Automatic loading and picking machine capable of removing bad fruits

Abstract

The present invention discloses an automatic loading and picking fruit machine capable of removing bad fruits. The machine comprises a frame, a mechanical arm picking device, a sorting device and a packaging device. A connecting shell is arranged on the top surface of the frame, the top surface of the connecting shell is connected with the mechanical arm picking device, the connecting shell is provided with the sorting device and the packaging device. The mechanical arm picking device separates the fruit from the branches of the fruit tree, the sorting device screens out the unsuitable parts of the picked fruit that are not suitable for sale, the packaging device packs the sorted fruit, and at the same time, the branches and leaves or dust that are not removed during the picking process and the fruit are loaded into a foam net, thereby saving a large amount of labor costs spent in the process from picking to selling the arc-shaped fruit, and at the same time effectively saving the time required in the process from picking to selling, and effectively reducing the loss of farmers.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, in particular to an automatic loading and picking fruit machine capable of removing bad fruits. Background Art

[0002] In the current agricultural production process, fruit trees are planted in an intensive manner, so the fruit ripening and picking period is relatively short and concentrated. For a large amount of picking work in a short period of time, it is more suitable to use automated machines instead of manual labor for picking;

[0003] Most of the existing fruit picking machines use mechanical arms to vibrate the tree trunks to separate the fruits from the trees. This method may restrict the growth of the fruit trees and cause the fruits to fall to the ground, resulting in high economic losses. At the same time, among the farmers who grow fruit trees, most of them directly sell unprocessed primary agricultural products. Therefore, most of them need to classify the picked fruits by manpower, and classify the fruits according to standards such as superior, inferior and defective products to distinguish the different selling prices. At the same time, for fruits that need to be sold by mail, farmers need to cover each fruit with a foam net to prevent the fruit from being squeezed during transportation and causing the quality of the fruit to deteriorate or deteriorate. Therefore, farmers need to pay extra high labor costs to perform the above necessary operations, which greatly affects the profit margin of agricultural products. Summary of the invention

[0004] The object of the present invention is to provide an automatic loading and picking fruit machine capable of removing bad fruits.

[0005] To solve the above problems, the present invention provides the following technical solutions:

[0006] An automatic loading and picking machine capable of removing bad fruits, comprising:

[0007] A frame, wherein a plurality of wheels are symmetrically connected to the bottom surface of the frame;

[0008] A connecting shell is arranged on the frame and has openings at both ends. A sorting device is installed in the connecting shell, and the sorting device includes a rejecting block, a transmission rod and an analysis camera. A circular arc through hole is arranged on the side of the connecting shell, and a rejecting block is embedded in the circular arc through hole. The inner side surface of the connecting shell is connected to a plurality of transmission rods. The two ends of the transmission rods are arranged in an array on both sides of the inner side surface of the connecting shell with the tilt of the frame. An analysis camera is arranged above the transmission rod, and the analysis camera is hinged to the inner side surface of the connecting shell. The rejecting block is used to transfer the fruits on the transmission rod to the transport cylinder according to the feedback data of the analysis camera.

[0009] A mechanical arm picking device has one end connected to the connection shell and the other end is equipped with a picking block for picking fruits, wherein the picking block is used to pick fruits and put them into the opening of the connection shell.

[0010] Optionally, the robotic arm picking device includes a robotic arm waist, a robotic arm shoulder, a load-bearing arm, a robotic arm elbow, a robotic arm wrist, a motor and a picking block, the top of the connecting shell is connected to one end of the robotic arm waist, the other end of the robotic arm waist is hinged to one end of the robotic arm shoulder, the sides of the robotic arm waist and the robotic arm shoulder are respectively hinged to the two ends of the load-bearing arm, the other end of the robotic arm shoulder is hinged to one end of the robotic arm elbow, the other end of the robotic arm elbow is hinged to one end of the robotic arm wrist, and the other end of the robotic arm wrist is movably connected to an adjustment motor, the output shaft of the adjustment motor is connected to the picking block, and the adjustment motor is used to control the picking block to rotate.

