Robotic arms and picking equipment for picking

Abstract

The present invention discloses a robotic arm and a picking device for picking, comprising a picking arm, a side wall of the picking arm provided with a feeding chute, a bottom end surface of the inner side wall of the feeding chute being connected to a collecting box, a side opening of the feeding chute being connected to a bellows turning tube, a fixed sleeve at the feeding end of the bellows turning tube being provided with a picking cover, and an angle turning adjustment assembly being provided on the picking arm; a cutting ring cover being connected to the opening of the picking cover, a push plate and a cutting knife being provided on the inner side of the cutting ring cover, and a traction and pushing assembly being provided above the cutting ring cover. When plant fruits extend into the cutting ring cover and the picking cover, the cutting knife cuts the upright stem section of the plant fruit, and the push plate pushes the plant fruit into the picking cover. The pickers only need to pick the picked plant fruits through the material taking opening. This has the characteristics of being convenient for preventing plant fruits from falling off and continuously picking the plant fruits without rotating the robotic arm.

Description

Technical Field

[0001] The present invention belongs to the technical field of picking mechanical arms, and in particular relates to a mechanical arm and a picking device used for picking. Background Art

[0002] For example, the Chinese patent with announcement number CN216532679U discloses a manipulator for picking, including a mounting plate, an electric telescopic rod fixedly connected to the bottom center of the mounting plate, a driving end of the electric telescopic rod passes through the mounting plate, and the driving end of the electric telescopic rod is fixedly connected to a driving motor, and the driving end of the driving motor is fixedly connected to a working plate, the upper surface of the working plate is fixedly connected to a control seat, the inner surface of the control seat is rotatably connected to a rotating disk, and a limited sliding groove is provided at the center of the upper surface of the working plate; two rotating arms are symmetrically connected to the upper surface of the working plate, and the two rotating arms are fixedly connected to a clamping plate close to the side walls, and the bottoms of the two clamping plates are fixedly connected Cutting blade, the two rotating arms are universally connected with a spring at the middle position close to each other, and the end faces of the two rotating arms are rotatably connected with connecting blocks, and the two connecting blocks are rotatably connected with a connecting rod, and the bottom position of the connecting rod is rotatably connected with a limiting slider; by starting the driving motor to drive the working plate to rotate, the working plate is turned to the working position of the pond, so that the cutting blade of the device is aligned with the lotus pod, and then the rotating disk is manually rotated to drive the connecting rod to pull the connecting block, so that the rotating arm rotates around the working plate, so that the clamping plate clamps the lotus pod, and then the cutting blade cuts the lotus fruit, and then the driving motor is started to drive the working plate to rotate, close to the side of the boat, and then the rotating arm is released to loosen the lotus pod to complete the work.

[0003] However, the above scheme has the following shortcomings: the above patent document cuts the upright stem below the fruit by a cutting blade, and at the same time clamps and fixes the upper part of the upright stem cut off under the action of a clamping plate. However, as the fruit expands during the ripening process, due to the large weight of the expanded lotus fruit, the fruit will naturally bend in the late stage of ripening, so that the lotus fruit surface is inclined toward the water surface, which is convenient for the lotus seeds to fall on the water surface in the future. At the same time, the lotus seeds on the fruit in the late stage of ripening are in a loose state and are easily shaken and fall off by external forces. However, the above-mentioned robot component composed of a cutting blade and a clamping plate cannot prevent the lotus seeds from falling off in the late stage of ripening. At the same time, after each lotus fruit is picked, the working plate needs to be rotated back to the side of the hull for collection, and the picking efficiency is low. How to prevent the lotus seeds from falling off in the late stage of ripening while being able to continuously pick them without rotating the robot arm is a problem that needs to be solved at present. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm and a picking device for picking, so as to solve the problems existing in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robotic arm for picking, comprising a picking arm, wherein a feeding chute is provided on a side wall of the picking arm, a collecting box is provided on the bottom end surface of the inner side wall of the feeding chute, a corrugated turning tube is provided at a communicating sleeve at a side opening of the feeding chute, a picking cover is provided at a fixed sleeve at a feeding end of the corrugated turning tube, and an angle turning adjustment component is provided on the picking arm for adjusting the turning angle of the picking cover;

[0007] The opening of the picking cover is connected to a cutting ring cover, and the upper and lower parts of the inner side of the cutting ring cover are respectively provided with a pushing plate and a cutting knife. A traction and pushing component is provided above the cutting ring cover, and the traction and pushing component drives the cutting knife to cut the upright stem segments on the plant fruits. At the same time, the traction and pushing component drives the pushing plate to flip and push the cut plant fruits into the picking cover, the corrugated flip tube, the feeding chute and the collection box in sequence for collection.

