CN114916317B

CN114916317B - Multi-connecting rod fruit picking manipulator

Info

Publication number: CN114916317B
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: 2023-05-23
Anticipated expiration: 2042-05-09
Also published as: CN114916317A

Abstract

The invention discloses a multi-link fruit picking manipulator which drives respective rocker arms by controlling two steering engines respectively so as to drive corresponding links and clamping jaws, wherein a force amplification design is adopted by a link group to improve the grabbing capacity of the manipulator, the flexible clamping jaws are used as main clamping force sources to avoid damaging fruits, rubber hard claws are used as auxiliary limiting positions to firmly clamp the fruits, then a motor is controlled to drive a motor driving gear, and the motor driving gear is meshed with an external tooth slewing bearing to drive the fruits to rotate, so that the fruits are picked easily. The mechanism of the manipulator solves the problems that the traditional mechanical claw is easy to damage fruits, the flexible mechanical claw is not loaded enough and the picking process is not continuous enough, reduces the damage rate of the picked fruits, can adapt to various fruits and realize continuous picking, and has high picking efficiency. The fruit picking machine has the advantages of realizing efficient fruit picking by simple equipment and a quick and simple mode, along with high interchangeability of parts, 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-link fruit picking manipulator.

Background

The labor force for picking operation accounts for more than 30% of the labor force for the whole fruit planting production process, and most of fruit picking is mainly manual picking at present. The picking operation is complex, the seasonality is strong, the manual picking is large in labor capacity and low in efficiency, and therefore the picking operation mechanization degree is improved. The development and the utilization of the picking machine have huge economic benefits and wide market prospect.

At present, the fruit picking manipulator on the market is easy to damage fruits, and the flexible manipulator is generated, but the flexible manipulator is also often insufficient in load due to the flexible structure, so that the fruit picking manipulator is difficult to pick fruits with slightly heavy weight. In addition, after the picking action of the conventional manipulator is finished in one-time picking process, the manipulator is required to be moved to place fruits at the specified positions, and only one fruit can be picked in one time in the process, so that the picking continuity is low and the efficiency is not high enough.

Therefore, the automatic fruit picking mechanical equipment is designed to be light, flexible, convenient, high in adaptability and high in efficiency, becomes practical and feasible, and brings great innovation to agricultural development, saves labor cost and improves production efficiency.

Disclosure of Invention

The invention aims to solve the technical defects that a picking mechanical claw is easy to damage fruits and the flexible clamping claw has insufficient loading capacity in the prior art, and provides a multi-connecting-rod fruit picking mechanical arm which has flexibility and realizes large loading, so that the effects of stronger adaptability and higher picking continuity of automatic picking of fruits are achieved.

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

the multi-connecting-rod fruit picking manipulator comprises a YAW shaft rotating part, a sliding block part, two symmetrically-distributed flexible clamping jaw parts and two symmetrically-distributed rubber hard jaw parts, wherein the YAW shaft rotating part 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; 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 claw part are positioned at the upper part of the sliding block part and are symmetrically distributed;

further, the YAW shaft rotating part is as follows from bottom to top in sequence: the motor 1 is installed on the motor mounting plate 2 by the screw, and motor drive gear 3 connects on the output shaft of motor 1, and external tooth slewing bearing 5 is installed respectively between steering wheel mounting plate 6 and motor mounting plate 2 through the screw after being filled up by upper and lower two rim plates 4. By adopting the YAW shaft rotating part with the structural design, the motor can drive the gear to move, so that the rotating motion of the manipulator is realized, and fruits can be picked easily. In addition, unlike some conventional mechanical hand picking processes, which require the picking action to be completed and then the movement of moving the mechanical hand to the designated position to place fruits, the mechanical hand adopts a hollow structure in the center, can be provided with a pipeline collecting device, and can directly convey picked fruits to the corresponding position through the hollow structure, so that continuous and efficient picking is realized.

