A robot arm with picking function

Abstract

The utility model relates to the field of picking, and disclose a kind of robot arm with picking function, including support frame, chassis, be equipped with fruit peduncle clamping mechanism on chassis, fruit peduncle shearing mechanism is correspondingly equipped on support frame, fruit peduncle clamping mechanism is rotated by motor drive screw rod, make sliding seat move up and down, again through connecting rod transmission let clamping block clamping fruit peduncle, intercept net can receive the fruit of cutting, fruit peduncle shearing mechanism utilizes hydraulic cylinder to promote piston rod, drives scissors piece action, spring and sliding plate cooperation make shearing more stable, the utility model is through the linkage of each component, the accurate clamping and shearing of fruit peduncle are realized, can effectively avoid fruit drop damage, compared with traditional manual picking, improve picking efficiency and accuracy, reduce manpower cost, guarantee the integrity of fruit, it is convenient to operate, shearing degree is uniform, adapt to different fruit picking needs, improve the intelligent level of agricultural production.

Description

Technical Field

[0001] This utility model relates to the field of harvesting, specifically a robotic arm with harvesting function. Background Technology

[0002] In modern agricultural production, with the continuous rise in labor costs, the widespread adoption of large-scale planting, and the increasing demands for fruit harvesting efficiency and quality, the traditional model of relying on manual fruit picking can no longer meet industry needs. Manual picking not only faces problems of labor shortage and high costs, but is also limited by human capabilities, leading to fluctuations in picking efficiency during long working hours and making it difficult to adapt to the harvesting rhythm of large-scale orchards. Therefore, there is an urgent need for automated picking equipment to replace traditional manual labor in order to improve the level of intelligence in agricultural production.

[0003] Traditional fruit harvesting mainly relies on manual labor, which is not only inefficient but also prone to fruit drop or damage due to improper handling, affecting the appearance and storage quality of the fruit. In addition, manual harvesting is difficult to adapt to different fruit heights and growth directions, especially in complex environments. The use of manual cutting tools also has problems such as uneven cutting force and cumbersome operation, further limiting harvesting efficiency and fruit qualification rate. To address this, we propose a robotic arm with harvesting function. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides a robotic arm with a picking function, thus solving the aforementioned problems.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a robotic arm with a picking function, comprising a support frame and a chassis. The support frame is an "L"-shaped bracket structure, and rubber support legs are fixedly installed on the bottom surface of the chassis in a circular shape. The upper plane of the cross plate of the support frame is connected to the rubber support legs at the bottom of the chassis.

[0006] The vertical plate on the support frame has symmetrical sliding holes;

[0007] The chassis is provided with a fruit stem clamping mechanism, which includes a transmission component, a clamping component and a barrier net. The upper surface of the chassis is provided with a transmission component, the transmission component is provided with a clamping component, and a barrier net is fixedly installed between the clamping components.

[0008] A stem cutting mechanism is fixedly installed on the vertical plate of the support frame above the clamping assembly.

[0009] Preferably, the transmission assembly includes a motor, a hinge seat, a sliding seat, and a lead screw. The lead screw is rotatably connected to the middle of the upper plane of the chassis. The motor is fixedly installed on the bottom surface of the chassis. The output shaft of the motor and the lead screw are coaxially and fixedly connected. The hinge seat is fixedly installed circumferentially on the outer arc surface of the sliding seat. The sliding seat is also provided with a threaded hole. The sliding seat and the lead screw are threadedly connected. The hinge seat is fixedly installed circumferentially on the upper surface of the chassis.

[0010] The hinge assembly consists of two hinge assemblies, one high and one low, with the lower hinge assembly mounted in front of the higher hinge assembly.

[0011] Preferably, the transmission assembly further includes connecting rod one, connecting rod two, connecting rod three, and a fixed seat. Connecting rod one is symmetrically hinged to both sides of the higher hinge seat of the hinge seat, connecting rod two is symmetrically hinged to both sides of the lower hinge seat of the hinge seat, connecting rod three is hinged inside the hinge seat on the sliding seat, and two hinge seats are fixedly installed on the bottom surface of the fixed seat. The other end of connecting rod one is hinged to one of the hinge seats of the fixed seat, and the other end of connecting rod two is hinged to the other hinge seat of the fixed seat.

