Intelligent flexible tomato harvesting robot vehicle

Abstract

This utility model relates to the field of agricultural equipment automation, and more particularly to an intelligent flexible tomato harvesting robot, comprising a robotic arm, a collecting device, a support mechanism, a walking mechanism, and a control system; the top of the robotic arm is rigidly connected to the collecting device; the support mechanism is fixedly connected to the robotic arm; the walking mechanism is fixed to the bottom of the support mechanism; and the control system is fixedly mounted on the support mechanism. The robotic arm includes a power drive component, a transmission connection component, a linear motion component, a rotary support component, an arm frame component, an end effector component, a camera, and a tube base; the camera is fixed above the end effector component. This utility model, through an intelligent flexible tomato harvesting robot, integrates a six-degree-of-freedom robotic arm, a tracked chassis, and a vision recognition system, and adopts an integrated cutting and clamping end effector to adapt to complex terrain and multi-scenario harvesting needs, achieving efficient and non-destructive operation, significantly reducing labor costs, and promoting the mechanization and intelligentization of agriculture.

Description

Technical Field

[0001] This utility model relates to the field of agricultural equipment automation, and in particular to an intelligent flexible tomato harvesting machine vehicle. Background Technology

[0002] As a typical product of interdisciplinary collaboration, the technological evolution of robotic arms has always been closely related to breakthroughs in mechanical engineering, bionics, electrical control, and artificial intelligence. Early robotic arms were primarily used for repetitive tasks in industrial production. With advancements in sensing technology and automation control, their applications have gradually expanded to agriculture, healthcare, and service industries. In agriculture, robotic arm design is increasingly moving towards flexibility and intelligence to adapt to complex working environments. In recent years, the combination of tracked mobile mechanisms and machine vision technology has become a research hotspot. Through high-precision image recognition and path planning algorithms, robotic arms can locate and harvest crops. Simultaneously, the development of multi-degree-of-freedom robotic arms has significantly improved operational flexibility; some models already possess six degrees of freedom, capable of simulating human hand movements to complete complex operations. Nevertheless, existing technologies still require further optimization in terms of adaptability, efficiency, and reliability to meet the practical needs of large-scale, precision agricultural operations.

[0003] Currently, robotic arms for tomato harvesting still face numerous technical bottlenecks in practical applications. First, they lack adaptability to complex terrain; traditional tracked mechanisms are prone to slipping or getting stuck in sandy soil or sloping environments, leading to operational interruptions or reduced efficiency. Second, fruit recognition accuracy is limited by changes in lighting and plant occlusion; existing vision systems are prone to positioning errors in scenarios with strong light reflections or dense foliage, affecting harvesting success rates. Furthermore, the end effector's structural design still primarily relies on rigid clamping or shearing, which can easily cause crushing damage to the fruit during harvesting, reducing its commercial value. Simultaneously, the multi-degree-of-freedom linkage control of the robotic arm is not yet fully mature; coordinated movements between joints often result in vibration or positioning errors due to uneven power distribution or sensor feedback delays. Finally, the overall system integration is low; insufficient matching between motors, controllers, and actuators leads to high energy consumption, increased maintenance costs, and difficulty in maintaining stable performance during long-term continuous operation. These problems severely restrict the practical application of robotic arms for tomato harvesting and urgently require breakthroughs through technological innovation. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned problems and provide an intelligent flexible tomato harvesting robot. To achieve the above objective, this utility model adopts the following technical solution:

[0005] The intelligent flexible tomato harvesting robot includes a robotic arm, a collecting device, a support mechanism, a walking mechanism, and a control system; the top of the robotic arm is rigidly connected to the collecting device; the support mechanism is fixedly connected to the robotic arm; the walking mechanism is fixed to the bottom of the support mechanism; and the control system is fixedly installed on the support mechanism.

