CN114916317A

CN114916317A - Multi-connecting-rod fruit picking manipulator

Info

Publication number: CN114916317A
Application number: CN202210503646.6A
Authority: CN
Inventors: 韦炯光; 邓晓燕; 王柏畅; 郑润森; 李爵煜; 李昌昊
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-08-19
Anticipated expiration: 2042-05-09
Also published as: CN114916317B

Abstract

The invention discloses a multi-connecting-rod fruit picking manipulator which drives respective rocker arms by controlling two steering engines to drive corresponding connecting rods and clamping jaws, wherein a connecting rod group adopts a force amplification design to improve the grabbing capacity of the manipulator, a flexible clamping jaw is used as a main clamping force source to avoid fruit damage, a rubber hard jaw is used as an auxiliary limit to firmly clamp fruits, then a motor is controlled to drive the motor to drive a gear, and the motor drive gear is meshed with an external tooth slewing bearing to drive the fruits to rotate, so that the fruits are easily picked. The mechanism of the mechanical arm solves the problems that the traditional mechanical claw is easy to damage fruits, the load of the flexible mechanical claw is not large enough and the picking process is not continuous enough, not only is the damage rate of picked fruits reduced, but also various types of fruits can be adapted and continuous picking can be realized, and the picking efficiency is high. The fruit picking machine has the advantages of high part interchangeability, strong adaptability and easy popularization and application.

Description

Multi-connecting-rod fruit picking manipulator

Technical Field

The invention relates to the technical field of agricultural mechanical equipment, in particular to a multi-connecting-rod fruit picking manipulator.

Background

The labor force used in the picking operation accounts for more than 30% of the labor force used in the whole production process of the fruit planting industry, and most of the fruit picking is still carried out manually at present. Picking operation is complex, seasonality is strong, and manual picking is large in labor amount and low in efficiency, so that the improvement of the mechanization degree of picking operation is of great significance. The development and utilization of the picking machine have great economic benefits and wide market prospects.

The fruit picking manipulator on the market at present is easy to damage fruits, so the flexible manipulator is produced at the same time, but the load of the accompanying flexible manipulator is often insufficient due to the flexible structure, so that the flexible manipulator is difficult to clamp the fruits with slightly larger weight. In addition, after the picking action is finished in the one-time picking process of the conventional manipulator, the manipulator is required to be moved to place the fruit to two actions at a specified position, and only one fruit can be picked in the one-time picking process, so that the picking continuity is low, and the efficiency is not high enough.

Therefore, the automatic fruit picking mechanical equipment which is light, flexible, strong in adaptability and high in efficiency is designed to be feasible, huge change is certainly brought to agricultural development, labor cost is saved, and production efficiency is improved.

Disclosure of Invention

The invention aims to solve the technical defects that a picking mechanical claw is easy to damage fruits and the loading capacity of a flexible clamping claw is not large enough in the prior art, and provides a multi-connecting-rod fruit picking manipulator which realizes large load while the clamping claw is flexible, so that the effects of stronger adaptability and higher picking continuity of automatic picking of fruits are achieved.

The purpose of the invention can be achieved by adopting the following technical scheme:

a multi-link fruit picking manipulator comprises a YAW shaft rotating part, a sliding block part, two flexible clamping jaw parts which are symmetrically distributed and two rubber hard jaw parts which are symmetrically distributed, wherein the YAW shaft rotating part comprises a motor 1, a motor mounting plate 2, a motor driving gear 3, a heightening plate 4 and an external tooth slewing bearing 5; the sliding block part comprises a steering engine mounting plate 6, a steering engine 7, a steering engine mounting frame 8, a rocker arm 9, a sliding column 10, a sliding block connecting piece 11, a clamping jaw base 12 and a PC pipeline 13; the flexible clamping jaw part comprises a No. 1 connecting rod 14, a No. 2 connecting rod 15, a No. 3 connecting rod 16, a No. 4 connecting rod 17 and a flexible clamping jaw 18; the rubber hard claw part comprises a No. 5 connecting rod 19, a No. 6 connecting rod 20 and a rubber hard claw 21; the YAW shaft rotating part is positioned at the bottom of the sliding block part, and the flexible clamping jaw part and the rubber hard jaw part are positioned at the upper part of the sliding block part and are symmetrically distributed;