[0011] Optionally, the picking block includes a rotating piece, an arc piece, a picking roller and a rotating motor, the rotating piece is connected to the output shaft of the rotating motor, a linear groove is arranged on the surface of the rotating piece, two arc pieces are slidably connected in the linear groove, the arc piece passes through the linear groove and is slidably connected to the arc piece screw, the arc piece screw controls the two arc pieces to approach or move away from each other by rotation, and a circular arc groove is arranged in each of the arc pieces; a pair of cover plates are symmetrically arranged on the side of the rotating piece, the opposite surfaces of the pair of cover plates are butt-connected to the picking roller screw, the two ends of the picking roller screw are respectively connected to the picking roller connecting rod, the two ends of the picking roller connecting rod are connected to the picking roller, the two picking rollers connected by the picking roller connecting rod are respectively located in different circular arc grooves, the picking roller is slidably connected to the circular arc groove, and the picking roller screw controls the two picking roller connecting rods to approach or move away from each other by rotation.

[0012] Optionally, the rejection block includes a transport cylinder, a connecting rod, a swinging telescopic rod and a sorting claw, the transport cylinder passes through the arc-shaped through hole of the connecting shell, the two ends of the transport cylinder are respectively located inside and outside the connecting shell, a plurality of swinging connecting rods are hinged on the side of the connecting shell, the swinging connecting rods are symmetrically arranged with the transport cylinder as the center, the symmetrically arranged swinging connecting rods are connected by connecting rods, the connecting rods are connected to the side of the transport cylinder, and the sorting claw is hinged at one end of the transport cylinder located in the connecting shell.

[0013] Optionally, a packaging device is arranged in the connecting shell, and the packaging device includes a bracket, a disc, a transport partition, a debris processing block, a guide block and a packaging block. The bracket is arranged inside the connecting shell, and a plurality of openings are arranged on the surface of the bracket. The bracket is connected to one end of the transmission rod, and the debris processing block and the packaging block are both arranged inside the bracket. A plurality of openings are arranged on the outer side of the bracket, and a disc is connected to the side of the bracket. A plurality of notches are arranged on the surface of the disc, and transport partitions are arranged in an array on the inner side of the disc. A guide block is arranged above the transmission rod, and both ends of the guide block are in contact with the disc and the side of the connecting shell respectively.

[0014] Optionally, the debris processing block includes an air intake pipe and a filter screen, the air intake pipe is arranged on a bracket, the filter screen is arranged inside the bracket, the filter screen faces the transmission rod, and the filter screen is connected to multiple openings on the surface of the bracket.

[0015] Optionally, the packaging block includes an introduction swing rod, a clamping sleeve, a conveying pipe, a cutter, a conveying roll and a roll support rod. The clamping sleeve is symmetrically arranged in the bracket, and the clamping sleeve can be retracted. One end of the clamping sleeve corresponds to the opening of the bracket, and the other end corresponds to the conveying pipe. The introduction swing rod is connected to the opening of the bracket corresponding to the clamping sleeve. A transition port matching the shape of the introduction swing rod is provided at the conveying partition. A cutter is provided between the clamping sleeve and the conveying pipe. The conveying pipe is connected to the outside from the top of the connecting shell. A plurality of conveying rolls are connected to the outside of the connecting rod. Both ends of the conveying roll are connected to the roll support rods, and the roll support rods are provided on the top surface of the connecting shell.

[0016] Optionally, one end of the connecting shell close to the robot arm picking device is connected to one end of the sponge block, and the sponge block tilts and contracts toward the end that contacts the connecting shell.

[0017] Beneficial effects: 1. The picking block of the present invention can pick fruits without damaging branches and fruits, while retaining a certain length of fruit stalks, which can effectively reduce the damage to fruits during the picking process and effectively reduce the economic losses caused by picking.