[0006] The robotic arm includes a power drive assembly, a transmission connection assembly, a linear motion assembly, a rotary support assembly, an arm frame assembly, an end effector assembly, a camera, and a tube mount. The power drive assembly is rigidly connected to the linear motion assembly. One end of the transmission connection assembly is connected to the power drive assembly, and the other end is fixedly connected to the arm frame assembly via the rotary support assembly. The arm frame assembly is connected to the end effector assembly via the tube mount. The camera is fixed above the end effector assembly.

[0007] Furthermore, the power drive assembly includes a servo motor group and a stepper motor; the servo motor group includes a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a fifth servo motor, a sixth servo motor, and a seventh servo motor; the first servo motor is fixedly mounted at the tail of the linear motion assembly; the second servo motor is fixedly connected to the rotary support assembly via a transmission connection assembly; the third servo motor is fixedly connected to the arm frame assembly; the stepper motor is fixed to the end effector assembly; and the fourth, fifth, and sixth servo motors are fixed to the support mechanism.

[0008] Furthermore, the transmission connection assembly includes a coupling and a spur gear; the two ends of the coupling are respectively connected to a second servo motor and a rotary support assembly; the spur gear fixes a third servo motor to the arm frame assembly.

[0009] Furthermore, the linear motion component includes a slider rail and a slider assembly; the tail of the slider rail is rigidly connected to the first servo motor via a motor plate; the slider assembly is mounted on the slider rail and performs linear reciprocating motion along the guide direction of the slider rail.

[0010] Furthermore, the rotating support assembly includes a bearing housing and a bearing; the bearing housing is fixed to the top of the slider assembly, and the other end is fixedly connected to the arm frame assembly via the bearing; the arm frame assembly includes a forearm and an end arm; the forearm is fixed to the rear end of the end arm via a third servo motor; the front end of the end arm is rigidly connected to the tube seat.

[0011] Furthermore, the end effector assembly includes a ring-shaped scissor fixing plate, a ring-shaped scissor fixing arm, a ring-shaped scissor movable arm, a scissor electric swing rod, and a scissor electric pull rod; one end of the ring-shaped scissor fixing plate is inserted into the tube seat, and the other end is fixedly connected to the ring-shaped scissor fixing arm, with a through hole in the middle; the bottom end of the stepper motor is inserted into the through hole and fixedly connected to the scissor electric swing rod; the front end of the scissor electric pull rod is connected to the ring-shaped scissor movable arm, and the rear end is fixedly connected to the scissor electric swing rod; the top end of the ring-shaped scissor fixing arm is engaged with the top end of the ring-shaped scissor movable arm.

[0012] Furthermore, the collecting device includes a hose and a fruit basket; the top end of the hose is fixedly connected to the movable arm of the annular scissors, and the bottom end is inserted into the cavity inside the fruit basket.

[0013] Furthermore, the support mechanism includes a base, a column, a counterweight, a fixing ring, and a base plate; the bottom of the base is fixed to the fixing ring, and the top is fixedly connected to the column; a fourth servo motor and a fifth servo motor are fixed on the base; the top of the column is rigidly connected to the slider rail, and a sixth servo motor is fixed on one side; the counterweight and the fixing ring are fixed to the base plate.

[0014] Furthermore, the traveling mechanism is symmetrically arranged, including a drive wheel, a support wheel, a guide wheel, a driven wheel, a track, a traveling wheel, a traveling chassis, a drive shaft, a drive wheel, and a drive gear; the drive wheel and the driven wheel are symmetrically arranged at both ends of the track and slide in cooperation with the track; the support wheel is fixed to the top of the inner side of the track; the guide wheel and the traveling wheel are fixed to the bottom of the traveling chassis; the drive shaft has a drive wheel sleeved in the middle, and both ends are inserted into the drive wheel and assembled and connected; the drive gear fixes the seventh servo motor to the front end of the traveling chassis.

[0015] Furthermore, the control system includes a control cabinet, an electrical cabinet door, a battery, and an alarm light; the control cabinet, electrical cabinet door, battery, and alarm light are fixed on the base plate; the electrical cabinet door is hinged to the rear end of the control cabinet; the battery and alarm light are installed at the front end of the control cabinet and are tightly fitted to the control cabinet.