further, the rotating parts of the YAW shaft are as follows from bottom to top: the motor 1 is installed on the motor mounting plate 2 by the screw, and motor drive gear 3 is connected on the output shaft of motor 1, and external tooth slewing bearing 5 is installed between steering wheel mounting plate 6 and motor mounting plate 2 respectively through the screw after having been filled up by two piece upper and lower bed hedgehopping pieces 4. The YAW shaft rotating part adopting the structural design can drive the gears to move through the motor, so that the rotating motion of the manipulator is realized, and the fruits can be picked easily. In addition, different from the actions that in the picking process of some conventional mechanical arms, the mechanical arms need to be moved to the designated positions to place fruits after picking actions are required to be completed, the mechanical arms adopt a hollow structure, and can be provided with a pipeline collecting device to directly convey picked fruits to the corresponding positions through the hollow structure, so that continuous and efficient picking is realized.

Further, the slider part is as follows from bottom to top: the two steering engine mounting frames 8 are mounted at corresponding positions of the steering engine mounting frames 6 through screws, the steering engines 7 are mounted on the steering engine mounting frames 8 through screws, and the rocker arms 9 are connected to output shafts of the steering engines 7. The slider part adopting the structure design can control different flexible motions of the two clamping jaws through the two steering engines, so that the picking of more types of fruits can be flexibly adapted.

Furthermore, four sliding columns 10 are arranged between the steering engine mounting plate 6 and the clamping jaw base 12 through countersunk screws, and the four sliding columns 10 are symmetrically distributed; the upper end and the lower end of each of the four sliding columns 10 are respectively connected with two sliding block connecting pieces 11, and a PC pipeline 13 is connected to the steering engine mounting plate 6 through screws. Adopt above-mentioned structural design, can make the connecting rod rotate smoothly, adopt the principle that power was enlargied in the design of connecting rod length simultaneously, can provide bigger clamp and get power, improve the load-carrying capacity of manipulator.

Furthermore, the No. 1 connecting rod 14 in the flexible clamping jaw part is hinged to the No. 2 connecting rod 15 through a plug screw and a nut, the No. 2 connecting rod 15 is connected with the sliding block connecting piece 11 and the No. 3 connecting rod 16 through hinges, the No. 3 connecting rod 16 and the No. 4 connecting rod 17 are connected with the clamping jaw base 12 and the flexible clamping jaw 18 through hinges, the flexible clamping jaw 18 is made to firmly wrap fruits to achieve the purpose of grasping the fruits through a reasonable hollow structure by utilizing the principle of a fin effect, and meanwhile, the flexible clamping jaw 18 can deform correspondingly when stressed, so that the fruits are prevented from being damaged due to overlarge force application.

Further, a No. 5 connecting rod 19 in the rubber hard claw part is hinged and connected to a No. 6 connecting rod 20 through a tuck screw and a nut, the No. 6 connecting rod 20 is connected with a sliding block connecting piece 11 and a No. 3 connecting rod 16 through a hinge, the No. 3 connecting rod 16 and a No. 4 connecting rod 17 are connected with a clamping jaw base 12 and a rubber hard claw 21 through a hinge, the main body of the rubber hard claw 21 is made of hard materials, and the outer layer of the rubber hard claw 21, which contacts with the fruit, is coated with a layer of hard rubber. Adopt above-mentioned structural design, can make the connecting rod rotate smoothly, the main part of rubber gripper uses the material of stereoplasm, and the outer rubber coating of its contact fruit has one deck stereoplasm rubber, can regard as an auxiliary spacing, blocks the fruit firmly, grabs it in the manipulator, has avoided traditional flexible gripper to take place the condition that structural great deformation and cause the fruit to drop when can not haring the fruit.

Further, the upper part of the No. 1 connecting rod 14 in the flexible clamping jaw part is connected with a No. 2 connecting rod 15 through a hinge joint, and the lower part of the No. 1 connecting rod 14 is connected to the rocker arm 9 through a screw. By adopting the structure design, the steering engine can control one group of connecting rods so as to control the two flexible clamping jaws.

Further, the upper part of the No. 5 connecting rod 19 in the rubber hard claw part is connected with a No. 6 connecting rod 20 through a hinge, and the lower part of the No. 5 connecting rod 19 is connected to the rocker arm 9 through a screw. By adopting the structure design, the steering engine can control one connecting rod to further control the two rubber clamping jaws.