Further, the slider part is as follows from bottom to top in sequence: two steering wheel mounting brackets 8 are installed in the relevant position of steering wheel mounting panel 6 by the screw, and steering wheel 7 is installed on steering wheel mounting bracket 8 by the screw, and rocking arm 9 is connected to steering wheel 7 output shaft. By adopting the sliding block part with the structural design, the two steering engines can control different flexible movements of the two clamping jaws, so that the device is flexibly suitable for picking fruits of more types.

Further, four slide columns 10 are installed between the steering engine mounting plate 6 and the clamping jaw base 12 by countersunk screws, and the four slide columns 10 are symmetrically distributed; the upper and lower ends of the four slide posts 10 are respectively connected with two slide block connecting pieces 11, and a PC pipeline 13 is connected to the steering engine mounting plate 6 by screws. By adopting the structural design, the connecting rod can rotate smoothly, and meanwhile, the principle of force amplification is adopted in the design of the length of the connecting rod, so that larger clamping force can be provided, and the loading capacity of the manipulator is improved.

Further, the No. 1 connecting rod 14 in the flexible clamping jaw portion is hinged to the No. 2 connecting rod 15 through a stopper 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 a hinge, 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 a hinge, the flexible clamping jaw 18 is in a reasonable hollow structure, the principle of fin effect is utilized, the clamping jaw can firmly wrap fruits to grasp fruits, and meanwhile, the flexible clamping jaw 18 can correspondingly deform when stressed, so that damage to the fruits due to overlarge force application is avoided.

Further, the No. 5 connecting rod 19 in the rubber hard claw portion is hinged to the No. 6 connecting rod 20 by a stopper screw and a nut, the No. 6 connecting rod 20 is connected with the slider connecting piece 11 and the No. 3 connecting rod 16 by a hinge, the No. 3 connecting rod 16 and the No. 4 connecting rod 17 are connected with the claw base 12 and the rubber hard claw 21 by 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 fruits, is coated with a layer of hard rubber. By adopting the structural design, the connecting rod can rotate smoothly, the main body of the rubber hard claw is made of hard materials, and the outer layer of the rubber hard claw, which contacts fruits, is coated with one layer of hard rubber, can serve as an auxiliary limit, firmly clamps the fruits, grabs the fruits in the manipulator, and avoids the situation that the fruits fall off due to structural large deformation of the traditional flexible mechanical claw while the fruits are not damaged.

Further, the upper part of the No. 1 connecting rod 14 in the flexible clamping jaw part is connected to the rocker arm 9 through a hinge connection No. 2 connecting rod 15, and the lower part of the No. 1 connecting rod 14 is connected to the rocker arm 9 through a screw. By adopting the structural design, the steering engine can control one group of connecting rods to further 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 the No. 6 connecting rod 20 through a hinge joint, and the lower part of the No. 5 connecting rod 19 is connected with the rocker arm 9 through a screw. By adopting the structural design, the steering engine can control one connecting rod and then control two rubber clamping jaws.

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

(1) The manipulator adopts the motor rotary motion to drive the gear and the external tooth slewing bearing so as to drive the rotation of the manipulator to pick the fruits, adopts a hollow structure at the center of the manipulator, can be provided with a pipeline collecting device, and directly transmits the picked fruits to corresponding positions through the hollow structure to realize continuous and efficient picking.

(2) Adopt connecting rod + slider transmission design, simple structure is practical, and the transmission is convenient accurate, realizes that 2 steering wheels can control the nimble motion of 4 clamping jaws to adopted the principle that the connecting rod force was amplified, the steering wheel of real little moment also can provide great clamp and get the power, makes manipulator bearing capacity stronger, snatchs some great fruits of weight more easily.