[0016] The advantages of this utility model are:

[0017] 1. This invention achieves high efficiency and precision in tomato harvesting by integrating high-precision sensors and a preset path planning algorithm. The design utilizes sensors to perceive the tomato's ripeness and spatial location in real time, combined with the multi-degree-of-freedom motion control of a robotic arm, enabling the robot to quickly locate and complete the harvesting action along the optimal path, significantly shortening the harvesting time per cycle. Simultaneously, the automated operation mode reduces reliance on manual labor, lowering labor costs, and is particularly suitable for large-scale planting scenarios, effectively solving the problems of low efficiency and high labor intensity associated with traditional manual harvesting.

[0018] 2. This invention, by incorporating an autonomous driving navigation system and dynamic path optimization technology, enables the robot to move autonomously and accurately locate itself in complex field environments. The navigation system combines GPS and an inertial navigation module with a pre-set ridge trajectory, allowing the robot to move stably along the planting path, accurately avoid obstacles, and locate the target tomato plant. This design not only improves the accuracy of the harvesting path but also reduces energy consumption by minimizing unnecessary movement. Furthermore, it adapts to different field layouts, significantly improving the equipment's efficiency and adaptability.

[0019] 3. This utility model achieves fruit protection and efficient separation during tomato harvesting through an innovative end-efficiency component 16 structural design. The end-efficiency component 16 adopts an integrated cutting and wrapping solution, wrapping the tomato stem with a sleeve-like structure and using ring-shaped shears to precisely cut at the base of the stem, avoiding the squeezing damage to the fruit caused by traditional clamping harvesting methods. This design, combined with a stepper motor and electric swing arm linkage mechanism, makes the cutting action smoother and more controllable, ensuring harvesting speed while minimizing fruit damage, significantly improving harvesting quality and fruit commercialization rate.

[0020] 4. This utility model achieves broad adaptability to diverse agricultural scenarios through modular design and an intelligent environmental perception system. The robot uses a rubber track chassis with a low ground pressure design, enabling it to stably traverse complex terrains such as sandy and wetland areas. The control system uses multi-sensor fusion to adjust harvesting parameters in real time to address differences in plant height and stem hardness among different tomato varieties. Furthermore, the equipment supports remote monitoring and parameter adjustment, facilitating flexible deployment under various climatic conditions and providing a reliable solution for both small-scale farms and large-scale planting bases. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the application and to make other features, objects, and advantages of the application more apparent. The illustrative embodiments and descriptions of this application are used to explain the application and do not constitute an undue limitation of the application.

[0022] In the attached diagram:

[0023] Figure 1 This is a schematic diagram of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0024] Figure 2 This is a top view of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0025] Figure 3 This is a right view of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0026] Figure 4This is a front view of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0027] Figure 5 This is a bottom view of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0028] Figure 6 This is a partial schematic diagram of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0029] Figure 7 This is a partial bottom view of the intelligent flexible tomato harvesting robot vehicle in Example 1.

[0030] Figure 8 This is a diagram of the tomato-picking robotic arm mechanism of the intelligent flexible tomato-picking robot vehicle in Example 1.

[0031] Figure 9 This refers to the working space of the intelligent flexible tomato harvesting robot when the robotic arm extends to its maximum length in Example 1.

[0032] Figure 10 This is a diagram showing the motion trajectory of the robotic arm of the intelligent flexible tomato harvesting robot in Example 1.

[0033] Figure 11 This is a trajectory diagram of the end effector component of the robotic arm of the intelligent flexible tomato harvesting robot in Example 1.