[0012] The second connecting rod is a curved connecting rod, and the angle of the curve is an obtuse angle;

[0013] The other end of the third link is hinged to the bend of the second link.

[0014] Preferably, a connecting block is fixedly installed on the top surface of the fixing base.

[0015] Preferably, the clamping assembly includes clamping blocks and locking teeth. The clamping blocks are fixedly installed on the upper surface of the fixing base. The clamping blocks are in the shape of an inverted "L". Arc grooves are formed on the opposite surfaces of the four clamping blocks, and locking teeth are formed on the arc grooves.

[0016] Preferably, a connecting disc is fixedly installed on the top surface of the barrier net, and a connecting hole is provided on the connecting disc, which is movably connected to the connecting block on the fixed base.

[0017] Preferably, the stem-cutting mechanism includes a hydraulic cylinder, a support plate, and a connecting plate. Limiting posts are symmetrically fixedly installed on one side plane of the support plate, and hydraulic cylinders are fixedly installed between corresponding limiting posts on the same side plane. A piston rod is driven and connected to the hydraulic cylinder, and the bottom surface of the hydraulic cylinder is fixedly connected to the vertical plate on the support frame. The limiting posts on the support plate and the sliding holes on the support frame are coaxially corresponding.

[0018] Preferably, the stem-cutting mechanism further includes a sliding plate, a connecting plate, scissor pieces, and springs. A connecting plate is fixedly installed on the end face of the piston rod on the hydraulic cylinder. Connecting blocks are fixedly installed at the four corners of the side of the connecting plate facing away from the hydraulic cylinder. A connecting shaft is fixedly installed between every two adjacent connecting blocks. A limiting shaft is symmetrically fixedly installed on the bottom surface of the sliding plate, and the limiting shaft on the sliding plate and the limiting post on the support plate are slidably connected coaxially. Springs are symmetrically fixedly installed on the upper surface of the connecting plate, and the other end of the spring is fixedly connected to the bottom surface of the sliding plate. Scissor pieces are rotatably connected to the connecting shaft on the connecting plate, and the two scissor pieces are rotatably connected in a cross manner.

[0019] Compared with the prior art, this utility model provides a robotic arm with a picking function, which has the following beneficial effects:

[0020] 1. This robotic arm with picking function uses a motor to drive a lead screw to rotate, causing the sliding seat to move up and down. Through the transmission of connecting rods one, two, and three, the clamping block can accurately hold the fruit stem. Compared with traditional manual picking, it greatly improves the efficiency and accuracy of picking and reduces labor costs.

[0021] 2. This robotic arm with harvesting function has a net that can catch the fruit when it is cut, preventing it from falling and getting damaged. Traditional harvesting methods may cause damage due to the fruit falling, effectively ensuring the integrity of the fruit and improving its quality and pass rate.

[0022] 3. The robotic arm with picking function has a hydraulic cylinder in the fruit stem cutting mechanism that pushes the piston rod, which drives the connecting plate and the scissor parts to move. At the same time, the cooperation of the spring and the sliding plate makes the cutting process more stable. Compared with traditional manual cutting tools, this device realizes automated cutting, which is more convenient to operate and has uniform cutting force, and can better adapt to the picking needs of different fruits. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of this utility model;

[0024] Figure 2 This is a cross-sectional view of the present invention;

[0025] Figure 3 This is a schematic diagram of the shearing mechanism of this utility model;

[0026] Figure 4 for Figure 1 A magnified view of part A in the diagram.

[0027] In the diagram: 1. Support frame; 2. Motor; 3. Chassis; 4. Hinge seat; 5. Link 1; 6. Link 2; 7. Link 3; 8. Sliding seat; 9. Netting; 10. Fixed seat; 11. Clamping block; 12. Hydraulic cylinder; 13. Support plate; 14. Sliding plate; 15. Connecting plate; 16. Scissor piece; 17. Clamping teeth; 18. Spring; 19. Lead screw. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-4 A robotic arm with picking function includes a support frame 1 and a chassis 3. The support frame 1 is an "L"-shaped bracket structure. Rubber support legs are fixedly installed on the bottom surface of the chassis 3 in a circular shape. The upper plane of the cross plate of the support frame 1 is connected to the rubber support legs at the bottom of the chassis 3.