[0008] Preferably, the picking arm, picking cover, cutting knife, angle flip adjustment assembly and traction push assembly constitute a mechanical arm for picking plant fruits, a material taking port is provided on the side wall of the collecting box, and an anti-slip inclined plate is provided above the material taking port inside the collecting box.

[0009] Preferably, the angle flip adjustment assembly includes a fixed plate arranged near the upper end surface of the picking arm gripping portion, a trumpet hole is provided on the side wall of the fixed plate, and an adjustment plate movably passes through the trumpet hole, a double-ear shaft seat is provided on the outer surface of the picking cover, and the end of the adjustment plate is rotatably connected to the double-ear shaft seat, and the movement and deflection of the adjustment plate in the trumpet hole can adaptively adjust the picking angle direction of the picking cover, and a hanging rod is provided on the upper part of the fixed plate.

[0010] Preferably, a protruding block is provided on the lower surface of the cutting ring cover, a receiving groove is provided on the bottom end surface of the inner wall of the cutting ring cover, and a sliding groove is provided vertically on the rear side wall inside the cutting ring cover, and a horizontal plate is passed through the inner side of the sliding groove along the horizontal limiting sliding, and when the horizontal plate is located at the bottom of the sliding groove, it can extend to the inner side of the receiving groove, and the cutting knife is provided on both end surfaces of the horizontal plate, and the traction and pushing assembly includes a handle detachably mounted on the hanging rod, and a traction rope is fixed on the handle, and a rope hole is provided between the side wall and the upper end surface of the adjustment plate, and the traction rope movably passes through the rope hole.

[0011] Preferably, the outer surface of the picking cover is arranged with a limiting hole block along the arc direction, and a guide folding plate is provided above the cutting ring cover, and the top surface of the guide folding plate is provided with a through-hole. The protruding end of the traction rope passes through the limiting hole block and the through-hole in sequence, and the traction rope contacts and slides with the outer surface of the guide folding plate.

[0012] Preferably, a notch groove is provided on the front end surface of the top wall of the cutting ring cover, and a reset spring sleeve rod is symmetrically provided on the bottom end surface of the guide folding plate. Through holes are provided on both sides of the notch groove on the top wall of the cutting ring cover, and the reset spring sleeve rod is movable through the through holes, and a pressure rod extending to the top of the push plate is provided at the bottom of the inserted end of the reset spring sleeve rod.

[0013] The traction rope will also overcome the return spring sleeve rod to drive the cutting knife to move up to cut the upright stem part on the plant fruit.

[0014] A picking device comprises the aforementioned mechanical arm for picking.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: when the plant fruits are sequentially extended into the cutting ring cover and the picking cover, the stretching movement of the traction rope first causes the cutting knife to cut the upright stem segments on the plant fruits, and the pushing plate pushes the cut plant fruits into the picking cover, and the ripe fruits that fall from the plant fruits will be sequentially transported to the collection box through the corrugated flip tube and the feeding chute for temporary collection. The pickers only need to conveniently pick the picked plant fruits through the material taking port, which is convenient for preventing the plant fruits from falling off in the late mature stage, and also has the characteristic of being able to continuously pick the plant fruits without rotating the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic cross-sectional view of the overall structure of the present invention;

[0017] Figure 2 for Figure 1 A partial schematic diagram of the matching area between the picking cover and the cutting ring cover;

[0018] Figure 3 for Figure 2 Schematic diagram of the local structure of the cutting ring cover in the flipping state of the push plate;

[0019] Figure 4 This is a schematic diagram of the matching structure of the corrugated turning tube and the picking cover box cutting ring cover of the present invention;

[0020] Figure 5 for Figure 4 A schematic diagram of a partial structure in half section;

[0021] Figure 6 for Figure 5 A local schematic diagram of the push plate area;

[0022] Figure 7 for Figure 5 A local schematic diagram of the mating area between the raised block and the cutting knife;

[0023] Figure 8 This is a schematic diagram of the coordination structure of the double-ear axle seat, the adjustment plate, the fixing plate and the traction rope of the present invention;

[0024] Figure 9 It is a schematic diagram of the matching structure of the return spring sleeve rod and the pressure rod of the present invention.