[0034] The diagram is labeled as follows:

[0035] 1. Robotic arm; 11. Power drive assembly; 111. Servo motor assembly; 112. Stepper motor; 1111. First servo motor; 1112. Second servo motor; 1113. Third servo motor; 1114. Fourth servo motor; 1115. Fifth servo motor; 1116. Sixth servo motor; 1117. Seventh servo motor; 12. Transmission connection assembly; 121. Coupling; 122. Spur gear; 13. Linear motion assembly; 131. Slider rail; 132. Slider assembly; 14. Rotary support assembly; 141. Bearing housing; 142. Bearing; 15. Arm frame assembly; 151. Forearm; 152. End arm; 16. End effector assembly; 161. Circular scissor arm. 1. Fixed plate; 162. Ring scissor fixed arm; 163. Ring scissor movable arm; 164. Scissor electric swing arm; 165. Scissor electric pull rod; 17. Camera; 18. Pipe seat; 2. Collection device; 21. Hose; 22. Fruit basket; 3. Support mechanism; 31. Base; 32. Column; 33. Counterweight; 34. Fixed ring; 35. Base plate; 4. Walking mechanism; 401. Drive wheel; 402. Support wheel; 403. Guide wheel; 404. Driven wheel; 405. Track; 406. Walking wheel; 407. Walking chassis; 408. Drive shaft; 409. Drive wheel; 410. Drive gear; 5. Control system; 51. Control cabinet; 52. Electrical cabinet door; 53. Battery; 54. Alarm light. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] The present invention will be described in detail below through specific embodiments to enable a better understanding of the present invention. However, the following embodiments do not limit the scope of protection of the present invention.

[0038] Example 1

[0039] like Figure 1-11 As shown, the intelligent flexible tomato harvesting robot includes a robotic arm 1, a collecting device 2, a supporting mechanism 3, a walking mechanism 4, and a control system 5; the top of the robotic arm 1 is rigidly connected to the collecting device 2; the supporting mechanism 3 is fixedly connected to the robotic arm 1; the walking mechanism 4 is fixed to the bottom of the supporting mechanism 3; and the control system 5 is fixedly installed on the supporting mechanism 3.

[0040] The robotic arm 1 includes a power drive assembly 11, a transmission connection assembly 12, a linear motion assembly 13, a rotary support assembly 14, an arm frame assembly 15, an end effector assembly 16, a camera 17, and a tube base 18; the power drive assembly 11 is rigidly connected to the linear motion assembly 13; one end of the transmission connection assembly 12 is connected to the power drive assembly 11, and the other end is fixedly connected to the arm frame assembly 15 through the rotary support assembly 14; the arm frame assembly 15 is connected to the end effector assembly 16 through the tube base 18; the camera 17 is fixed above the end effector assembly 16.

[0041] Furthermore, the power drive assembly 11 includes a servo motor group 111 and a stepper motor 112; the servo motor group 111 includes a first servo motor 1111, a second servo motor 1112, a third servo motor 1113, a fourth servo motor 1114, a fifth servo motor 1115, a sixth servo motor 1116, and a seventh servo motor 1117; the first servo motor 1111 is fixedly installed at the tail of the linear motion assembly 13; the second servo motor 1112 is fixedly connected to the rotary support assembly 14 through the transmission connection assembly 12; the third servo motor 1113 is fixedly connected to the arm frame assembly 15; the stepper motor 112 is fixed on the end effector assembly 16; and the fourth servo motor 1114, the fifth servo motor 1115, and the sixth servo motor 1116 are fixed on the support mechanism 3.

[0042] Motor drives can generate significant force and torque. They are controlled via pulse and PWM waves; each pulse signal causes the rotor to rotate by a specific angle. They offer advantages such as high efficiency, rapid response, flexible control, and high precision. By adjusting parameters such as current, voltage, and frequency, motors can achieve different motion modes and complex motion control algorithms.

[0043] In this embodiment, a servo motor is selected as the driving method for robotic arm 1. It features rapid dynamic response and tracking performance, enabling it to complete start-up, stopping, and speed switching in a very short time. It has a wide speed range and smooth speed adjustment, meeting the needs of various applications with different speed requirements. Compared to other types of motors, servo motors have a simpler structure, making maintenance and troubleshooting easier.

