阅读说明：本技术 一种无土栽培绿色番茄一体化采收装置 (Integrated harvesting device for soilless culture green tomatoes ) 是由 项晓嫚 于 2021-10-13 设计创作，主要内容包括：本发明公开了一种无土栽培绿色番茄一体化采收装置,其可以方便的实现番茄的自动抓取与采摘,利用移动驱动座在水平移动轨道架上移动,实现不同位置的番茄植株的摘取,简单方便,本发明采用半圆弧形轨道,半圆弧形的轨道结构可以适合每个番茄植株的形状,摘取移动器在半圆弧形轨道上移动,可以有效的对每个番茄植株的全面覆盖,便于摘取机械手进行摘取,提高控制方便性,并适应番茄植株的形状要求。(The invention discloses an integrated harvesting device for soilless culture green tomatoes, which can conveniently realize automatic grabbing and picking of tomatoes, and can realize picking of tomato plants at different positions by moving a moving driving seat on a horizontal moving track frame.)

1. An integrated harvesting device for soilless culture green tomatoes comprises a horizontal moving track frame, a moving driving seat, supporting blocks, a semi-circular-arc-shaped track, a picking mover, a picking manipulator and a vision monitoring mechanism, wherein the horizontal moving track frame is arranged along the extending direction of each tomato and is close to the cultivation position of the tomato, the moving driving seat is arranged on the horizontal moving track frame in a sliding and moving manner, the supporting blocks are fixedly arranged at the top of the moving driving seat, the integrated harvesting device is characterized in that the semi-circular-arc-shaped track is fixedly arranged on the supporting blocks, the picking mover is movably guided at the outer circular arc part of the semi-circular-arc-shaped track, the picking manipulator is arranged on the picking mover, and the vision monitoring mechanism is arranged on the supporting blocks or the semi-circular-arc-shaped track in the direction towards the tomato plants, the visual monitoring mechanism can perform visual detection and positioning on the tomato plants and tomatoes on the tomato plants; the tomato picking machine is characterized by further comprising a master controller, wherein the movable driving seat, the picking mover, the picking manipulator and the vision monitoring mechanism are in control connection with the master controller, so that the master controller can control the movement of the movable driving seat according to the position of a tomato plant monitored and positioned by the vision monitoring mechanism, and control the movable picking mover and the picking manipulator according to the position of a tomato on the tomato plant.

2. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 1, wherein: a moving motor is arranged in the moving driving seat, the output end of the moving motor is connected with a traveling gear, a rack is arranged on the horizontal moving track frame, and the traveling gear is meshed with the rack; an arc-shaped rack is arranged on the semi-arc-shaped track, a moving gear is arranged on the picking mover, the moving gear is meshed with the arc-shaped rack, and the moving gear is driven to rotate by a moving motor.

3. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 2, wherein: the top of arc rack is provided with the slide rail, it is provided with the removal gyro wheel on the shifter to pluck, remove the gyro wheel with slide rail direction cooperation, pluck the shifter still including removing the body, it all sets up with the removal gyro wheel to remove the gear remove on the body, the both sides of removing the body are provided with the adjusting collar, the bottom of removing the body is provided with the elasticity card, the arc rack passes the cavity of establishing is enclosed between elasticity card and the removal body, the top of elasticity card passes the adjusting collar sets up, just the elasticity card with the setting that can lock between the adjusting collar, stretches into through adjusting the elasticity card the length of adjusting collar is adjusted remove the body with clearance between the arc rack.

4. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 3, wherein: the picking manipulator comprises a mounting arm, a hinged arm, a rotary driver, a telescopic rod and a picking hand group, wherein the mounting arm is mounted on the moving body, the end of the mounting arm is hinged to the hinged arm, the end of the hinged arm is hinged to the telescopic rod, the end of the telescopic rod is connected to the picking hand group, the mounting arm is hinged to the hinged arm, the hinged arm is hinged to the telescopic rod, the picking hand group is connected to the end of the telescopic rod, the mounting arm is hinged to the hinged arm, the hinged arm is provided with the rotary driver, so that the rotary driver can adjust the angle between the mounting arm and the hinged arm, and the hinged arm is provided with the angle between the telescopic rod.

5. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 4, wherein: the picking hand group comprises a hand grip cylinder, a control rod, a fixed disc, hinged rods, hand grip rods, a branch pulling head and a branch pulling telescopic rod, wherein the cylinder body of the hand grip cylinder is fixedly connected onto the telescopic rod, the output end of the hand grip cylinder is connected with the control rod, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder, the fixed disc is coaxially arranged with the control rod, a plurality of hinged rods are hinged around the fixed disc, the end part of each hinged rod is hinged to the middle part of the corresponding hand grip rod, a connecting disc is fixedly arranged at the end part of the control rod, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven by the hand grip cylinder to move in a telescopic mode so as to control the swinging of the hand grip rods, each hand grip rod is circumferentially arrayed, and the branch pulling telescopic rod is fixedly arranged on at least one of the hand grip rods, the end part of the branch pulling telescopic rod is provided with the branch pulling head, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

6. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 5, wherein: the telescopic rod and the branch pulling telescopic rod are both telescopic air rods, and the end part of the gripper rod is further connected with an arc-shaped gripper palm made of rubber materials.

7. The integrated harvesting device for soilless culture green tomatoes as claimed in claim 1, wherein: the vision monitoring mechanism comprises a swing air cylinder, an installation clamping seat, a swing driving shaft, a swing plate, a telescopic electric cylinder and a vision camera, wherein the swing air cylinder is fixedly installed on the installation clamping seat, the output end of the swing air cylinder is connected with the swing driving shaft, the output end of the swing driving shaft is connected with the swing plate, the swing plate is fixedly provided with the telescopic electric cylinder which is vertically arranged with the swing plate, the output end of the telescopic electric cylinder is connected with the vision camera, and the installation clamping seat is fixedly installed on the supporting block or the semi-circular arc-shaped track.

8. A picking manipulator is used for an integrated soilless culture green tomato harvesting device and comprises a mounting arm, a hinged arm, a rotary driver, a telescopic rod and a picking manipulator group, wherein the mounting arm is mounted on a movable body, the end of the mounting arm is hinged to the hinged arm, the end of the hinged arm is hinged to the telescopic rod, the end of the telescopic rod is connected to the picking manipulator group, the rotary driver is arranged at the hinged position between the mounting arm and the hinged position between the hinged arm and the telescopic rod, and therefore the angle between the mounting arm and the hinged arm and the angle between the hinged arm and the telescopic rod can be adjusted through the rotary driver; it is characterized in that the preparation method is characterized in that,

the picking hand group comprises a hand grip cylinder, a control rod, a fixed disc, hinged rods, hand grip rods, a branch pulling head and a branch pulling telescopic rod, wherein the cylinder body of the hand grip cylinder is fixedly connected onto the telescopic rod, the output end of the hand grip cylinder is connected with the control rod, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder, the fixed disc is coaxially arranged with the control rod, a plurality of hinged rods are hinged around the fixed disc, the end part of each hinged rod is hinged to the middle part of the corresponding hand grip rod, a connecting disc is fixedly arranged at the end part of the control rod, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven by the hand grip cylinder to move in a telescopic mode so as to control the swinging of the hand grip rods, each hand grip rod is circumferentially arrayed, and the branch pulling telescopic rod is fixedly arranged on at least one of the hand grip rods, the end part of the branch pulling telescopic rod is provided with the branch pulling head, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

9. The picking robot of claim 8, wherein the number of gripper bars is 3-6.

10. The picking manipulator according to claim 8, further comprising a picking hand group controller, wherein the picking hand group controller controls the picking hand group, when picking is performed, the branch pulling telescopic rod drives the branch pulling head to extend to a position where the tomato is to be picked, the branch pulling head pulls the tomato branch at the tomato position, and the branch pulling telescopic rod is contracted, so that the tomato on the tomato branch is pulled into the space surrounded by the gripper rod, and the gripper rod is further convenient to pick.

Technical Field

The invention particularly relates to an integrated harvesting device for soilless culture green tomatoes, and relates to the relevant field of tomato harvesting equipment.

Background

At present, with the continuous development of soilless culture technology, the application of large-scale indoor soilless culture tomatoes is increasing, however, for soilless culture, the tomatoes are generally cultivated in soilless culture vessels which are arranged on culture trusses in a regular manner, when the tomatoes are picked, if the tomatoes are picked manually, the workload is large, the efficiency is low, and the trusses generally comprise multiple layers, so that the picking efficiency and the cultivation cost are affected, and the large-scale cultivation is difficult to realize.