[0025] In the figure: 1. Picking arm; 2. Feed chute; 3. Collecting box; 4. Corrugated flip tube; 5. Picking cover; 6. Cutting ring cover; 7. Push plate; 8. Cutting knife; 9. Material taking port; 10. Anti-slip inclined plate; 11. Fixed plate; 12. Horn hole; 13. Adjustment plate; 14. Double-ear shaft seat; 15. Raised block; 16. Storage slot; 17. Slide channel; 18. Horizontal plate; 19. Pull handle; 20. Traction rope; 21. Rope hole; 22. Limiting hole block; 23. Guide folding plate; 24. Perforation; 25. Notch groove; 26. Return spring sleeve rod; 27. Through hole; 28. Press rod; 29. ​​Connecting hole block; 30. Return spring sleeve rod; 31. Fixed axis; 101. Plant fruit; 201. Hanging rod. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] See also Figure 1-9 , the present invention provides a technical solution:

[0028] Example 1:

[0029] A mechanical arm for picking, comprising a picking arm 1, wherein a feeding chute 2 is provided on the side wall of the picking arm 1. When the height of the plant fruit 101 is higher than that of the picker, the picking arm 1 is usually used in an oblique direction, so the feeding chute 2 is in an inclined state during use, which is convenient for the transportation of the plant fruit 101 in the feeding chute 2. At the same time, the picking arm 1 is preset on the universal fulcrum of the picking equipment, and the length of the picking arm 1 is adaptively adjusted according to the actual use environment. At the same time, the picking arm 1 adopts a lightweight design and is made of hard hollow plastic parts. It has good structural strength. At the same time, the overall weight is greatly reduced, which is conducive to the picker to use the picking arm 1 for a long time, and the picking arm 1 can also be placed on the picking platform according to the use method. The staff's shoulders and waist are used through external support brackets, and the bottom end surface of the inner wall of the feeding chute 2 is connected to a collecting box 3, which can be an integrated design or a detachable design through screw connection or clamping. The side opening of the feeding chute 2 is connected with a corrugated flip tube 4, which is made of a flexible corrugated PE tube and can be deflected at an angle. At the same time, the internal channel is used for conveying the picked plant fruits 101. The feeding end of the corrugated flip tube 4 is fixedly sleeved with a picking cover 5. The interior of the picking cover 5 is a spherical space, which is convenient for the temporary placement of the picked plant fruits 101, and an angle flip adjustment component is provided on the picking arm 1 for adjusting the flip angle of the picking cover 5;

[0030] The opening of the picking cover 5 is connected to a cutting ring cover 6, and a push plate 7 and a cutting knife 8 are respectively provided on the upper and lower parts of the inner side of the cutting ring cover 6. A traction and pushing component is provided above the cutting ring cover 6. The traction and pushing component drives the cutting knife 8 to cut the upright stem segments on the plant fruits 101. At the same time, the traction and pushing component drives the push plate 7 to flip and push the cut plant fruits 101 into the picking cover 5, the corrugated flip tube 4, the feeding chute 2 and the collecting box 3 in sequence for collection.

[0031] Example 2:

[0032] It is further explained on the basis of Example 1 that the picking arm 1, the picking cover 5, the cutting knife 8, the angle flip adjustment component and the traction and pushing component constitute a mechanical arm for picking plant fruits 101, and a material picking port 9 is provided on the side wall of the collecting box 3. The setting of the material picking port 9 is convenient for taking the plant fruits 101 collected in the collecting box 3, and an anti-slip inclined plate 10 is provided above the material picking port 9 above the inside of the collecting box 3. The anti-slip inclined plate 10 prevents the plant fruits 101 that slide into the collecting box 3 from falling off from the material picking port 9.