[0030] The vertical plate of the support frame 1 has symmetrical sliding holes;

[0031] A fruit stem clamping mechanism is provided on the chassis 3. The fruit stem clamping mechanism includes a transmission component, a clamping component and a net 9. The transmission component is provided on the upper surface of the chassis 3. The clamping component is provided on the transmission component. The net 9 is fixedly installed between the clamping components.

[0032] A stem cutting mechanism is fixedly installed on the vertical plate of the support frame 1 above the clamping component.

[0033] Furthermore, the transmission assembly includes a motor 2, a hinge seat 4, a sliding seat 8, and a lead screw 19. The lead screw 19 is rotatably connected to the middle of the upper plane of the chassis 3. The motor 2 is fixedly installed on the bottom surface of the chassis 3. The output shaft of the motor 2 and the lead screw 19 are coaxially fixedly connected. The hinge seat is fixedly installed in a circular pattern on the outer arc surface of the sliding seat 8. The sliding seat 8 is also provided with a threaded hole. The sliding seat 8 and the lead screw 19 are threadedly connected. The hinge seat 4 is fixedly installed in a circular pattern on the upper surface of the chassis 3.

[0034] The hinge seat 4 consists of two hinge seat assemblies, one high and one low. The lower hinge seat is installed in front of the higher hinge seat. The staggered layout of the high and low hinge seats in the hinge seat 4 provides different transmission fulcrums for the first link 5 and the second link 6, so that the fixed seat 10 can form a stable quadrilateral transmission structure when moving, avoiding shaking during the clamping process.

[0035] Furthermore, the transmission assembly also includes connecting rod 5, connecting rod 6, connecting rod 7, and fixed seat 10. Connecting rod 5 is symmetrically hinged on both sides of the higher hinge seat of the hinge seat 4, and connecting rod 6 is symmetrically hinged on both sides of the lower hinge seat of the hinge seat 4. Connecting rod 7 is hinged inside the hinge seat on the sliding seat 8. Two hinge seats are fixedly installed on the bottom surface of the fixed seat 10. The other end of connecting rod 5 is hinged to one of the hinge seats of the fixed seat 10, and the other end of connecting rod 6 is hinged to the other hinge seat of the fixed seat 10.

[0036] Link 2 6 is a curved link with an obtuse angle. The obtuse angle bending design of link 2 6 allows it to change the direction of force transmission during transmission. In conjunction with link 3 7, it converts the vertical movement of sliding seat 8 into the horizontal retraction movement of fixed seat 10.

[0037] The other end of link 3 7 is hinged to the bend of link 2 6.

[0038] Furthermore, a connecting block is fixedly installed on the top surface of the fixing base 10.

[0039] Furthermore, the clamping assembly includes clamping blocks 11 and locking teeth 17. The clamping blocks 11 are fixedly installed on the upper surface of the fixing base 10. The clamping blocks 11 are inverted "L" shape, and arc grooves are opened on the opposite surfaces of the four clamping blocks 11. Locking teeth 17 are opened on the arc grooves. The tooth-like protrusions of the locking teeth 17 can be embedded into the surface of the fruit stem, increasing the friction without damaging the skin of the fruit stem, and preventing the fruit from falling off during the cutting process.

[0040] Furthermore, a connecting disc is fixedly installed on the top surface of the barrier net 9. The connecting disc has a connecting hole, which is movably connected to the connecting block on the fixed seat 10. The barrier net 9 provides a movable connection point, so that the barrier net 9 can move synchronously with the fixed seat 10 and can also buffer the impact through its own flexible structure when the fruit falls, without affecting the transmission path of the fixed seat 10.

[0041] Furthermore, the stem-cutting mechanism includes a hydraulic cylinder 12, a support plate 13, and a connecting plate 15. Limiting posts are symmetrically fixedly installed on one side plane of the support plate 13, and hydraulic cylinders 12 are fixedly installed between corresponding limiting posts on the same side plane. A piston rod is driven to the hydraulic cylinder 12, and the bottom surface of the hydraulic cylinder 12 is fixedly connected to the vertical plate on the support frame 1. The limiting posts on the support plate 13 and the sliding holes on the support frame 1 are coaxially corresponding. The limiting posts on the support plate 13 and the sliding holes on the support frame 1 are coaxially engaged to form a linear guide structure, which can limit the movement trajectory of the connecting plate 15, ensure that the cutting direction of the scissors 16 is perpendicular to the stem, and improve the cutting accuracy.