[0044] Furthermore, the transmission connection assembly 12 includes a coupling 121 and a spur gear 122; the two ends of the coupling 121 are respectively connected to the second servo motor 1112 and the rotary support assembly 14; the spur gear 122 fixes the third servo motor 1113 to the arm frame assembly 15.

[0045] Furthermore, the linear motion component 13 includes a slider rail 131 and a slider assembly 132; the tail of the slider rail 131 is rigidly connected to the first servo motor 1111 through a motor plate; the slider assembly 132 is mounted on the slider rail 131 and performs linear reciprocating motion along the guide direction of the slider rail 131.

[0046] Furthermore, the rotating support assembly 14 includes a bearing seat 141 and a bearing 142; the bearing seat 141 is fixed to the top of the slider assembly 132, and the other end is fixedly connected to the arm frame assembly 15 through the bearing 142; the arm frame assembly 15 includes a forearm 151 and an end arm 152; the forearm 151 is fixed to the rear end of the end arm 152 through a third servo motor 1113; the front end of the end arm 152 is rigidly connected to the tube seat 18.

[0047] Furthermore, the end-actuator assembly 16 includes a ring-shaped scissor fixing plate 161, a ring-shaped scissor fixing arm 162, a ring-shaped scissor movable arm 163, a scissor electric swing rod 164, and a scissor electric pull rod 165; one end of the ring-shaped scissor fixing plate 161 is inserted into the tube seat 18, and the other end is fixedly connected to the ring-shaped scissor fixing arm 162, with a through hole in the middle; the bottom end of the stepper motor 112 is inserted into the through hole and fixedly connected to the scissor electric swing rod 164; the front end of the scissor electric pull rod 165 is connected to the ring-shaped scissor movable arm 163, and the rear end is fixedly connected to the scissor electric swing rod 164; the top end of the ring-shaped scissor fixing arm 162 is engaged with the top end of the ring-shaped scissor movable arm 163.

[0048] Robotic arm 1 needs to possess high flexibility, excellent obstacle avoidance and warning capabilities, precise fruit positioning, and a small footprint. During harvesting, the electric push rod added to the forearm 151 increases the harvesting space of robotic arm 1. Working in conjunction with the end effector, it reduces the probability of robotic arm 1 colliding with plant stems and leaves. The end effector, composed of the wrist of the forearm 151 and the upper arm, ensures harvesting accuracy. For robotic arm 1, more degrees of freedom make the robot more flexible and adaptable to more working environments, but correspondingly, its control becomes more complex, and its response time is longer.

[0049] The tomato picking robot is designed with a total of 6 degrees of freedom: waist rotation, upper arm pitch, forearm 151 swing, forearm 151 extension and retraction, and wrist rotation and swing.

[0050] The harvesting operation will be carried out on a 0.4m high moving platform with a space of 0.6×0.6×1m, and the entire machine will work on one surface.

[0051]

[0052] Wherein, L1 = 300mm, L2 = 400mm, L3 = 500mm, and L4 = 200mm, which meet the design requirements of robotic arm 1. When the harvesting robotic arm 1 is working between the rows, it is fixed on the platform, and the working range of the hemispherical surface is sufficient for the harvesting operation of robotic arm 1.

[0053] Furthermore, the collecting device 2 includes a hose 21 and a fruit basket 22; the top end of the hose 21 is fixedly connected to the annular scissor arm 163, and the bottom end is inserted into the cavity inside the fruit basket 22.

[0054] The wrap-around cutting robotic arm 1 uses image recognition to locate the tomato, and then the picking head wraps around the tomato from bottom to top. After the tomato is completely wrapped, the robotic arm 1 cuts the tomato stem with a blade without excessive squeezing or contact with the fruit, thus avoiding squeezing damage to the tomato fruit.