[0018] 2. The sorting device of the present invention can identify the parts with obvious defects on the surface of the fruit, so as to classify the fruit according to different standards, which is convenient for farmers to sell the fruit in a differentiated manner, can effectively reduce the cost caused by manual sorting, and at the same time improve the convenience of fruit sales.

[0019] 3. The packaging device of the present invention can absorb dust and branches, and then the surface of the fruit is packaged with a foam net. The foam net packaging can prevent the fruit from being bumped during transportation and causing a decrease in fruit quality. At the same time, it can effectively reduce the workload of farmers during the fruit picking season and reduce the corresponding time and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional isometric side structure of the present invention as a whole;

[0021] Figure 2 It is a schematic diagram of the robot arm picking device of the present invention;

[0022] Figure 3 It is a schematic diagram of the connection of the right-angle piece of the present invention;

[0023] Figure 4 A schematic diagram of a block is shown for the present invention;

[0024] Figure 5 This is a schematic diagram of the connection structure of the extraction block of the present invention;

[0025] Figure 6 is a schematic diagram of a sorting device of the present invention;

[0026] Figure 7 It is a connection diagram of the rejection block of the present invention;

[0027] Figure 8 is a schematic diagram of a packaging device of the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the packaging block of the present invention;

[0029] Fig.10 It is a schematic diagram of the positions of the debris processing block and the packaging block of the present invention.

[0030] In the figure: 1, frame; 11, sponge block; 2, mechanical arm picking device; 21, mechanical arm waist; 22, mechanical arm shoulder; 23, load-bearing arm; 24, mechanical arm elbow; 25, mechanical arm wrist; 26, motor; 27, adjustment motor; 271, right-angle piece; 28, rotating motor; 29, picking block; 291, rotating piece; 292, linear groove; 293, arc piece; 2931, arc piece motor; 2932, spiral bevel gear box; 2933, arc piece screw rod; 2934, bracket; 294, circular arc groove; 295, picking roller; 2951, cover plate; 2952, picking roller connecting rod; 2953, picking Take the roller screw; 2954, cover motor; 3, sorting device; 31, rejection block; 311, transport cylinder; 312, connecting rod; 313, swing connecting rod; 314, sorting claw; 315, swing motor; 32, transmission rod; 33, analysis camera; 4, packaging device; 41, bracket; 42, disc; 43, transport partition; 431, transition port; 44, debris processing block; 441, filter screen; 442, suction pipe; 45, guide block; 46, packaging block; 461, introduction swing rod; 462, clamping sleeve; 463, cutter; 464, conveying pipe; 465, conveying reel; 466, reel support rod. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] An automatic loading and picking fruit machine capable of removing bad fruits can replace manpower in picking fruits from fruit trees, and sort the picked fruits, separating defective fruits from high-quality fruits to facilitate differentiated pricing. After the sorting is completed, the packaging device 4 introduces a foam net to cover the surface of the fruit. When the wrapping is completed, the excess foam net is cut off, and then the packaging device 4 stops clamping the fruit, allowing the fruit to be separated from the packaging device 4, thereby realizing the packaging of the fruit, which can be directly packed and sold.