[0042] Furthermore, the fruit stem cutting mechanism also includes a sliding plate 14, a connecting plate 15, scissor pieces 16, and a spring 18. The end face of the piston rod on the hydraulic cylinder 12 is fixedly mounted with the connecting plate 15. Connecting blocks are fixedly mounted at the four corners of the side of the connecting plate 15 facing away from the hydraulic cylinder 12. A connecting shaft is fixedly mounted between every two adjacent connecting blocks. A limiting shaft is symmetrically fixedly mounted on the bottom surface of the sliding plate 14, and the limiting shaft on the sliding plate 14 and the limiting post on the support plate 13 are slidably connected coaxially. A spring 18 is symmetrically fixedly mounted on the upper plane of the connecting plate 15. The other end of the spring 18 is fixedly connected to the bottom surface of the sliding plate 14. Scissor pieces 16 are rotatably connected to the connecting shaft on the connecting plate 15, and the two scissor pieces 16 are rotatably connected in a cross manner. The spring 18 is in a compressed state, which can push the sliding plate 14 and the connecting plate 15 to reset after cutting. At the same time, during the cutting process, the impact force is absorbed through elastic deformation to avoid the fruit from vibrating and falling off due to rigid collision.

[0043] Structural Description:

[0044] Support frame 1: Support frame 1 is an "L" shaped bracket structure. Its horizontal plate upper surface is connected to the bottom rubber support leg of the chassis 3, and the vertical plate has symmetrical sliding holes to provide support and installation foundation for the entire device.

[0045] Motor 2: Motor 2 is mounted on the bottom surface of chassis 3. Its output shaft is coaxially fixed with lead screw 19, driving lead screw 19 to rotate and providing power to the transmission components. It is one of the power sources of the device.

[0046] Chassis 3: Rubber support legs are fixed around the bottom circumference of chassis 3 and connected to support frame 1. Transmission components are set on its upper surface, which serve as the mounting carrier for the fruit stem clamping mechanism and ensure the stability of the device.

[0047] Hinged seat 4: The hinged seat 4, which is circumferentially mounted on the upper surface of the chassis 3, consists of two hinged seat assemblies, one high and one low, with the lower one in front, and is used to hinge connecting rod 1 5 and connecting rod 2 6 to realize the transmission connection.

[0048] Link 1 5: Both ends of link 1 5 are respectively hinged to the higher hinge seat of hinge seat 4 and the hinge seat of fixed seat 10. It drives the fixed seat 10 to move through transmission and is an important part of the transmission assembly.

[0049] Link 2 6: Link 2 6 is an obtuse-angle bent link, with both ends hinged to the lower hinge seat of hinge seat 4 and the hinge seat of fixed seat 10, and the middle part hinged to link 3 7, participating in the transmission.

[0050] Link 3 7: One end of link 3 7 is hinged to the hinge seat of sliding seat 8, and the other end is hinged to the bend of link 2 6, which converts the up and down movement of sliding seat 8 into the action of fixed seat 10.

[0051] Sliding seat 8: The outer arc surface of the sliding seat 8 has a hinge seat with a threaded hole that is threaded to the lead screw 19. It slides up and down under the drive of the lead screw 19, driving the connecting rod 3 7 to move.

[0052] Netting 9: Netting 9 has a connecting disc on its top surface, which is movably connected to the connecting block of fixing seat 10 through the connecting hole. It catches the fruit when it is cut and prevents it from falling and getting damaged.

[0053] Fixed base 10: The bottom surface of the fixed base 10 has two hinged seats and the top surface has a connecting block, which is used to install the clamping block 11 and the connecting net 9, and is the installation base of the clamping assembly;

[0054] Clamping block 11: An inverted "L"-shaped clamping block 11 is installed on the upper surface of the fixing base 10. It has arc grooves and locking teeth 17 on four opposite sides for clamping the fruit stem.

[0055] Hydraulic cylinder 12: The bottom surface of hydraulic cylinder 12 is fixed to the vertical plate of support frame 1, and the piston rod is connected to the connecting plate 15. By extending and retracting, it pushes the scissor piece 16 to move, thereby achieving fruit stem cutting.