Disclosure of Invention

Therefore, in order to solve the above disadvantages, the present invention provides an integrated harvesting device for soilless culture green tomatoes.

The invention is realized in such a way, a soilless culture green tomato integrated harvesting device is constructed, which comprises a horizontal moving track frame, a moving driving seat, a supporting block, a semi-circular track, a picking mover, a picking manipulator and a vision monitoring mechanism, wherein the horizontal moving track frame is arranged along the extending direction of each tomato, the moving driving seat is arranged on the horizontal moving track frame in a sliding way, the supporting block is fixedly arranged at the top of the moving driving seat, the soilless culture green tomato integrated harvesting device is characterized in that the semi-circular track is vertically arranged and fixedly arranged on the supporting block, the picking mover is movably guided at the outer circular arc part of the semi-circular track, the picking manipulator is arranged on the picking mover, and the vision monitoring mechanism is arranged on the supporting block or the semi-circular track towards the tomato plants, the visual monitoring mechanism can perform visual detection and positioning on the tomato plants and tomatoes on the tomato plants; the tomato picking machine is characterized by further comprising a master controller, wherein the movable driving seat, the picking mover, the picking manipulator and the vision monitoring mechanism are in control connection with the master controller, so that the master controller can control the movement of the movable driving seat according to the position of a tomato plant monitored and positioned by the vision monitoring mechanism, and control the movable picking mover and the picking manipulator according to the position of a tomato on the tomato plant.

Further, preferably, a moving motor is arranged in the moving driving seat, the output end of the moving motor is connected with a traveling gear, a rack is arranged on the horizontal moving track frame, and the traveling gear is meshed with the rack; an arc-shaped rack is arranged on the semi-arc-shaped track, a moving gear is arranged on the picking mover, the moving gear is meshed with the arc-shaped rack, and the moving gear is driven to rotate by a moving motor.

Further, as preferred, the top of arc rack is provided with the slide rail, it is provided with the removal gyro wheel on the shifter to pluck, remove the gyro wheel with slide rail direction cooperation, pluck the shifter still including removing the body, removal gear and removal gyro wheel all set up remove on the body, the both sides of removing the body are provided with the adjusting collar, the bottom of removing the body is provided with the elasticity card, the arc rack passes the cavity of establishing is enclosed between elasticity card and the removal body, the top of elasticity card passes the adjusting collar setting, just the elasticity card with the setting that can lock between the adjusting collar, stretch into through adjusting the elasticity card the length of adjusting collar is adjusted remove the body with clearance between the arc rack.

Further, as preferred, pluck the manipulator and include installation arm, articulated arm, rotation driver, telescopic link and pluck the hand group, the installation arm is installed remove on the body, the articulated connection of tip of installation arm the articulated arm, the articulated connection of tip of articulated arm the telescopic link, the end connection of telescopic link pluck the hand group, the installation arm with articulated department between the articulated arm, the articulated arm with the articulated department of telescopic link all is provided with rotation driver, so that pass through rotation driver adjusts the angle between installation arm and the articulated arm, the articulated arm with angle between the telescopic link.

Further, as a preferred option, the picking hand group comprises a hand grip cylinder, a control rod, a fixed disc, hinged rods, hand grip rods, a branch pulling head and a branch pulling telescopic rod, wherein the cylinder body of the hand grip cylinder is fixedly connected to the telescopic rod, the output end of the hand grip cylinder is connected with the control rod, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder, the fixed disc and the control rod are coaxially arranged, a plurality of hinged rods are hinged to the periphery of the fixed disc, the end part of each hinged rod is hinged to the middle part of the corresponding hand grip rod, a connecting disc is fixedly arranged at the end part of the control rod, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven to move in a telescopic mode through the hand grip cylinder, the swing of the hand grip rods is controlled, the hand grip rods are arranged in a circumferential array mode, and the branch pulling telescopic rod is fixedly arranged on at least one hand grip rod, the end part of the branch pulling telescopic rod is provided with the branch pulling head, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

Further, as preferred, telescopic link, branch pulling telescopic link all adopt flexible gas pole, the tip of grabbing hand pole still is connected with the arc of rubber material and grabs the palm.

