.

[0058] Furthermore, the second and third drive devices are motors. Preferably, a control system is also included, and the second and third drive devices are respectively connected to the control system. Furthermore, the motors are DC motors, which are easy to control, have a fast response speed, low maintenance costs, and can accurately control speed and torque, making them suitable for applications requiring frequent start-stop operations.

[0059] Furthermore, the fourth clamping assembly includes a fourth jaw and a fourth drive device for driving the fourth jaw. The fourth jaw is connected to the end of the third rotating arm away from the third rotating shaft, and the third rotating arm provides support for the fourth jaw. The fourth drive device is connected to the fourth jaw and drives the fourth jaw to operate, thereby realizing the clamping and picking operation of the item to be picked. Furthermore, the fourth jaw is a pneumatic jaw, and the fourth drive device is a fourth air pipe connected to an air source. The fourth drive device is connected to an air pump, which provides power to the fourth jaw.

[0060] Furthermore, this application provides a dual-arm harvesting robot based on the aforementioned fruit and vegetable harvesting mechanism, including a fruit and vegetable harvesting mechanism and a fifth vertical adjustment unit. The fifth vertical adjustment unit is connected to the first support component of the fruit and vegetable harvesting mechanism, and the fifth vertical adjustment unit can drive the first support component to move in the vertical direction. In a specific example, there are two fruit and vegetable harvesting mechanisms, and each of the two fruit and vegetable harvesting mechanisms is connected to the fifth vertical adjustment unit. The two fruit and vegetable harvesting mechanisms share a first support component; or the two fruit and vegetable harvesting mechanisms each use a separate first support component.

[0061] Furthermore, the fifth vertical adjustment unit includes a fifth support base, a fifth vertical support assembly, a fifth drive device, and a fifth transmission assembly. The fifth vertical support assembly includes a fifth vertical guide rail, a fifth vertical pulley, and a fifth pulley fixing shaft. There are two fifth vertical guide rails, which are arranged parallel to each other. The fifth vertical guide rails are connected to the fifth support base as a single unit, forming a fifth intermediate body. There are eight fifth vertical pulleys and eight fifth pulley fixing shafts, each divided into two groups. Four fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rails, and the fifth vertical pulleys can move axially along the fifth vertical guide rail. The fifth pulley fixing shaft is mounted on the first support assembly, and the first support assembly can drive the fifth pulley fixing shaft to move synchronously. The fifth vertical pulleys are mounted on the fifth pulley fixing shafts and can rotate freely relative to the fifth pulley fixing shafts. Furthermore, the fifth pulley fixing shaft is mounted on the sidewall of the first sidewall connecting plate, and the first sidewall connecting plate can provide support for the fifth pulley fixing shaft.

[0062] For a single fifth vertical guide rail, the fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rail, and the first support component is sequentially fixed to the fifth pulley shaft, and the fifth vertical pulley can move axially relative to the fifth vertical guide rail.

[0063] The fifth transmission assembly includes a fifth driving pulley, a fifth rotating shaft, a fifth driven pulley, and a fifth transmission belt. The fifth drive unit is connected to a fifth intermediate body, which provides support for the fifth drive unit. The fifth driving pulley is mounted on the output shaft of the fifth drive unit, and the fifth drive unit can drive the fifth driving pulley to rotate. Both ends of the fifth rotating shaft are connected to a fifth vertical guide rail, which provides support for the fifth rotating shaft. The fifth driven pulley is mounted on the fifth rotating shaft and can rotate relative to the fifth vertical guide rail. The fifth transmission belt is mounted on the fifth driving pulley and the fifth driven pulley, and the fifth drive unit, through the fifth driving pulley and the fifth transmission belt, can drive the fifth driven pulley to rotate relative to the fifth vertical guide rail. The first support assembly is connected to the fifth transmission belt, and the fifth driven pulley can drive the first support assembly to move synchronously. The fifth transmission belt maintains precise synchronization between the belt and the pulleys, preventing slippage, improving transmission efficiency, and has advantages such as simple structure, low noise, and convenient maintenance.