Compared with the prior art, the invention has the following advantages and effects:

(1) the mechanical arm adopts the motor to rotate to drive the gear and the outer tooth slewing bearing to drive the mechanical arm to rotate so as to pick fruits, the center of the mechanical arm is of a hollow structure, a pipeline collecting device can be arranged, and the picked fruits are directly conveyed to corresponding positions through the hollow structure to realize continuous and efficient picking.

(2) The connecting rod and the slider are adopted for transmission, the structure is simple and practical, the transmission is convenient and accurate, the flexible movement of 4 clamping jaws can be controlled by 2 steering engines, the principle of connecting rod force amplification is adopted, the steering engines with small real moment can also provide large clamping force, the mechanical arm has stronger load capacity, and fruits with large weight can be easily grabbed.

(3) Adopt two flexible clamping jaws, this clamping jaw uses flexible material and suitable fretwork for the clamping jaw can not harm the fruit when firmly grasping the fruit. Adopt two rubber hard claws, the main part of rubber hard claw uses the material of stereoplasm, and its outer rubber coating that contacts the fruit has a layer of stereoplasm rubber, can regard as an supplementary spacing, blocks the fruit firmly, grabs the fruit in manipulator, has avoided traditional flexible gripper to take place the condition that the great deformation of structure and cause the great fruit of some weight to drop.

(4) Due to the adoption of the design of two claw types, the manipulator has certain flexibility and rigidity, and the flexibility and the practicability of the manipulator are improved. The mechanical arm is small in structure, simple to assemble, light in weight, capable of being used on most of mechanical arms or robots to better realize full automation of a picking process, and easy to popularize and apply.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

fig. 1 is a schematic overall structure diagram of a multi-link fruit picking manipulator disclosed by the invention;

FIG. 2 is a schematic view showing the structure of the rotating portion of YAW shaft in the present invention;

FIG. 3 is a schematic diagram of the slider drive of the present invention;

FIG. 4 is a schematic view of the construction of the flexible jaw portion of the present invention;

FIG. 5 is a schematic view of the construction of the rubber hard claw portion of the present invention;

FIG. 6 is a schematic view of a flexible jaw of the present invention;

FIG. 7 is a schematic view of the construction of the rubber hard claws of the invention;

in the drawings, the various reference numbers are illustrated as follows: the device comprises a motor 1, a motor mounting plate 2, a motor driving gear 3, a heightening sheet 4 and an external tooth rotary bearing 5; 6 is the steering wheel mounting panel, 7 is the steering wheel, 8 is the steering wheel mounting bracket, 9 is the rocking arm, 10 is the traveller, 11 is the slider even, 12 is the clamping jaw base, 13 is the PC pipeline, 14 is No. 1 connecting rod, 15 is No. 2 connecting rod, 16 is No. 3 connecting rod, 17 is No. 4 connecting rod, 18 is flexible clamping jaw, 19 is No. 5 connecting rod, 20 is No. 6 connecting rod, 21 is the hard claw of rubber.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.

Examples

Aiming at the technical defects that the picking mechanical claw is easy to damage fruits and the loading capacity of the flexible clamping claw is not large enough in the prior art, the flexible clamping claw and the rubber hard claw are used in a matched mode, so that the multi-connecting-rod fruit picking mechanical arm provided by the embodiment has flexibility and rigidity at the same time. Drive respective rocking arm respectively through controlling two steering engines to drive corresponding connecting rod, realize opening of flexible clamping jaw and rubber hard claw, contain the fruit in snatching the within range, corresponding closed flexible clamping jaw and rubber hard claw, flexible clamping jaw is as main clamp force source, rubber hard claw blocks the fruit as supplementary spacing, then the control motor, and then drive motor drive gear, motor drive gear meshing external tooth slewing bearing drives the fruit rotatory, thereby pluck the fruit.

The embodiment discloses a many connecting rods fruit picking manipulator, this manipulator drives respective rocking arm respectively through controlling two steering engines, thereby drive corresponding connecting rod, realize opening of flexible clamping jaw and the hard claw of rubber, contain the fruit in the scope of snatching, corresponding closed flexible clamping jaw and the hard claw of rubber, flexible clamping jaw is as main clamp force source, the hard claw of rubber blocks the fruit as supplementary spacing, then the control motor, and then drive motor drive gear, motor drive gear meshing external tooth slewing bearing drives the fruit rotation, thereby pick the fruit.