Further, as preferred, the vision monitoring mechanism includes swing cylinder, installation cassette, swing drive shaft, swing board, flexible electric jar and vision camera, swing cylinder fixed mounting be in on the installation cassette, swing cylinder's output is connected the swing drive shaft, swing drive shaft's output is connected the swing board, the fixed flexible electric jar that is arranged perpendicularly with it that is provided with on the swing board, flexible electric jar's output is connected with the vision camera, installation cassette fixed mounting be in on supporting shoe or the semi-circular arc track.

The invention further provides a picking manipulator which is used for the integrated harvesting device for soilless culture green tomatoes, and the picking manipulator comprises a mounting arm, a hinged arm, a rotary driver, a telescopic rod and a picking hand group, wherein the mounting arm is mounted on the movable body, the end part of the mounting arm is hinged with the hinged arm, the end part of the hinged arm is hinged with the telescopic rod, the end part of the telescopic rod is connected with the picking hand group, the hinged part between the mounting arm and the hinged part between the hinged arm and the telescopic rod are respectively provided with the rotary driver, so that the angle between the mounting arm and the hinged arm and the angle between the hinged arm and the telescopic rod can be adjusted through the rotary driver; it is characterized in that the preparation method is characterized in that,

the picking hand group comprises a hand grip cylinder, a control rod, a fixed disc, hinged rods, hand grip rods, a branch pulling head and a branch pulling telescopic rod, wherein the cylinder body of the hand grip cylinder is fixedly connected onto the telescopic rod, the output end of the hand grip cylinder is connected with the control rod, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder, the fixed disc is coaxially arranged with the control rod, a plurality of hinged rods are hinged around the fixed disc, the end part of each hinged rod is hinged to the middle part of the corresponding hand grip rod, a connecting disc is fixedly arranged at the end part of the control rod, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven by the hand grip cylinder to move in a telescopic mode so as to control the swinging of the hand grip rods, each hand grip rod is circumferentially arrayed, and the branch pulling telescopic rod is fixedly arranged on at least one of the hand grip rods, the end part of the branch pulling telescopic rod is provided with the branch pulling head, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

Further, preferably, the number of the gripper bars is 3 to 6.

Further, as the preferred, the picking handle group controller is further included, the picking handle group controller controls the picking handle group, when picking is carried out, the branch pulling telescopic rod drives the branch pulling head to extend to the position of the tomato to be grabbed, the branch pulling head pulls the tomato branches at the tomato positions, and the branch pulling telescopic rod is made to shrink, so that the tomatoes on the tomato branches are pulled to the space surrounded by the grabbing rods, and the grabbing rods can grab the tomatoes conveniently.

The invention has the following advantages: compared with the same type of equipment, the integrated harvesting device for soilless culture green tomatoes provided by the invention has the following advantages:

(1) the integrated harvesting device for the soilless culture green tomatoes can conveniently realize automatic grabbing and picking of the tomatoes, the tomatoes are moved on the horizontal moving track frame by the aid of the moving driving seat, picking of the tomato plants at different positions is realized, simplicity and convenience are realized, the integrated harvesting device is simple and convenient, the integrated harvesting device is provided with the semicircular track, the semicircular track structure can be suitable for the shape of each tomato plant, the picking mover moves on the semicircular track, the overall coverage of each tomato plant can be effectively realized, picking by the picking manipulator is facilitated, the control convenience is improved, and the integrated harvesting device is suitable for the shape requirements of the tomato plants;

(2) the picking manipulator can conveniently pick tomatoes, the main controller can control the movement of the movable driving seat according to the position of the positioned tomato plant monitored by the vision monitoring mechanism, and controls the movable picking mover and the picking manipulator according to the position of the tomatoes on the tomato plant to realize automatic picking.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the picking hand set of the present invention;

FIG. 3 is a schematic view of the visual monitoring mechanism of the present invention;

fig. 4 is a partially enlarged schematic diagram of the picking mover of fig. 1 according to the present invention.