(3) The two flexible clamping jaws are adopted, and flexible materials and proper hollows are adopted by the clamping jaws, so that the clamping jaws can firmly grasp fruits and can not damage the fruits. The two rubber hard claws are adopted, the main body of the rubber hard claw is made of hard materials, and the outer layer of the rubber hard claw, which contacts with fruits, is coated with a layer of hard rubber, so that the rubber hard claw can be used as an auxiliary limit to firmly clamp the fruits, and the fruits are clamped in the mechanical arm, so that the situation that the fruits with larger weight fall off due to larger deformation of the traditional flexible mechanical claw is avoided.

(4) Due to the adoption of two claw-shaped designs, the manipulator has certain flexibility and rigidity, and the flexibility and the practicability of the manipulator are improved. The manipulator has the advantages of small structure, simple assembly and light weight, can be used on most of the robots or the robots to better realize the full automation of the picking process, and is 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 embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

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

FIG. 2 is a schematic view of the structure of the rotary part of the YAW shaft according to the present invention;

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

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

FIG. 5 is a schematic view of the structure of the rubber gripper portion of the present invention;

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

FIG. 7 is a schematic view of the structure of a rubber gripper according to the present invention;

in the drawings, the respective reference numerals are explained as follows: 1 is a motor, 2 is a motor mounting plate, 3 is a motor driving gear, 4 is a heightening sheet, and 5 is an external tooth rotary bearing; 6 is steering engine mounting panel, 7 is steering engine, 8 is steering engine mounting bracket, 9 is rocking arm, 10 is the traveller, 11 is the slider spare, 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 rubber hard claw.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples

Aiming at the technical defects that the picking mechanical claw is easy to damage fruits and the flexible clamping claw has insufficient loading capacity in the prior art, the embodiment is matched with the flexible clamping claw and the rubber hard claw, so that the multi-connecting-rod fruit picking mechanical arm provided by the embodiment has flexibility and rigidity at the same time. The two steering engines are controlled to drive respective rocker arms respectively, so that corresponding connecting rods are driven, the opening of the flexible clamping jaw and the rubber hard jaw is realized, fruits are contained in the grabbing range, the flexible clamping jaw and the rubber hard jaw are correspondingly closed, the flexible clamping jaw serves as a main clamping force source, the rubber hard jaw serves as an auxiliary limit to clamp the fruits, then a motor is controlled, a motor driving gear is driven, and the motor driving gear is meshed with an external tooth slewing bearing to drive the fruits to rotate, so that the fruits are picked.

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

As shown in fig. 1, the components include: the YAW shaft comprises a YAW shaft rotating part, a sliding block part, two symmetrically-distributed flexible clamping jaw parts and two symmetrically-distributed rubber hard jaw parts; the YAW shaft rotating part 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, 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, wherein 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 claw 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 drives the motor driving gear 3 and the external tooth rotary bearing 5 which are meshed with each other to rotate in sequence;

the steering engine mounting frame 8 is fixed at the corresponding position of the steering engine mounting plate 6, the steering engine 7 is fixed on the steering engine mounting frame 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; two slide block connectors 11 are respectively connected to the upper end and the lower end of the slide column 10, 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 a No. 2 connecting rod 15, and the lower part is connected with the rocker arm 9; a number 2 connecting rod 15 is fixed to the slider connecting piece 11 and a number 3 connecting rod 16, and a number 3 connecting rod 16 and a number 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 slider 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 claw 21, the No. 1 connecting rod 14 is connected with the No. 2 connecting rod 15 at the upper part, and the rocker arm 9 at the lower part; the No. 5 connecting rod 19 is connected with the No. 6 connecting rod 20 above and connected with the rocker arm 9 below.

In this embodiment, the YAW shaft rotating portion is as follows from bottom to top in order: the motor 1 is installed on the motor mounting plate 2 by the screw, and motor drive gear 3 connects on the output shaft of motor 1, and external tooth slewing bearing 5 is installed respectively between steering wheel mounting plate 6 and motor mounting plate 2 through the screw after being filled up by upper and lower two rim plates 4.