[0055] When the end effector of the harvesting robot cuts the fruit stem, a motor drives the electric scissor arm 164, which in turn drives the electric scissor pull rod 165. The electric scissor pull rod 165 then drives the annular scissor movable arm 163. The annular scissor fixed arm 162 is relatively stationary, while the annular scissor movable arm 163 performs a circular motion, quickly pulling the fruit stem close to the fixed blade to achieve cutting. Based on the physiological characteristics of tomato stems, the tomato is wrapped into the sleeve. As the robotic arm 1 moves backward, the stem is pulled into the blade edge for cutting. When the stem is cut, it is subjected to a shearing force with a net force of 0 and a pulling force opposite to the direction of movement of the robotic arm 1. In addition, it is subjected to gravity with a net force of 0 and two supporting forces.

[0056] Compared to clamp-and-place recycling, the flexible hose 21 can collect multiple batches and large quantities simultaneously, and the flexible recycling method can also avoid damage during the collection process.

[0057] Furthermore, the support mechanism 3 includes a base 31, a column 32, a counterweight 33, a fixing ring 34, and a base plate 35; the bottom of the base 31 is fixed to the fixing ring 34, and the top is fixedly connected to the column 32; a fourth servo motor 1114 and a fifth servo motor 1115 are fixed on the base 31; the top of the column 32 is rigidly connected to the slider rail 131, and a sixth servo motor 1116 is fixed on one side; the counterweight 33 and the fixing ring 34 are fixed on the base plate 35.

[0058] Furthermore, the traveling mechanism 4 is symmetrically arranged, including a drive wheel 401, a support wheel 402, a guide wheel 403, a driven wheel 404, a track 405, a traveling wheel 406, a traveling chassis 407, a drive shaft 408, a drive wheel 409, and a drive gear 410; the drive wheel 401 and the driven wheel 404 are symmetrically arranged at both ends of the track 405 and slide in cooperation with the track 405; the support wheel 402 is fixed to the top end of the inner side of the track 405; the guide wheel 403 and the traveling wheel 406 are fixed to the bottom end of the traveling chassis 407; the drive shaft 408 has a drive wheel 409 sleeved in the middle, and both ends are inserted into the drive wheel 401 and assembled and connected; the drive gear 410 fixes the seventh servo motor 1117 to the front end of the traveling chassis 407.

[0059] Robots working in the field face various complex terrains, thus requiring a highly adaptable and stable chassis. The Tracked 405 robot boasts numerous design advantages, such as large-area support, reduced resistance, and smooth movement. It exhibits excellent traction and adhesion, low ground pressure, strong obstacle-crossing ability, good stability, a compact structure, and high terrain adaptability, demonstrating remarkable performance on slopes, sandy soil, and damp ground.

[0060] The track 405 can be made of either metal or rubber. Metal tracks 405 are in direct contact with the ground and are primarily used in large equipment. The raised spikes on their outer sides not only ensure rapid movement but also provide a certain degree of obstacle-crossing ability, allowing them to perform well even on complex terrain. Rubber tracks 405 do not damage the ground, have strong off-road capabilities, and a simple structure. Furthermore, the rubber track 405 has approximately 15% less rolling resistance than metal tracks 405. The thicker center and tapering sides of the track 405 make it more maneuverable. In sandy slopes like orchards, the moist soil can easily cause wear and tear on the tracks 405; therefore, this embodiment will use a rubber track 405 chassis.

[0061] Furthermore, the control system 5 includes a control cabinet 51, an electrical cabinet door 52, a battery 53, and an alarm light 54; the control cabinet 51, the electrical cabinet door 52, the battery 53, and the alarm light 54 are fixed on the base plate 35; the electrical cabinet door 52 is hinged to the rear end of the control cabinet 51; the battery 53 and the alarm light 54 are installed at the front end of the control cabinet 51 and are tightly fitted to the control cabinet 51.