Detailed Description

The present invention will be described in detail with reference to fig. 1 to 4, and the technical solutions in the embodiments of the present invention will be clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides an integrated harvesting device for soilless culture green tomatoes, which comprises a horizontal moving track frame 1, a moving driving seat 2, a supporting block 3, a semi-circular track 5, a picking mover 6, a picking manipulator 7 and a visual monitoring mechanism 4, wherein the horizontal moving track frame 1 is arranged in an extending manner along the cultivation direction of each tomato, the moving driving seat 2 is arranged on the horizontal moving track frame 1 in a sliding manner, as shown in figure 1, the moving driving seat 2 is connected on the horizontal moving track frame 1 in a left-right sliding manner, the supporting block 3 is fixedly arranged at the top of the moving driving seat 2, the integrated harvesting device is characterized in that the semi-circular track 5 is fixedly arranged on the supporting block in a vertical up-down manner, the picking mover 6 is movably guided at the outer circular arc of the semi-circular track, as shown in fig. 1, the truss for cultivating the tomatoes is arranged in the front side direction or the rear side direction of the semi-circular track, the picking manipulator is arranged on the picking mover, and the visual monitoring mechanism 4 is arranged on the supporting block or the semi-circular track in the direction towards the tomato plants and can visually detect and position the tomato plants and the tomatoes on the tomato plants; the tomato picking machine is characterized by further comprising a master controller, wherein the movable driving seat, the picking mover, the picking manipulator and the vision monitoring mechanism are in control connection with the master controller, so that the master controller can control the movement of the movable driving seat according to the position of a tomato plant monitored and positioned by the vision monitoring mechanism, and control the movable picking mover and the picking manipulator according to the position of a tomato on the tomato plant.

A moving motor is arranged in the moving driving seat, the output end of the moving motor is connected with a traveling gear, a rack is arranged on the horizontal moving track frame, and the traveling gear is meshed with the rack; an arc-shaped rack 24 is arranged on the semi-arc-shaped track, a moving gear 30 is arranged on the picking mover, the moving gear 30 is meshed with the arc-shaped rack 24, and the moving gear is driven to rotate by a moving motor.

The top of arc rack is provided with slide rail 25, be provided with the removal gyro wheel on the plucking shifter, the removal gyro wheel with slide rail direction cooperation, the plucking shifter is still including removing body 26, it all sets up with the removal gyro wheel to remove the gear remove on the body 26, the both sides of removing the body are provided with adjusting sleeve 28, the bottom of removing the body is provided with elasticity card 29, the arc rack passes the cavity of establishing is enclosed between elasticity card and the removal body, the top of elasticity card is passed the adjusting sleeve sets up, just the elasticity card with the setting that can lock between the adjusting sleeve, stretches into through adjusting the elasticity card the length of adjusting sleeve is adjusted remove the body with clearance between the arc rack.

The picking manipulator 7 comprises a mounting arm 27, a hinged arm 8, a rotary driver 9, a telescopic rod 10 and a picking hand group 11, the mounting arm 27 is mounted on the movable body, the end of the mounting arm 27 is hinged to the hinged arm 8, the end of the hinged arm 8 is hinged to the telescopic rod 10, the end of the telescopic rod 10 is connected to the picking hand group 11, the mounting arm is hinged to the hinged part between the hinged arms, the hinged arm is hinged to the hinged part of the telescopic rod, the rotary driver is arranged on the rotary driver, and therefore the angle between the mounting arm and the hinged arm can be adjusted through the rotary driver, and the angle between the hinged arm and the telescopic rod can be adjusted.

The picking hand group comprises a hand grip cylinder 12, a control rod 13, a fixed disc, hinged rods 18, hand grip rods 14, a branch pulling head 17 and a branch pulling telescopic rod 16, wherein the cylinder body of the hand grip cylinder 12 is fixedly connected to the telescopic rod, the output end of the hand grip cylinder 12 is connected with the control rod 13, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder 12, the fixed disc and the control rod are coaxially arranged, the periphery of the fixed disc is hinged with a plurality of hinged rods 18, the end part of each hinged rod 18 is hinged to the middle part of the corresponding hand grip rod 14, a connecting disc is fixedly arranged at the end part of the control rod 13, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven to telescopically move by the hand grip cylinder 12, the swinging of the hand grip rods is further controlled, and the hand grip rods are circumferentially arrayed, the branch pulling telescopic rod is fixedly arranged on at least one of the gripper rods, the branch pulling head is arranged at the end part of the branch pulling telescopic rod, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

The telescopic rod and the branch pulling telescopic rod are both telescopic air rods, and the end part of the gripper rod is further connected with an arc-shaped gripper palm 15 made of rubber.