As shown in fig. 1, the components thereof include: the YAW shaft rotating part, the sliding block part, the two symmetrically distributed flexible clamping jaw parts and the two symmetrically distributed rubber hard jaw parts; YAW axle rotating part includes motor 1, motor mounting panel 2, motor drive gear 3, bed hedgehopping piece 4, external tooth slewing bearing 5, the slider part includes steering wheel mounting panel 6, steering wheel 7, steering wheel mounting bracket 8, rocking arm 9, traveller 10, slider even 11, clamping jaw base 12, PC pipeline 13, flexible clamping jaw part includes No. 1 connecting rod 14, No. 2 connecting rod 15, No. 3 connecting rod 16, No. 4 connecting rod 17, flexible clamping jaw 18, rubber hard claw part includes No. 5 connecting rod 19, No. 6 connecting rod 20, rubber hard claw 21, wherein YAW axle rotating part is located the bottom of slider part, flexible clamping jaw part and rubber hard claw part are located the upper portion of slider part and are the symmetric distribution.

The motor 1 is fixed on the motor mounting plate 2, the motor driving gear 3, the heightening plate 4 and the external tooth slewing bearing 5 are fixed between the motor mounting plate 2 and the steering engine mounting plate 6, and the motor 1 sequentially drives the motor driving gear 3 and the external tooth slewing bearing 5 which are meshed with each other to rotate;

the steering engine mounting rack 8 is fixed at a corresponding position of the steering engine mounting rack 6, the steering engine 7 is fixed on the steering engine mounting rack 8, and the rocker arm 9 is fixed on the steering engine 7; the sliding columns 10 are fixed between the steering engine mounting plate 6 and the clamping jaw base 12 and are symmetrically distributed; the upper end and the lower end of the sliding column 10 are respectively connected with two sliding block connecting pieces 11, and a PC pipeline 13 is fixed on the steering engine mounting plate 6;

the upper part of the No. 1 connecting rod 14 is connected with the No. 2 connecting rod 15, and the lower part is connected with the rocker arm 9; the No. 2 connecting rod 15 is fixed on the sliding block connecting piece 11 and the No. 3 connecting rod 16, and the No. 3 connecting rod 16 and the No. 4 connecting rod 17 are connected to the clamping jaw base 12 and the flexible clamping jaw 18;

the upper part of the No. 5 connecting rod 19 is connected with the No. 6 connecting rod 20, and the lower part is connected with the rocker arm 9; the No. 6 connecting rod 20 is connected to the sliding block connecting piece 11 and the No. 3 connecting rod 16, the No. 3 connecting rod 16 and the No. 4 connecting rod 17 are connected to the clamping jaw base 12 and the rubber hard jaw 21, the No. 2 connecting rod 15 is connected to the No. 1 connecting rod 14, and the rocker arm 9 is connected to the lower portion of the No. 1 connecting rod; the No. 5 connecting rod 19 is connected with the No. 6 connecting rod 20 at the upper part and is connected with the rocker arm 9 at the lower part.

In this embodiment, the YAW axis rotating portions are sequentially as follows from bottom to top: the motor 1 is installed on the motor mounting plate 2 by the screw, and motor drive gear 3 is connected on the output shaft of motor 1, and the external tooth slewing bearing 5 is installed between steering wheel mounting plate 6 and motor mounting plate 2 respectively through the screw after being filled up by two piece upper and lower bed hedgehopping pieces 4.

In this embodiment, the slider portion is as follows from bottom to top in sequence: the two steering engine mounting frames 8 are mounted at corresponding positions of the steering engine mounting frames 6 through screws, the steering engines 7 are mounted on the steering engine mounting frames 8 through screws, and the rocker arms 9 are connected to output shafts of the steering engines 7.

In the embodiment, four sliding columns 10 are arranged between the steering engine mounting plate 6 and the clamping jaw base 12 through countersunk screws, and the four sliding columns 10 are symmetrically distributed; the upper and lower ends of four sliding columns 10 and sliding columns 10 are respectively connected with two sliding block connecting pieces 11, and a PC pipeline 13 is connected to the steering engine mounting plate 6 through screws.