In this embodiment, the slider portion is as follows from bottom to top in sequence: two steering wheel mounting brackets 8 are installed in the relevant position of steering wheel mounting panel 6 by the screw, and steering wheel 7 is installed on steering wheel mounting bracket 8 by the screw, and rocking arm 9 is connected to steering wheel 7 output shaft.

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

In this embodiment, the No. 1 connecting rod 14 in the flexible clamping jaw portion is hinged to the No. 2 connecting rod 15 by a tucking 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 by a hinge, 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 by a hinge, and the flexible clamping jaw 18 is hollowed out by using a flexible material.

In this embodiment, the number 5 connecting rod 19 in the rubber hard claw portion is hinged to the number 6 connecting rod 20 by a stopper screw and a nut, the number 6 connecting rod 20 is connected with the slider connecting piece 11 and the number 3 connecting rod 16 by a hinge, the number 3 connecting rod 16 and the number 4 connecting rod 17 are connected with the claw base 12 and the rubber hard claw 21 by 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 contacting with fruits is coated with a layer of hard rubber.

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

In this embodiment, the upper part of the No. 5 connecting rod 19 in the rubber hard claw portion is connected to 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 summary, this manipulator is through controlling two steering wheels and driving respective rocking arms respectively, thereby drive corresponding connecting rod, the principle that the power was enlarged has been adopted in the connecting rod design, can realize that the steering wheel of little moment improves big clamp and get the power, in the action of snatching through flexible clamping jaw and rubber hard claw, contain the fruit in snatching the scope, corresponding closed flexible clamping jaw and rubber hard claw, flexible clamping jaw is as main clamp force source, rubber hard claw is as supplementary spacing to block the fruit, then control the motor, and then drive motor drive gear, motor drive gear meshing external tooth slewing bearing drives the fruit rotation, thereby pick the fruit off, use flexible clamping jaw effectively to reduce the damage rate of fruit picking, cooperate the rigid auxiliary fruit of rubber hard claw ground simultaneously, avoided flexible clamping jaw atress deformation excessively and make the fruit drop, fruit picking success rate and equipment's bearing capacity have been improved. The mechanical arm adopts a hollow structure with the center of the axis, and the mechanical arm can be directly connected with the place where the fruit is to be placed by matching with the pipeline, so that the clamping jaw is released after picking, the fruit can automatically roll off the place where the fruit is to be placed from the mechanical arm, the picking continuity is enhanced, and the picking efficiency is improved.

The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims

1. The multi-connecting-rod fruit picking manipulator is characterized by comprising a YAW shaft rotating part, a sliding block part, two symmetrically-distributed flexible clamping jaw parts and two symmetrically-distributed rubber hard jaw parts, wherein the YAW shaft rotating part 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); the sliding block part comprises a steering engine mounting plate (6), a first steering engine, a second steering engine, a first steering engine mounting frame, a second steering engine mounting frame, a first rocker arm, a second rocker arm, a sliding column (10), two sliding block connecting pieces (11), a clamping jaw base (12) and a PC pipeline (13); each flexible clamping jaw part comprises a No. 2 connecting rod (15), a first No. 3 connecting rod, a first No. 4 connecting rod and a flexible clamping jaw (18); each rubber hard claw part comprises a No. 6 connecting rod (20), a second No. 3 connecting rod, a second No. 4 connecting rod 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 claw 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 first steering engine installation frame and the second steering engine installation frame are respectively fixed at corresponding positions of the steering engine installation plate (6), the first steering engine and the second steering engine are respectively fixed on the first steering engine installation frame and the second steering engine installation frame, and the first rocker arm and the second rocker arm are respectively fixed on the first steering engine and the second steering engine; the sliding columns (10) are fixed between the steering engine mounting plate (6) and the clamping jaw base (12) and are symmetrically distributed; two slide block connecting pieces (11) are respectively connected with the upper end and the lower end of a slide column (10), and a PC pipeline (13) is fixed on a steering engine mounting plate (6);