[0062] When harvesting tomatoes, the tomato-harvesting robotic arm 1 is first activated by the controller, moving the robot into the greenhouse and positioning it in the aisle. The control system 5 drives the track 405 to move the harvester. When the camera 17 of the vision recognition system identifies a ripe tomato, the robot moves to the area to be harvested. The tomato image captured by the camera 17 and its location identified are transmitted to the industrial control computer in the control box. The control box further processes and calculates the image, outputting a suitable harvesting path and actions, including selecting the nearest tomato and preparing to avoid tomato branches and leaves. Once the tomato stem is located, the robotic arm 1 and the end effector 16 move further according to the signals given by the industrial control computer. The joints of the robotic arm 1 sequentially perform pitch, rotation, and extension / retraction according to the instructions given by the industrial control computer, approaching the tomato. The end effector 16, positioned below, moves upwards to insert the tomato into the flexible tube 21, allowing the ring shears to approach the stem and cut it. The tomato rolls from the flexible tube 21 into the fruit basket 22, which is lined with a sponge pad to prevent the tomato from being damaged. The harvesting robot resets, and the vision recognition system re-identifies and repeats the above actions to finally complete the tomato harvesting. The tomato harvesting robot uses the encoder of the stepper motor 112 on the end effector 16 to determine whether the stem has been cut. When the stem is cut, the shears have reached their limit position, and the industrial control computer controls the movement path of the robotic arm 1. In addition, when the harvesting robot encounters an insurmountable obstacle or an unsolvable problem, the alarm light 54 will sound an alarm and send a message to the farm staff.

[0063] The specific embodiments of this utility model have been described in detail above, but they are merely examples, and this utility model is not equivalent to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to this utility model are also within the scope of this utility model. Therefore, all equivalent changes and modifications made without departing from the spirit and scope of this utility model should be covered within the scope of this utility model.

Claims

1. An intelligent flexible tomato harvesting robot, characterized in that: It includes a robotic arm (1), a collecting device (2), a supporting mechanism (3), a walking mechanism (4), and a control system (5); the top of the robotic arm (1) is rigidly connected to the collecting device (2); the supporting mechanism (3) is fixedly connected to the robotic arm (1); the walking mechanism (4) is fixed to the bottom of the supporting mechanism (3); and the control system (5) is fixedly installed on the supporting mechanism (3). The robotic arm (1) includes a power drive assembly (11), a transmission connection assembly (12), a linear motion assembly (13), a rotary support assembly (14), an arm frame assembly (15), an end effector assembly (16), a camera (17), and a tube seat (18); the power drive assembly (11) is rigidly connected to the linear motion assembly (13); one end of the transmission connection assembly (12) is connected to the power drive assembly (11), and the other end is fixedly connected to the arm frame assembly (15) through the rotary support assembly (14); the arm frame assembly (15) is connected to the end effector assembly (16) through the tube seat (18); the camera (17) is fixed above the end effector assembly (16).

2. The intelligent flexible tomato harvesting robot vehicle according to claim 1, characterized in that: The power drive assembly (11) includes a servo motor group (111) and a stepper motor (112); the servo motor group (111) includes a first servo motor (1111), a second servo motor (1112), a third servo motor (1113), a fourth servo motor (1114), a fifth servo motor (1115), a sixth servo motor (1116), and a seventh servo motor (1117); the first servo motor (1111) is fixedly installed at the tail of the linear motion assembly (13); the second servo motor (1112) is fixedly connected to the rotary support assembly (14) through the transmission connection assembly (12); the third servo motor (1113) is fixedly connected to the arm frame assembly (15); the stepper motor (112) is fixed on the end effector assembly (16); the fourth servo motor (1114), the fifth servo motor (1115), and the sixth servo motor (1116) are fixed on the support mechanism (3).

3. The intelligent flexible tomato harvesting robot vehicle according to claim 2, characterized in that: The transmission connection assembly (12) includes a coupling (121) and a spur gear (122); the two ends of the coupling (121) are respectively connected to a second servo motor (1112) and a rotary support assembly (14); the spur gear (122) fixes a third servo motor (1113) on the arm frame assembly (15).