In this embodiment, the number 1 connecting rod 14 in the flexible clamping jaw part is hinged to the number 2 connecting rod 15 through a tucking screw and a nut, the number 2 connecting rod 15 is connected with the number 3 connecting rod 16 through a hinged connecting sliding block connecting piece 11, the number 3 connecting rod 16 and the number 4 connecting rod 17 are connected with the clamping jaw base 12 and the flexible clamping jaw 18 through a hinged connecting mode, and the flexible clamping jaw 18 is hollowed out through a flexible material.

In the embodiment, a No. 5 connecting rod 19 in the rubber hard claw part is hinged to a No. 6 connecting rod 20 through a tucking screw and a nut, the No. 6 connecting rod 20 is connected with a sliding block connecting piece 11 and a No. 3 connecting rod 16 through a hinge, the No. 3 connecting rod 16 and a No. 4 connecting rod 17 are connected with a clamping jaw base 12 and a rubber hard claw 21 through hinges, the main body of the rubber hard claw 21 is made of hard materials, and the outer layer of the rubber hard claw 21, which contacts with a fruit, is coated with a layer of hard rubber.

In the embodiment, the upper part of the No. 1 connecting rod 14 in the flexible clamping jaw part is connected with the No. 2 connecting rod 15 through a hinge joint, and the lower part of the No. 1 connecting rod 14 is connected to the rocker arm 9 through a screw.

In the embodiment, the upper part of the No. 5 connecting rod 19 in the rubber hard claw part is connected with the No. 6 connecting rod 20 through a hinge, and the lower part of the No. 5 connecting rod 19 is connected to the rocker arm 9 through a screw.

In conclusion, the manipulator drives the rocker arms respectively by controlling the two steering engines so as to drive the corresponding connecting rods, the connecting rods adopt the force amplification principle in design, the steering engines with small torque can improve large clamping force, the fruit is contained in the grabbing range through the grabbing action of the flexible clamping jaw and the rubber hard jaw, the flexible clamping jaw and the rubber hard jaw are correspondingly closed, the flexible clamping jaw is used as a main clamping force source, the rubber hard jaw is used as an auxiliary limiting position to clamp the fruit, then the motor is controlled to drive the motor to drive the gear, the motor drive gear is meshed with the external tooth slewing bearing to drive the fruit to rotate, therefore, fruits are picked, the damage rate of the fruit picking field is effectively reduced by using the flexible clamping jaw, and the fruits are gripped in a rigid assisting mode by matching with the rubber hard jaw, so that the fruits are prevented from falling off due to excessive stress deformation of the flexible clamping jaw, and the success rate of fruit picking and the bearing capacity of equipment are improved. And what this manipulator adopted is that its axis center is hollow structure, and the cooperation pipeline can be directly be connected this manipulator and the place that wants to place the fruit, realizes taking the back and loosens the clamping jaw, and the fruit alright rolls the place that wants to place the fruit from this manipulator is automatic to the continuity of reinforcing harvesting improves picking efficiency.

The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.

Claims

1. The multi-link fruit picking manipulator is characterized by comprising a YAW shaft rotating part, a sliding block part, two flexible clamping jaw parts which are symmetrically distributed and two rubber hard jaw parts which are symmetrically distributed, wherein the YAW shaft rotating part comprises a motor (1), a motor mounting plate (2), a motor driving gear (3), a heightening plate (4) and an external tooth slewing bearing (5); the sliding block part comprises a steering engine mounting plate (6), a steering engine (7), a steering engine mounting frame (8), a rocker arm (9), a sliding column (10), a sliding block connecting piece (11), a clamping jaw base (12) and a PC pipeline (13); the flexible clamping jaw part comprises a No. 1 connecting rod (14), a No. 2 connecting rod (15), a No. 3 connecting rod (16), a No. 4 connecting rod (17) and a flexible clamping jaw (18); the rubber hard claw part comprises a No. 5 connecting rod (19), a No. 6 connecting rod (20) and a rubber hard claw (21); the YAW shaft rotating part is positioned at the bottom of the sliding block part, and the flexible clamping jaw part and the rubber hard jaw part are positioned at the upper part of the sliding block part and are symmetrically distributed;

the motor (1) is fixed on the motor mounting plate (2), the motor driving gear (3), the heightening plate (4) and the external tooth rotary bearing (5) are fixed between the motor mounting plate (2) and the steering engine mounting plate (6), and the motor (1) sequentially drives the motor driving gear (3) and the external tooth rotary bearing (5) which are meshed with each other to rotate;