[0064] Furthermore, the fifth drive unit is mounted on the fifth support base; the fifth drive unit is a motor and is connected to the control system.

[0065] In existing technologies, proximal-end drive is typically used to simplify the overall structure. The inventors discovered that while proximal-end drive simplifies the structure, it results in a smaller overall load capacity for the robotic arm, a higher required driving force, and a heavier overall weight, which limits its application in harvesting. In agricultural product harvesting, robotic arms are required to have a large overall load capacity, low driving force, ease of control and use, and low cost for widespread adoption.

[0066] Meeting the aforementioned requirements for harvesting agricultural products has become a pressing problem for the inventors. To address this, the fruit and vegetable harvesting mechanism of this application employs different design concepts, as detailed below:

[0067] (1) The fruit and vegetable picking mechanism of this application adopts a two-stage drive plus end clamping picking method;

[0068] (2) The second and third drive devices of this application adopt a near-support end design, and based on the existence of the third transmission component, the center of gravity of the fruit and vegetable picking mechanism is close to the support end of the fruit and vegetable picking mechanism, which greatly reduces the torque at the end of the fruit and vegetable picking mechanism and can effectively improve the overall load of the robotic arm.

[0069] (3) The second drive device of this application adopts a direct drive design, which is conducive to simplifying the structure; the third drive device cooperates with the third transmission component, which is conducive to reducing the torque at the end of the fruit and vegetable picking mechanism;

[0070] (4) The third transmission component adopts a design that uses a synchronous belt to cooperate with other components. Under the premise of ensuring transmission synchronization, there will be no slippage under high load conditions, which is conducive to ensuring the movement accuracy of the robotic arm.

[0071] (5) The design of this application, which uses a third drive device and a third transmission component, has strong overall durability, low maintenance and replacement frequency, and more stable and quiet operation.

[0072] Furthermore, this application claims protection for a harvesting robot based on the aforementioned fruit and vegetable harvesting mechanism. In a specific example, the fifth vertical support component includes a fifth vertical guide rail, a fifth vertical pulley, and a fifth pulley fixing shaft. There are two fifth vertical guide rails arranged parallel to each other, and the fifth vertical guide rails are integrated with the fifth support base to form a fifth intermediate body. In this structure, the fifth vertical guide rail, the fifth vertical pulley, and the fifth pulley fixing shaft cooperate with each other to ensure that the fruit and vegetable harvesting mechanism moves smoothly along the axis of the fifth vertical guide rail. Simultaneously, the fifth drive device can output power to move the fruit and vegetable harvesting mechanism along a predetermined trajectory, thereby adjusting the position of the fruit and vegetable harvesting mechanism. Furthermore, this harvesting robot is a dual-arm harvesting robot, which allows the robot to perform more complex operations, such as simultaneously operating two different work points. Using this structure, the harvesting robot of this application can harvest multiple agricultural products simultaneously or harvest agricultural products from different locations, effectively improving harvesting efficiency. Meanwhile, the two arms of the dual-arm harvesting robot can cooperate with each other. For example, when harvesting agricultural products, one harvesting arm can stabilize the plant while the other harvests the fruit and vegetables precisely. This collaborative operation significantly improves the success rate and efficiency of the operation. It is evident that a dual-arm harvesting robot can complete twice the workload in the same amount of time, or independently perform different tasks in complex harvesting environments to meet the requirements of harvesting in challenging conditions.