[0056] Support plate 13: The support plate 13 has symmetrical limiting posts on one side, which are coaxial with the sliding hole of the support frame 1, and the hydraulic cylinder 12 is fixed in the middle to provide support and guidance for the shearing mechanism;

[0057] Sliding plate 14: The bottom limiting shaft of the sliding plate 14 is slidably connected to the limiting post of the support plate 13, and is connected to the connecting plate 15 through the spring 18, which helps the scissor piece 16 to stabilize its movement;

[0058] Connecting plate 15: Connecting plate 15 is connected to the piston rod of hydraulic cylinder 12. It has connecting blocks and connecting shafts at the four corners for mounting scissor parts 16 and transmitting power from hydraulic cylinder 12.

[0059] Scissor component 17: Two scissor components 16 are rotatably connected to the connecting shaft of the connecting plate 15, and cut the fruit stem under the push of the hydraulic cylinder 12 to realize the picking function;

[0060] Clamping teeth 17: Clamping teeth 17 are located on the arc groove of clamping block 11, increasing the friction during clamping, making the fruit stem clamped more firmly and preventing it from falling off;

[0061] Spring 18: The two ends of spring 18 are connected to connecting plate 15 and sliding plate 14 respectively. It plays a buffering role during shearing to ensure the stability of the shearing process and the uniform force.

[0062] Lead screw 19: Lead screw 19 is rotatably connected to the middle of the upper plane of the chassis 3 and threadedly connected to the sliding seat 8. It rotates under the drive of motor 2, causing the sliding seat 8 to move up and down, thus realizing transmission.

[0063] Working principle: First, motor 2 starts, and its output shaft drives lead screw 19 to rotate. Since sliding seat 8 is threadedly connected to lead screw 19, sliding seat 8 will move up and down along lead screw 19. When sliding seat 8 moves upward, it pushes one end of connecting rod 3 7 to move upward. The other end of connecting rod 3 7 is hinged to the bend of connecting rod 2 6. Since connecting rod 2 6 is an obtuse angle bent connecting rod, and its two ends are respectively hinged to the lower hinge seat of hinge seat 4 and the hinge seat of fixed seat 10, while the two ends of connecting rod 1 5 are respectively hinged to the higher hinge seat of hinge seat 4 and the other hinge seat of fixed seat 10. In this way, the movement of connecting rod 3 7 will be transmitted through connecting rod 2 6 and connecting rod 1 5, causing fixed seat 10 to drive clamping block 11 to move towards the center. The arc grooves and locking teeth 17 on the opposite surfaces of the four inverted "L" shaped clamping blocks 11 will accurately clamp the fruit stem. The locking teeth 17 increase the friction and ensure that the fruit stem is firmly clamped.

[0064] After the clamping block 11 clamps the fruit stem, the fruit stem cutting mechanism starts to work. The piston rod of the hydraulic cylinder 12 extends and pushes the connecting plate 15 forward. Two crossed scissor pieces 16 are rotatably connected on the connecting shaft between the connecting blocks on the connecting plate 15. Therefore, the movement of the connecting plate 15 will drive the scissor pieces 16 to move. At the same time, the limiting shaft on the bottom surface of the sliding plate 14 slides on the limiting post of the support plate 13 to ensure the stability of the movement. The spring 18 on the connecting plate 15 is connected to the sliding plate 14 and plays a buffering role in the cutting process, so that the cutting force is uniform. When the scissor pieces 16 move to the center and contact the fruit stem, they will cut off the fruit stem.

[0065] The fruit will fall the moment the stem is cut off. At this time, the net 9 plays a role in catching it. The net 9 is movably connected to the connecting block of the fixed seat 10 through the connecting disc and connecting hole on the top surface. When the fixed seat 10 moves, the net 9 will also move with it to ensure accurate catching when the fruit falls, avoid the fruit falling directly and being damaged, and ensure the integrity of the fruit.

[0066] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm with a picking function, characterized in that, include: Support frame (1) and chassis (3). The support frame (1) is an "L" shaped support structure. The bottom surface of the chassis (3) is fixedly equipped with rubber support legs. The upper plane of the horizontal plate of the support frame (1) is connected to the rubber support legs at the bottom of the chassis (3). The vertical plate of the support frame (1) is provided with symmetrical sliding holes; The chassis (3) is provided with a fruit stem clamping mechanism, which includes a transmission component, a clamping component and a net (9). The upper surface of the chassis (3) is provided with a transmission component, the transmission component is provided with a clamping component, and the net (9) is fixedly installed between the clamping components. A stem cutting mechanism is fixedly installed on the vertical plate of the support frame (1) above the clamping assembly.