4. The intelligent flexible tomato harvesting robot vehicle according to claim 3, characterized in that: The linear motion component (13) includes a slider rail (131) and a slider assembly (132); the tail of the slider rail (131) is rigidly connected to the first servo motor (1111) through a motor plate; the slider assembly (132) is mounted on the slider rail (131) and performs linear reciprocating motion along the guide direction of the slider rail (131).

5. The intelligent flexible tomato harvesting robot vehicle according to claim 4, characterized in that: The rotating support assembly (14) includes a bearing seat (141) and a bearing (142); the bearing seat (141) is fixed to the top of the slider assembly (132), and the other end is fixedly connected to the arm frame assembly (15) through the bearing (142); the arm frame assembly (15) includes a forearm (151) and an end arm (152); the forearm (151) is fixed to the rear end of the end arm (152) through a third servo motor (1113); the front end of the end arm (152) is rigidly connected to the tube seat (18).

6. The intelligent flexible tomato harvesting robot vehicle according to claim 5, characterized in that: The end effector assembly (16) includes a ring-shaped scissor fixing plate (161), a ring-shaped scissor fixing arm (162), a ring-shaped scissor movable arm (163), a scissor electric swing rod (164), and a scissor electric pull rod (165). One end of the ring-shaped scissor fixing plate (161) is inserted into the tube seat (18), and the other end is fixedly connected to the ring-shaped scissor fixing arm (162). A through hole is provided in the middle. The bottom end of the stepper motor (112) is inserted into the through hole and fixedly connected to the scissor electric swing rod (164). The front end of the scissor electric pull rod (165) is connected to the ring-shaped scissor movable arm (163), and the rear end is fixedly connected to the scissor electric swing rod (164). The top end of the ring-shaped scissor fixing arm (162) is connected to the top end of the ring-shaped scissor movable arm (163).

7. The intelligent flexible tomato harvesting robot vehicle according to claim 6, characterized in that: The collecting device (2) includes a hose (21) and a fruit basket (22); the top end of the hose (21) is fixedly connected to the movable arm (163) of the annular scissors, and the bottom end is inserted into the cavity inside the fruit basket (22).

8. The intelligent flexible tomato harvesting robot vehicle according to claim 7, characterized in that: The support mechanism (3) includes a base (31), a column (32), a counterweight (33), a fixing ring (34), and a base plate (35); the bottom of the base (31) is fixed on the fixing ring (34), and the top is fixedly connected to the column (32); a fourth servo motor (1114) and a fifth servo motor (1115) are fixed on the base (31); the top of the column (32) is rigidly connected to the slider rail (131), and a sixth servo motor (1116) is fixed on one side; the counterweight (33) and the fixing ring (34) are fixed on the base plate (35).

9. The intelligent flexible tomato harvesting robot vehicle according to claim 8, characterized in that: The walking mechanism (4) is symmetrically arranged and includes a drive wheel (401), a support wheel (402), a guide wheel (403), a driven wheel (404), a track (405), a traveling wheel (406), a walking chassis (407), a drive shaft (408), a drive wheel (409), and a drive gear (410). The drive wheel (401) and the driven wheel (404) are symmetrically arranged at both ends of the track (405) and slide in cooperation with the track (405). The support wheel (402) is fixed at the top of the inner side of the track (405). The guide wheel (403) and the traveling wheel (406) are fixed at the bottom of the walking chassis (407). The drive shaft (408) has a drive wheel (409) sleeved in the middle and its two ends are inserted into the drive wheel (401) and assembled and connected. The drive gear (410) fixes the seventh servo motor (1117) to the front end of the walking chassis (407).

10. The intelligent flexible tomato harvesting robot according to claim 9, characterized in that: The control system (5) includes a control cabinet (51), an electrical cabinet door (52), a battery (53), and an alarm light (54); the control cabinet (51), the electrical cabinet door (52), the battery (53), and the alarm light (54) are fixed on the base plate (35); the electrical cabinet door (52) is hinged to the rear end of the control cabinet (51); the battery (53) and the alarm light (54) are installed at the front end of the control cabinet (51) and are tightly fitted to the control cabinet (51).

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