[0073] The key to agricultural automation lies in improving efficiency and reducing costs, which is the fundamental reason why the application of many agricultural machines is limited. This application, based on existing mechanical principles and through rational design, can significantly increase the load capacity of fruit and vegetable harvesting mechanisms or effectively reduce their weight while maintaining low cost. This effectively reduces the cost of harvesting agricultural products, providing a foundation for their effective application in agricultural production and promoting automated harvesting. The fruit and vegetable harvesting mechanism and its harvesting robot of this application are ingeniously conceived, structurally sound, and low-cost, effectively improving harvesting efficiency, reducing harvesting costs, and are easy to maintain. They can further promote the development of modern agriculture towards high efficiency and low cost.

[0074] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0075] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical documents that are inconsistent with or conflict with this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0076] Finally, it should be understood that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A fruit and vegetable picking mechanism, characterized in that, It includes a first support assembly, a second drive device, a second connection assembly, a third drive device, a third transmission assembly, a third rotating swing arm, and a fourth clamping assembly for picking. The second drive device is mounted on the first support assembly, and the first support assembly provides support for the second drive device. The output shaft of the second drive device is connected to the second connecting assembly, and the second drive device can drive the second connecting assembly to rotate relative to the first support assembly. The third drive device is connected to the second connecting assembly, and the second connecting assembly provides support for the third drive device; the third transmission assembly includes a third drive wheel, a third rotating shaft, a third driven wheel, and a third transmission belt; The third driving device is located on the second connecting component at one end close to the second driving device, the third rotating shaft is located at the other end of the second driving device, the third rotating shaft is rotatably connected to the second connecting component and can rotate relative to the second connecting component, the third rotating arm is fixedly connected to the third rotating shaft and the third rotating shaft can drive the third rotating arm to rotate synchronously. The third driving wheel is mounted on the output shaft of the third driving device and the third driving device can drive the third driving wheel to rotate. The third driven wheel is mounted on the third rotating shaft and the third driven wheel is fixedly connected to the third rotating shaft. The third transmission belt is mounted on the third driving wheel and the third driven wheel, and the third driving device can drive the third rotating swing arm to rotate in sequence through the third driving wheel, the third transmission belt, the third driven wheel, and the third rotating shaft. The fourth clamping assembly is connected to the third rotating arm, and the third rotating arm can provide support for the fourth clamping assembly.

2. The fruit and vegetable harvesting mechanism according to claim 1, characterized in that, The first support assembly includes a first upper support plate, a first lower support plate, and a first sidewall connecting plate. There is at least one first sidewall connecting plate. The first upper support plate and the first lower support plate are arranged parallel to each other and are connected as one unit by the first sidewall connecting plate. A first rotation space is formed between the first upper support plate and the first lower support plate for relative rotation of the second connecting assembly. The second driving device is disposed on the first upper support plate and the first upper support plate can provide support for the second driving device. The output shaft of the second driving device passes through the first upper support plate and the first lower support plate in sequence, and the second driving device can rotate relative to the first upper support plate and the first lower support plate respectively. The second connecting assembly is fixedly connected to the output shaft of the second driving device, and the second driving device can drive the second connecting assembly to rotate relative to the first support assembly.

3. The fruit and vegetable harvesting mechanism according to claim 1, characterized in that, The second connecting assembly includes a second proximal connecting plate near the second driving device, a second distal connecting plate away from the second driving device, and a second connecting rod, wherein there are two second distal connecting plates and two second connecting rods. The two second distal connecting plates are arranged parallel to each other, and a second rotation space is formed between the two second distal connecting plates for setting the third rotating swing arm; Two second connecting rods are arranged parallel to each other. One end of the second connecting rod is connected to the second proximal connecting plate, and the other end of the second connecting rod is connected to the second distal connecting plate. The second proximal connecting plate, the second connecting rod and the second distal connecting plate are connected as one unit. The second drive device is mounted on the second proximal connecting plate and the second proximal connecting plate can provide support for the second drive device. The third rotating shaft passes through the two second distal connecting plates respectively, and one end of the third rotating swing arm is located in the second rotation space.

4. The fruit and vegetable harvesting mechanism according to any one of claims 1 to 3, characterized in that, It also includes a control system, and the second drive device and the third drive device are respectively connected to the control system.