[0033] like Figure 1 and Figure 2 As shown, four wheels are connected to the bottom of the frame 1, and the fruit picking machine can shuttle normally in the aisles reserved between the fruit trees. The position of the frame 1 is inclined at a certain angle relative to the horizontal plane. A connecting shell is connected to the top surface of the frame 1, and the top surface of the connecting shell is flush with the horizontal plane. A mechanical arm picking device 2 is arranged on the top surface of the connecting shell. A plurality of motors 26 are arranged in the mechanical arm picking device 2, which are arranged at the connection of a plurality of components. A mechanical arm waist 21 is installed on the top surface of the connecting shell, and the bottom surface of the mechanical arm waist 21 is connected to the output shaft of the motor 26. The mechanical arm waist 21 can rotate 360° in the horizontal plane, and a mechanical arm shoulder 22 is hinged above the mechanical arm waist 21, and the mechanical arm shoulder 22 is hinged to the mechanical arm The robot arm elbow 24, the robot arm shoulder 22 and the robot arm elbow 24 are hinged with the output end of the motor 26, and the load-bearing arm 23 is arranged on the side of the robot arm shoulder 22 and the robot arm elbow 24. The load-bearing arm 23 is hinged with the robot arm shoulder 22 and the robot arm elbow 24 respectively, and the output shaft of the motor 26 is connected to the hinged area of ​​the load-bearing arm 23 and the robot arm shoulder 22. The robot arm wrist 25 is hinged on the robot arm elbow 24, and the output shaft of the motor 26 is connected to the hinged area of ​​the robot arm wrist 25 and the robot arm elbow 24. The robot arm wrist 25 is connected to the adjustment motor 27, and the robot arm wrist 25 can be extended and retracted; the connection of the above components can facilitate the positioning and picking of fruits in different positions on the fruit trees.

[0034] A sponge block 11 is connected to one end of the connecting shell close to the robot arm picking device 2. The sponge block 11 is fan-shaped and the top surface of the sponge block 11 is inclined. At the end of the sponge block 11 away from the connecting shell, the top surface area of ​​the sponge block 11 is the largest and the height relative to the horizontal plane is the highest. Therefore, the fruit on the top surface of the sponge block 11 will slide to the surface of the transmission rod 32 inside the connecting shell.

[0035] like Figure 3-Figure 5As shown, the output shafts of the picking block 29 and the adjusting motor 27 are connected to the right-angle piece 271, and the connecting surfaces of the output shafts of the picking block 29 and the adjusting motor 27 and the right-angle piece 271 are perpendicular to each other. The rotating piece 291 is connected to the output shaft of the rotating motor 28 through the right-angle piece 271, and the rotating motor 28 can drive the rotating piece 291 to rotate, and the adjusting motor 27 controls the picking block 29 and the rotating motor 28 to rotate;

[0036] A linear groove 292 is provided on the surface of the rotating piece 291, and two arc pieces 293 are slidably connected in the linear groove 292. The arc piece 293 passes through the linear groove 292 and is slidably connected with an arc piece screw rod 2933. The middle position of the arc piece screw rod 2933 is connected to the output end of the spiral bevel gear box 2932. With the middle position of the arc piece screw rod 2933 as the boundary, the left and right sides of the arc piece screw rod 2933 have opposite rotation directions. The input end of the spiral bevel gear box 2932 is connected to an arc piece motor 2931. A bracket 2934 is provided on the side of the arc piece motor 2931 and is connected to the rotating piece 291. The arc piece motor 2931 rotates to control the two arc pieces 293 to move closer or farther away from each other; a circular arc groove 294 is provided in each arc piece 293;

[0037] A pair of cover plates 2951 are symmetrically arranged on the side of the rotating piece 291, and the opposite surfaces of the pair of cover plates 2951 are connected to the picking roller screw rod 2953, and the middle position of the picking roller screw rod 2953 is used as the boundary. The left and right sides of the picking roller screw rod 2953 have opposite rotation directions. A cover plate motor 2954 is connected to the inside of at least one cover plate 2951, and the two ends of the picking roller screw rod 2953 are respectively connected to the picking roller connecting rod 2952, and the two ends of the picking roller connecting rod 2952 are connected to the picking roller 295. The two picking rollers 295 connected by the picking roller connecting rod 2952 are respectively located in different arc grooves 294, and the picking rollers 295 are slidably connected to the arc groove 294. The picking roller screw rod 2953 controls the two picking roller connecting rods 2952 to move closer or farther from each other by rotation, so as to realize the one-time picking of a single fruit or multiple fruits.