The vision monitoring mechanism comprises a swing air cylinder 20, an installation clamping seat 21, a swing driving shaft 22, a swing plate 19, a telescopic electric cylinder 24 and a vision camera 23, wherein the swing air cylinder 20 is fixedly installed on the installation clamping seat 21, the output end of the swing air cylinder 20 is connected with the swing driving shaft 22, the output end of the swing driving shaft 22 is connected with the swing plate 19, the telescopic electric cylinder 24 which is vertically arranged on the swing plate 19 is fixedly arranged on the swing plate 19, the output end of the telescopic electric cylinder 24 is connected with the vision camera 23, and the installation clamping seat 21 is fixedly installed on the supporting block or the semi-circular arc-shaped track.

In addition, the invention also provides a picking manipulator, which comprises a mounting arm 27, a hinged arm 8, a rotary driver 9, a telescopic rod 10 and a picking hand group 11, wherein the mounting arm 27 is mounted on the moving body, the end part of the mounting arm 27 is hinged with the hinged arm 8, the end part of the hinged arm 8 is hinged with the telescopic rod 10, the end part of the telescopic rod 10 is connected with the picking hand group 11, the hinged part between the mounting arm and the hinged part between the hinged arm and the telescopic rod are respectively provided with the rotary driver, so that the angle between the mounting arm and the hinged arm and the angle between the hinged arm and the telescopic rod can be adjusted through the rotary driver; it is characterized in that the preparation method is characterized in that,

the picking hand group comprises a hand grip cylinder 12, a control rod 13, a fixed disc, hinged rods 18, hand grip rods 14, a branch pulling head 17 and a branch pulling telescopic rod 16, wherein the cylinder body of the hand grip cylinder 12 is fixedly connected to the telescopic rod, the output end of the hand grip cylinder 12 is connected with the control rod 13, the fixed disc is fixedly arranged on one side, close to the output end, of the cylinder body of the hand grip cylinder 12, the fixed disc and the control rod are coaxially arranged, the periphery of the fixed disc is hinged with a plurality of hinged rods 18, the end part of each hinged rod 18 is hinged to the middle part of the corresponding hand grip rod 14, a connecting disc is fixedly arranged at the end part of the control rod 13, the end part of each hand grip rod is hinged to the connecting disc, the control rod is driven to telescopically move by the hand grip cylinder 12, the swinging of the hand grip rods is further controlled, and the hand grip rods are circumferentially arrayed, the branch pulling telescopic rod is fixedly arranged on at least one of the gripper rods, the branch pulling head is arranged at the end part of the branch pulling telescopic rod, and the distance between the end part of the branch pulling head and the connecting disc in the axis direction of the control rod is larger than the distance between the end part of the gripper rod and the connecting disc in the axis direction of the control rod.

As a preferred embodiment, there are 3-6 gripper bars and in this embodiment there are 4 gripper bars.

In addition, the picking hand group controller is used for controlling the picking hand group, when picking is carried out, the branch pulling telescopic rod drives the branch pulling head to extend to the position of the tomato to be grabbed, the branch pulling head pulls the tomato branches at the tomato position, and the branch pulling telescopic rod is made to contract, so that the tomatoes on the tomato branches are pulled into the space surrounded by the grabbing rods, and the grabbing rods can grab the tomatoes conveniently.

The invention can conveniently realize the automatic grabbing and picking of tomatoes, and realizes the picking of tomato plants at different positions by utilizing the movement of the movable driving seat on the horizontal moving track frame; the picking manipulator can conveniently pick tomatoes, the main controller can control the movement of the movable driving seat according to the position of the positioned tomato plant monitored by the vision monitoring mechanism, and controls the movable picking mover and the picking manipulator according to the position of the tomatoes on the tomato plant to realize automatic picking.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described, and the standard parts used in the present invention are all available on the market, the special-shaped parts can be customized according to the description and the accompanying drawings, the specific connection mode of each part adopts the conventional means of bolt and rivet, welding and the like mature in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.