2. The robotic arm with picking function according to claim 1, characterized in that, The transmission assembly includes a motor (2), a hinge seat (4), a sliding seat (8), and a lead screw (19). The lead screw (19) is rotatably connected to the middle of the upper plane of the chassis (3). The motor (2) is fixedly installed on the bottom surface of the chassis (3). The output shaft of the motor (2) and the lead screw (19) are coaxially fixedly connected. The hinge seat is fixedly installed in a circular pattern on the outer arc surface of the sliding seat (8). The sliding seat (8) is also provided with a threaded hole. The sliding seat (8) and the lead screw (19) are threadedly connected. The hinge seat (4) is fixedly installed in a circular pattern on the upper surface of the chassis (3). The hinge assembly (4) consists of two hinge assemblies, one high and one low, with the lower hinge assembly mounted in front of the higher hinge assembly.

3. A robotic arm with a picking function according to claim 2, characterized in that, The transmission assembly also includes connecting rod one (5), connecting rod two (6), connecting rod three (7), and fixed seat (10). Connecting rod one (5) is symmetrically hinged on both sides of the higher hinge seat of the hinge seat (4). Connecting rod two (6) is symmetrically hinged on both sides of the lower hinge seat of the hinge seat (4). Connecting rod three (7) is hinged inside the hinge seat on the sliding seat (8). Two hinge seats are fixedly installed on the bottom surface of the fixed seat (10). The other end of connecting rod one (5) is hinged to one of the hinge seats of the fixed seat (10), and the other end of connecting rod two (6) is hinged to the other hinge seat of the fixed seat (10). The second connecting rod (6) is a bent connecting rod, and the bending angle is an obtuse angle; The other end of the third link (7) is hinged to the bend of the second link (6).

4. A robotic arm with a picking function according to claim 3, characterized in that, A connecting block is fixedly installed on the top surface of the fixed base (10).

5. A robotic arm with a picking function according to claim 3, characterized in that, The clamping assembly includes clamping blocks (11) and locking teeth (17). The clamping blocks (11) are fixedly installed on the upper surface of the fixed base (10). The clamping blocks (11) are in the shape of an inverted "L". Arc grooves are provided on the opposite surfaces of the four clamping blocks (11), and locking teeth (17) are provided on the arc grooves.

6. A robotic arm with a picking function according to claim 4, characterized in that, A connecting disc is fixedly installed on the top surface of the barrier net (9). A connecting hole is provided on the connecting disc, and the connecting hole is movably connected to the connecting block on the fixed seat (10).

7. A robotic arm with a picking function according to claim 1, characterized in that, The fruit stem cutting mechanism includes a hydraulic cylinder (12), a support plate (13), and a connecting plate (15). Limiting posts are symmetrically fixedly installed on one side plane of the support plate (13), and hydraulic cylinders (12) are fixedly installed between corresponding limiting posts on the same side plane. A piston rod is driven and connected to the hydraulic cylinder (12), and the bottom surface of the hydraulic cylinder (12) is fixedly connected to the vertical plate on the support frame (1). The limiting posts on the support plate (13) and the sliding holes on the support frame (1) are coaxially corresponding.

8. A robotic arm with a picking function according to claim 7, characterized in that, The fruit stem cutting mechanism also includes a sliding plate (14), a connecting plate (15), scissor pieces (16), and a spring (18). The end face of the piston rod on the hydraulic cylinder (12) is fixedly mounted with a connecting plate (15). Connecting blocks are fixedly mounted at the four corners of the side of the connecting plate (15) away from the hydraulic cylinder (12). A connecting shaft is fixedly mounted between every two adjacent connecting blocks. A limiting shaft is symmetrically fixedly mounted on the bottom surface of the sliding plate (14), and the limiting shaft on the sliding plate (14) and the limiting post on the support plate (13) are slidably connected together. A spring (18) is symmetrically fixedly mounted on the upper plane of the connecting plate (15), and the other end of the spring (18) is fixedly connected to the bottom surface of the sliding plate (14). Scissor pieces (16) are rotatably connected to the connecting shaft on the connecting plate (15), and the two scissor pieces (16) are rotatably connected together.

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