[0038] like Figure 6 and Figure 7As shown, a sorting device 3 is connected to the inside of the connecting shell, and the sorting device 3 is located in the arc-shaped through holes on both sides of the connecting shell. The sorting device 3 includes a rejection block 31, a transmission rod 32 and an analysis camera 33. The side of the connecting shell is provided with an arc-shaped through hole, and the rejection block 31 is embedded in the arc-shaped through hole. The inner side of the connecting shell is connected with a plurality of transmission rods 32. The two ends of the transmission rods 32 are arranged in an array on both sides of the inner side of the connecting shell with the frame 1. The array arrangement of the transmission rods 32 is inclined with the angle of the frame 1. The connection between the transmission rod 32 and the connecting shell is located below the arc-shaped through hole. An analysis camera 33 is arranged above the transmission rod 32. The analysis camera 33 is hinged to the inner side of the connecting shell. The analysis camera 33 is arranged at the relatively highest point of the inner side of the connecting shell. The lens of the analysis camera 33 can observe the surface of all transmission rods 32. The analysis camera 33 collects information about the fruit on the surface of the transmission rod 32 and analyzes the information on the surface of the fruit, thereby controlling the extension and swing of the rejection block 31 to remove the bad fruit.

[0039] The reject block 31 includes a transport cylinder 311, a connecting rod 312, a swing telescopic rod and a sorting claw 314. The transport cylinder 311 passes through the arc-shaped through hole of the connecting shell. The two ends of the transport cylinder 311 are respectively located inside and outside the connecting shell. A plurality of swing connecting rods 313 are hinged on the side of the connecting shell. The swing connecting rods 313 are symmetrically arranged on both sides of the transport cylinder 311 with the transport cylinder 311 as the center. Each swing connecting rod 313 is connected to a swing motor 315. The two symmetrically arranged swing connecting rods 313 are connected through the connecting rod 312. The connecting rod 312 is connected to the side of the transport cylinder 311. The transport cylinder 311 is at one end in the connecting shell. A sorting claw 314 is hingedly connected, and the sorting claw 314 can transport the fruit into the transport cylinder 311. The fruit will roll on the surface of the transmission rod 32. During the rolling process of the fruit, the analysis camera 33 can analyze the color of the fruit surface. The swing motor 315 controls the extension and retraction of the swing telescopic rod to make the transport cylinder 311 approach the fruit with abnormal color. After the transport cylinder 311 approaches, the sorting claw 314 is controlled to swing, and the fruit with abnormal color is sent into the transport cylinder 311. Then, the swing motor 315 controls the swing of the swing telescopic rod to lift the transport cylinder 311 inside the connecting shell, so that the fruit in the cylinder slides out of the connecting shell according to the height difference.

[0040] like Figure 8-Figure 10As shown, a packaging device 4 is docked at the transmission rod 32 away from the connection shell, and the packaging device 4 includes a bracket 41, a disc 42, a transport baffle 43, a debris processing block 44, a guide block 45 and a packaging block 46. The bracket 41 is arranged inside the connection shell, and a plurality of openings are arranged on the surface of the bracket 41. The bracket 41 is docked with one end of the transmission rod 32. The debris processing block 44 and the packaging block 46 are both arranged inside the bracket 41. A plurality of openings are arranged on the outer side of the bracket 41. A disc 42 is connected to the side of the bracket 41. A plurality of notches are arranged on the surface of the disc 42. A transport baffle 43 is arranged in an array on the inner side of the disc 42. A guide block 45 is arranged above the transmission rod 32, and the two ends of the guide block 45 are respectively in contact with the disc 42 and the side of the connection shell.

[0041] The debris processing block 44 includes an air intake pipe 442 and a filter 441 . The air intake pipe 442 is arranged on the top. The filter 441 is arranged inside the bracket 41 . The filter 441 faces the transmission rod 32 and is connected to multiple openings on the surface of the bracket 41 .