the steering engine mounting rack (8) is fixed at a corresponding position of the steering engine mounting rack (6), the steering engine (7) is fixed on the steering engine mounting rack (8), and the rocker arm (9) is fixed on the steering engine (7); the sliding columns (10) are fixed between the steering engine mounting plate (6) and the clamping jaw base (12) and are symmetrically distributed; the upper end and the lower end of the sliding column (10) are respectively connected with two sliding block connecting pieces (11), and a PC pipeline (13) is fixed on the steering engine mounting plate (6);

the upper part of the No. 1 connecting rod (14) is connected with the No. 2 connecting rod (15), and the lower part of the No. 1 connecting rod is connected with the rocker arm (9); the No. 2 connecting rod (15) is fixed on the sliding block connecting piece (11) and the No. 3 connecting rod (16), and the No. 3 connecting rod (16) and the No. 4 connecting rod (17) are connected to the clamping jaw base (12) and the flexible clamping jaw (18);

the upper part of the No. 5 connecting rod (19) is connected with the No. 6 connecting rod (20), and the lower part of the No. 5 connecting rod is connected with the rocker arm (9); no. 6 connecting rod (20) is connected to slider even piece (11) and No. 3 connecting rod (16), and No. 3 connecting rod (16) and No. 4 connecting rod (17) are connected to clamping jaw base (12) and rubber hard claw (21), realize nimble application and pick.

2. The multi-link fruit picking manipulator of claim 1, wherein the YAW axis rotating parts are as follows from bottom to top: the motor (1) is installed on the motor mounting plate (2) by the screw, the motor drive gear (3) is connected on the output shaft of the motor (1), the outer tooth slewing bearing (5) is installed between the steering engine mounting plate (6) and the motor mounting plate (2) through the screw after being cushioned by the upper and lower heightening pieces (4), and the motor can drive the manipulator to realize 360-degree rotation.

3. The multi-link fruit picking manipulator according to claim 1, wherein the slider parts are, in order from bottom to top: the two steering engine mounting frames (8) are mounted at corresponding positions of the steering engine mounting frames (6) through screws, the steering engines (7) are mounted on the steering engine mounting frames (8) through screws, and the rocker arms (9) are connected to output shafts of the steering engines (7).

4. The multi-link fruit picking manipulator as claimed in claim 1, wherein four sliding columns (10) are mounted between the steering engine mounting plate (6) and the clamping jaw base (12) by countersunk screws, and the four sliding columns (10) are symmetrically distributed; the upper end and the lower end of each of the four sliding columns (10) are respectively connected with two sliding block connecting pieces (11), and a PC pipeline (13) is connected onto the steering engine mounting plate (6) through screws.

5. The multi-link fruit picking manipulator as claimed in claim 1, characterized in that the number 1 link (14) of the flexible jaw part is hinged to the number 2 link (15) by a setscrew and a nut, the number 2 link (15) is hinged to the number 3 link (16) by a hinged connection slider link (11), and the number 3 link (16) and the number 4 link (17) are hinged to the jaw base (12) and the flexible jaw (18), and the flexible jaw (18) is hollowed out by a flexible material.

6. The multi-link fruit picking manipulator as claimed in claim 1, wherein the No. 5 link (19) in the rubber claw part is hinged to the No. 6 link (20) through a tuck screw and a nut, the No. 6 link (20) is hinged to the slider link (11) and the No. 3 link (16), the No. 3 link (16) and the No. 4 link (17) are hinged to the jaw base (12) and the rubber claw (21), the main body of the rubber claw (21) is made of hard material, and the outer layer of the rubber claw (21) contacting the fruit is coated with a layer of hard rubber.

7. A multi-link fruit picking manipulator according to claim 5, characterised in that the flexible jaw part is hinged with a No. 2 link (15) above the No. 1 link (14), the No. 1 link (14) is screwed to the rocker arm (9) below, and the links adopt a length design with increased force to provide larger clamping force.

8. The multi-link fruit picking manipulator according to claim 6, characterized in that the upper part of the No. 5 link (19) in the rubber hard claw part is connected with the No. 6 link (20) through a hinge, and the lower part of the No. 5 link (19) is connected with the rocker arm (9) through a screw.