[0033] Example 3:

[0034] Further explanation is given on the basis of Example 1, the angle flip adjustment component includes a fixed plate 11 arranged near the upper end surface of the gripping portion of the picking arm 1, a trumpet hole 12 is provided on the side wall of the fixed plate 11, and an adjustment plate 13 is movably penetrated in the trumpet hole 12, and the adjustment plate 13 can be deflected and adjusted in the trumpet hole 12, and a double-ear shaft seat 14 is provided on the outer surface of the picking cover 5, and a rotating hole is preset on the side wall of the end section of the adjusting plate 13. The rotating hole at the end of the adjusting plate 13 is rotatably connected to the double-ear shaft seat 14, and the movement and deflection of the adjusting plate 13 in the trumpet hole 12 can adaptively adjust the picking angle direction of the picking cover 5, and thus can adjust the picking cover 5 according to the bending direction of the plant fruit 101. A hanging rod 201 is provided on the upper part of the fixed plate 11, and the hanging rod 201 is a T-shaped structure;

[0035] A raised block 15 is provided on the lower surface of the cutting ring cover 6, and a receiving groove 16 extending to the raised block 15 is provided on the bottom end surface of the inner wall of the cutting ring cover 6, and a slide channel 17 is vertically provided on the rear side wall inside the cutting ring cover 6. The slide channel 17 is connected to the receiving groove 16, and a horizontal plate 18 is passed through the inner side of the slide channel 17 along the horizontal limit sliding. When the horizontal plate 18 is located at the bottom of the slide channel 17, it can extend to the inner side of the receiving groove 16. The receiving groove 16 can temporarily store the horizontal plate 18, and the cutting knife 8 is screwed or clamped to the two end surfaces of the horizontal plate 18. Figure 1 or Figure 8 As shown, the traction and pushing assembly includes a handle 19 that is detachably sleeved on the hanging rod 201, and a traction rope 20 is fixedly provided on the handle 19. Figure 8 As shown, a rope hole 21 is provided between the side wall and the upper end surface of the adjustment plate 13 , and the traction rope 20 movably passes through the rope hole 21 .

[0036] A limiting hole block 22 is arranged along the arc direction on the outer surface of the picking cover 5. The limiting hole block 22 is a U-shaped structure, and a guide folding plate 23 is provided above the cutting ring cover 6. The guide folding plate 23 is a Z-shaped structure as a whole, and the upper outer surface of the guide folding plate 23 is an arc-shaped surface design. The top surface of the guide folding plate 23 is provided with a through-hole 24. The outgoing end of the traction rope 20 passes through the limiting hole block 22 and the through-hole 24 in sequence, and the traction rope 20 contacts and slides with the arc-shaped surface of the outer surface of the guide folding plate 23. The guide folding plate 23 can provide sliding support for the traction rope 20.

[0037] A notch groove 25 is provided on the front end surface of the top wall of the cutting ring cover 6, and the inner end surface of the notch groove 25 extends to the top wall of the picking cover 5. The setting of the notch groove 25 makes it easier for the push plate 7 to not collide with the upper top wall when it is flipped. A return spring sleeve rod 26 is symmetrically provided on the bottom end surface of the guide folding plate 23. The return spring sleeve rod 26 can generate an upward spring force on the guide folding plate 23. Through holes 27 are provided on both sides of the notch groove 25 on the top wall of the cutting ring cover 6. The return spring sleeve rod 26 moves through the through holes 27, and a pressure rod 28 extending to the top of the push plate 7 is provided at the bottom of the extended end of the return spring sleeve rod 26. The downward movement of the pressure rod 28 can drive the push plate 7 to flip downward.