in each flexible clamping jaw part, a No. 2 connecting rod (15) is fixed to a sliding block connecting piece (11) at the upper end of a sliding column (10) and a first No. 3 connecting rod, and the first No. 3 connecting rod and the first No. 4 connecting rod are connected to a clamping jaw base (12) and a flexible clamping jaw (18); 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 first rocker arm;

in each rubber hard claw part, a No. 6 connecting rod (20) is connected to a sliding block connecting piece (11) and a second No. 3 connecting rod at the lower end of the sliding column (10), and the second No. 3 connecting rod and the second No. 4 connecting rod are connected to a clamping jaw base (12) and a rubber hard claw (21), so that flexible application is realized for picking; the hard rubber claw part further comprises a No. 5 connecting rod (19), wherein the upper part of the No. 5 connecting rod (19) is connected with a No. 6 connecting rod (20), and the lower part of the No. 5 connecting rod is connected with a second rocker arm.

2. The multi-link fruit picking manipulator of claim 1, wherein the YAW shaft rotating section is, in order from bottom to top, as follows: the motor (1) is installed on motor mounting panel (2) by the screw, and motor drive gear (3) are connected on the output shaft of motor (1), and external tooth slewing bearing (5) are installed respectively between steering wheel mounting panel (6) and motor mounting panel (2) through the screw after being filled up by upper and lower two rim plates (4), and the motor can drive the manipulator and realize 360 degrees rotations.

3. The multi-link fruit picking manipulator of claim 1, wherein the slider portion is configured to: the first steering engine mounting frame and the second steering engine mounting frame are mounted at corresponding positions of the steering engine mounting plate (6) through screws, the first steering engine and the second steering engine are mounted on the first steering engine mounting frame and the second steering engine mounting frame through screws respectively, the first rocker arm is connected to an output shaft of the first steering engine, and the second rocker arm is connected to an output shaft of the second steering engine.

4. The multi-link fruit picking manipulator according to claim 1, characterized in that four slide posts (10) are mounted between the steering engine mounting plate (6) and the clamping jaw base (12) by countersunk screws, and the four slide posts (10) are symmetrically distributed; two slide block connectors (11) are respectively connected to the upper and lower ends of four slide columns (10), and PC pipeline (13) is connected to steering engine mounting panel (6) by the screw.

5. A multi-link fruit picking manipulator according to claim 1, characterized in that in the flexible jaw part, the No. 1 link (14) is hinged to the No. 2 link (15) by a tucking screw and a nut, the No. 2 link (15) is connected to the slider link (11) and the first No. 3 link by a hinge, the first No. 3 link and the first No. 4 link are connected to the jaw base (12) and the flexible jaw (18) by a hinge, the flexible jaw (18) is hollowed out using a flexible material.

6. A multi-link fruit picking manipulator according to claim 1, characterized in that in the rubber hard claw part, a No. 5 link (19) is hinged to a No. 6 link (20) by a stopper screw and a nut, the No. 6 link (20) is connected with a slider link (11) and a second No. 3 link by a hinge, the second No. 3 link and the second No. 4 link are connected with a claw base (12) and a rubber hard claw (21) by a hinge, the main body of the rubber hard claw (21) uses a hard material, and the outer layer of the rubber hard claw (21) contacting the fruit is encapsulated with a layer of hard rubber.

7. The multi-link fruit picking manipulator of claim 5, wherein the flexible jaw portion has a number 2 link (15) connected by a hinge to the top of the number 1 link (14), and a screw connected to the first rocker arm to the bottom of the number 1 link (14), the links being of a force-amplified length design to provide greater gripping force.

8. The multi-link fruit picking manipulator of claim 6, wherein in the rubber hard claw portion, an upper portion of a No. 5 link (19) is connected to a No. 6 link (20) by a hinge, and a lower portion of the No. 5 link (19) is connected to a second rocker arm by a screw.