5. The fruit and vegetable harvesting mechanism according to claim 1, characterized in that, The fourth clamping assembly includes a fourth jaw and a fourth driving device for driving the fourth jaw to work. The fourth jaw is connected to one end of the third rotating arm away from the third rotating shaft, and the third rotating arm can provide support for the fourth jaw. The fourth driving device is connected to the fourth jaw and can drive the fourth jaw to work in order to realize the clamping and picking operation of the item to be picked.

6. The fruit and vegetable harvesting mechanism according to claim 5, characterized in that, The fourth gripper is a pneumatic gripper, and the fourth driving device is a fourth air pipe connected to an air source.

7. A harvesting robot, characterized in that, Includes the fruit and vegetable harvesting mechanism according to any one of claims 1 to 6, and a fifth vertical adjustment unit, wherein the fifth vertical adjustment unit is connected to the first support component of the fruit and vegetable harvesting mechanism and the fifth vertical adjustment unit can drive the first support component to move in the vertical direction.

8. The harvesting robot according to claim 7, characterized in that, There are two fruit and vegetable harvesting mechanisms, and each of the two fruit and vegetable harvesting mechanisms is connected to the fifth vertical adjustment unit. Two fruit and vegetable picking organizations share a first support component; or each of the two fruit and vegetable picking organizations uses a separate first support component.

9. The harvesting robot according to claim 7, characterized in that, The fifth vertical adjustment unit includes a fifth support base, a fifth vertical support assembly, a fifth drive device, and a fifth transmission assembly; The fifth vertical support component includes a fifth vertical guide rail, a fifth vertical pulley, and a fifth pulley fixing shaft. There are two fifth vertical guide rails, and the two fifth vertical guide rails are arranged parallel to each other. The fifth vertical guide rails are connected to the fifth support base as a whole to form a fifth intermediate body. The fifth vertical pulley and the fifth pulley fixed shaft are 2N+2 in number, where N is a natural number and N≥1; the fifth pulley fixed shaft is mounted on the first support assembly and the first support assembly can drive the fifth pulley fixed shaft to move synchronously; the fifth vertical pulley is mounted on the fifth pulley fixed shaft and the fifth vertical pulley can rotate freely relative to the fifth pulley fixed shaft; For a single fifth vertical guide rail, the fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rail, and the first support component is sequentially fixed through the fifth pulley shaft, and the fifth vertical pulley can move axially relative to the fifth vertical guide rail; The fifth transmission assembly includes a fifth driving pulley, a fifth rotating shaft, a fifth driven pulley, and a fifth transmission belt; The fifth driving device is connected to the fifth intermediate body, and the fifth intermediate body can provide support for the fifth driving device. The fifth driving wheel is mounted on the output shaft of the fifth driving device, and the fifth driving device can drive the fifth driving wheel to rotate. The two ends of the fifth rotating shaft are connected to the fifth vertical guide rail, and the fifth vertical guide rail can provide support for the fifth rotating shaft. The fifth driven wheel is mounted on the fifth rotating shaft, and the fifth driven wheel can rotate relative to the fifth vertical guide rail. The fifth transmission belt is mounted on the fifth driving wheel and the fifth driven wheel, and the fifth driving device can drive the fifth driven wheel to rotate relative to the fifth vertical guide rail through the fifth driving wheel and the fifth transmission belt in sequence. The first support assembly is connected to the fifth transmission belt, and the fifth driven wheel can drive the first support assembly to move synchronously.

10. The harvesting robot according to claim 9, characterized in that, There are 8 fifth vertical pulleys and 8 fixed shafts for the fifth pulleys. The 8 fifth vertical pulleys are divided into two groups. The 4 fifth vertical pulleys are arranged in pairs on both sides of the fifth vertical guide rail and the fifth vertical pulleys can move along the axial direction of the fifth vertical guide rail.

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