[0038] A connecting hole block 29 is provided on the rear wall of the cutting ring cover 6, and a return spring sleeve rod 30 is vertically movably passed through the connecting hole block 29. The two ends of the return spring sleeve rod 30 are respectively fixedly connected to the cross plate 18 and the end of the traction rope 20. The return spring sleeve rod 30 can generate a spring restoring force in the downward direction on the cross plate 18. When the traction rope 20 is not pulled outward, the return spring sleeve rod 30 pushes the cutting knife 8 on the cross plate 18 to be stored in the storage groove 16. At the same time, the return spring sleeve rod 26 drives the pressure rod 28 to move up to the push plate 7 when it is in a horizontal state. A fixed shaft 31 is movably passed through the preset hole on the side wall of the push plate 7, and both ends of the fixed shaft 31 are fixedly arranged on the cutting ring cover. 6 On both sides of the inner wall, a torsion spring (not shown) is pre-installed between the fixed shaft 31 and the push plate 7. The torsion spring can make the push plate 7 initially placed in a horizontal position, so that the plant fruit 101 will not be blocked by the push plate 7 when it extends into the inner side of the cutting ring cover 6. When the traction rope 20 is pulled outward, the traction rope 20 generates a downward thrust on the guide folding plate 23 under the limitation of the limit hole block 22, and at the same time overcomes the reverse spring force of the return spring sleeve rod 26 to make the pressure rod 28 drive the push plate 7 to flip down and generate a downward thrust on the plant fruit 101, and the traction rope 20 will also overcome the return spring sleeve rod 30 to drive the cutting knife 8 to move upward to cut the upright stem part of the plant fruit 101.

[0039] The working principle is as follows: in the process of picking plant fruits 101, the direction of the cutting ring cover 6 of the picking cover 5 is adjusted according to the height position of the mature plant fruits to be picked, so that the adjustment plate 13 moves horizontally in the horn hole 12 and turns up and down to adjust the deflection angle of the picking cover 5. At the same time, the traction rope 20 is adaptively adjusted so that the cutting knife 8 is temporarily stored in the storage groove 16, the grip section of the picking arm 1 is fixed by hand or fixed with the help of an external support, and pushed forward. The plant fruits 101 are made to enter the cutting ring cover 6, and the picking cover 5 can collect the plant fruits 101 that have entered, so that the pull handle 19 is moved out from the end of the hanging rod 201 and pulled outward, and the pull handle 19 drives the traction rope 20 to be pulled outward, and the traction rope 20 is stretched with the limit hole block 22 and the guide folding plate 23 as the support points. The guide folding plate 23 moves downward after being pulled downward by the traction rope 20, and drives the pressure rod 28 on the reset spring sleeve rod 26 at its bottom end to push the push plate 7 below. The push plate 7 pushes the plant fruits 101 inside the cutting ring cover 6 toward the picking cover 5. At the same time, the tension of the traction rope 20 overcomes the return spring sleeve 30 and drives the cross plate 18 to move upward. The cutting knives 8 at both ends of the cross plate 18 can cut the upright stem segments on the plant fruits 101 during the upward and return processes. The cut plant fruits 101 are pushed into the picking cover 5 with the assistance of the push plate 7. The lotus seeds that fall off the plant fruits 101 will also fall into the picking cover 5. At the same time, the plant fruits 101 that fall into the picking cover 5 are transported to the collecting box 3 in turn through the corrugated turning tube 4 and the feeding chute 2. The pickers only need to pick the picked plant fruits 101 through the material taking port 9, and then just need to repeat the above operation to pick the next plant fruit 101. This is convenient for preventing lotus seeds from falling off the plant fruits 101 in the late maturity period, and it can also continuously pick the plant fruits 101 without the need to rotate the robotic arm.

[0040] This embodiment provides a picking device, including the robotic arm for picking provided in the first embodiment.

[0041] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A mechanical arm for picking, comprising a picking arm (1), characterized in that: The side wall of the picking arm (1) is provided with a feeding chute (2), the bottom end surface of the inner side wall of the feeding chute (2) is connected to a collecting box (3), and the side opening of the feeding chute (2) is connected to a bellows turning tube (4), the feeding end of the bellows turning tube (4) is fixed with a picking cover (5), and the picking arm (1) is provided with an angle turning adjustment component for adjusting the turning angle of the picking cover (5); The opening of the picking cover (5) is connected to a cutting ring cover (6), and a push plate (7) and a cutting knife (8) are respectively provided on the upper and lower parts of the inner side of the cutting ring cover (6). A traction and pushing assembly is provided above the cutting ring cover (6). The traction and pushing assembly drives the cutting knife (8) to cut the upright stem segments on the plant fruits (101). At the same time, the traction and pushing assembly drives the push plate (7) to flip and push the cut plant fruits (101) into the picking cover (5), the corrugated flip tube (4), the feeding chute (2) and the collection box (3) in sequence for collection. The picking arm (1), the picking cover (5), the cutting knife (8), the angle flip adjustment component and the traction and pushing component constitute a mechanical arm for picking plant fruits (101); a material taking opening (9) is provided on the side wall of the collecting box (3), and an anti-slip inclined plate (10) located above the material taking opening (9) is provided on the upper part of the collecting box (3); The angle flip adjustment component includes a fixed plate (11) arranged near the upper end surface of the gripping portion of the picking arm (1), a trumpet hole (12) is provided on the side wall of the fixed plate (11), and an adjustment plate (13) is movably passed through the trumpet hole (12), a double-ear shaft seat (14) is provided on the outer surface of the picking cover (5), and the end of the adjustment plate (13) is rotatably connected to the double-ear shaft seat (14), and the displacement and deflection of the adjustment plate (13) in the trumpet hole (12) can adaptively adjust the picking angle direction of the picking cover (5), and a hanging rod (201) is provided on the upper part of the fixed plate (11); The lower surface of the cutting ring cover (6) is provided with a protruding block (15), the bottom end surface of the inner wall of the cutting ring cover (6) is provided with a receiving groove (16) extending to the protruding block (15), and a sliding groove (17) is vertically provided on the inner rear side wall of the cutting ring cover (6), and a horizontal plate (18) is passed through the inner side of the sliding groove (17) along the horizontal limit sliding, and when the horizontal plate (18) is located at the bottom of the sliding groove (17), it can extend to the inner side of the receiving groove (16), and the cutting knife (8) is arranged on the two end surfaces of the horizontal plate (18), and the traction pushing assembly includes a pull handle (19) detachably sleeved on the hanging rod (201), and a traction rope (20) is fixedly provided on the pull handle (19), and a rope hole (21) is provided between the side wall and the upper end surface of the adjustment plate (13), and the traction rope (20) is movably passed through the rope hole (21).

2. The robotic arm for picking according to claim 1, characterized in that: The outer surface of the picking cover (5) is provided with a limiting hole block (22) along an arc direction, and a guide folding plate (23) is provided above the cutting ring cover (6). The top surface of the guide folding plate (23) is provided with a through hole (24). The outgoing end of the traction rope (20) passes through the limiting hole block (22) and the through hole (24) in sequence, and the traction rope (20) contacts and slides with the outer surface of the guide folding plate (23).

3. The robotic arm for picking according to claim 2, characterized in that: The front end surface of the top wall of the cutting ring cover (6) is provided with a notch groove (25), the bottom end surface of the guide folding plate (23) is symmetrically provided with a return spring sleeve rod (26), and the top wall of the cutting ring cover (6) is provided with through holes (27) on both sides of the notch groove (25). The return spring sleeve rod (26) is movable through the through holes (27), and the bottom of the insertion end of the return spring sleeve rod (26) is provided with a pressure rod (28) extending to the top of the push plate (7).

4. The robotic arm for picking according to claim 3, characterized in that: The cutting ring cover (6) is provided with a connecting hole block (29) on the rear wall, and a return spring sleeve rod (30) is vertically movable through the connecting hole block (29). The two ends of the return spring sleeve rod (30) are respectively fixedly connected to the transverse plate (18) and the end of the traction rope (20). When the traction rope (20) is not pulled outward, the return spring sleeve rod (30) pushes the cutting knife (8) on the transverse plate (18) to be stored in the storage groove (16). At the same time, the return spring sleeve rod (26) drives the pressure rod (28) to move upward until the push plate (7) is in a horizontal state, and the side wall of the push plate (7) is movable and penetrated. There is a fixed shaft (31), and the two ends of the fixed shaft (31) are fixedly arranged on both sides of the inner wall of the cutting ring cover (6). When the traction rope (20) is pulled outward, the traction rope (20) generates a downward thrust on the guide folding plate (23) under the limitation of the limit hole block (22), and at the same time overcomes the reverse spring force of the return spring sleeve rod (26) to drive the pressure rod (28) to drive the push plate (7) to turn down and generate a downward thrust on the plant fruit (101). The traction rope (20) also overcomes the return spring sleeve rod (30) to drive the cutting knife (8) to move upward to cut the upright stem part of the plant fruit (101).

5. A picking device, characterized in that: A robotic arm for picking comprising any one of claims 1 to 4.

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