[0042] The packaging block 46 includes an introduction swing rod 461, a clamping sleeve 462, a conveying pipe 464, a cutter 463, a conveying roll 465 and a roll support rod 466. The clamping sleeve 462 is symmetrically arranged in the bracket 41 from top to bottom. The clamping sleeve 462 can be extended and retracted relative to the position of the conveying roll 465. One end of the clamping sleeve 462 corresponds to the notch of the disc 42, and the other end corresponds to the conveying pipe 464. The introduction swing rod 461 is connected to the opening of the bracket 41 corresponding to the clamping sleeve 462. The transport partition 43 is provided with a transition port 431 matching the shape of the introduction swing rod 461. Between the clamping sleeve 462 and the conveying pipe 464, a transition port 431 is provided. A cutter 463 is provided, and the cutter 463 can move up and down to cut the foam net transported to the surface of the clamping sleeve 462 by the conveying reel 465. After the cutting is completed, the clamping sleeve 462 shrinks, so that the clamping sleeve 462 no longer contacts the fruit. At the same time, the foam net outside the clamping sleeve 462 will cover the surface of the fruit due to the shrinkage of the clamping sleeve 462. The conveying pipe 464 is led to the top of the connecting shell and communicated with the outside. The part of the conveying pipe 464 located at the connecting shell is connected to a plurality of conveying reels 465, and the two ends of the conveying reel 465 are connected to reel support rods 466, and the reel support rods 466 are arranged on the top surface of the connecting shell.

[0043] In this embodiment, the working scene of an automatic loading and picking machine with the function of removing bad fruits is as follows: the wheels drive the overall displacement of the device. During the movement of the device, the picking block 29 of the mechanical arm picking device 2 picks the fruits on the fruit trees on both sides of the device. The picking roller 295 in the picking block 29 moves along the arc track in accordance with the arc-shaped surface of the fruit. The picking roller 295 is arranged between the branch and the fruit. After being clamped by the two picking rollers 295, a certain rotational force is provided to separate the fruit from the branch while retaining a certain length of the fruit stalk.

[0044] The separated fruits fall on the top surface of the sponge block 11, and slide into the top surface of the transmission rod 32 through the slope of the sponge block 11 itself. The transmission rod 32 itself rotates, and the angle of the transmission rod 32 is tilted to a certain extent relative to the horizontal surface. The fruits on the surface of the transmission rod 32 will roll and be delivered to the next transmission rod 32. Under the illumination of the analysis camera 33, for fruits with abnormal surface color, the swing motor 315 controls the transport cylinder 311 to move, and then controls the sorting claw 314 to send the fruits with abnormal color into the transport cylinder 311, and then controls one end of the transport cylinder 311 located inside the connecting shell to tilt upward, and the fruits in the transport cylinder 311 will slide out of the connecting shell and be transported to the outside.

[0045] The sorted fruits begin to face the packaging device 4. A guide block 45 is provided above the rear end transmission rod 32. The two ends of the guide block 45 are in contact with the outer side of the disc 42 and the inner side of the connecting shell respectively. The guide block is provided in the direction where the notch of the disc 42 gradually approaches the transmission rod 32. In the packaging device 4, the guide block 45 and the bracket 41 do not rotate. The disc 42 drives the transport partition 43 to rotate. A transition opening 431 matching the shape of the introduction swing rod 461 is provided on the surface of the transport partition 43. When the transport partition 43 rotates, the introduction swing rod 461 will pass through the transition opening 431 of the transport partition 43 to introduce the fruits transported by the transport partition 43 into the packaging device 4. In the clamping sleeve 462, when the clamping sleeve 462 is clamped with fruit, the conveying reel 465 will start to operate, and the foam net will be passed from the outside along the conveying pipe 464 to the surface of the clamping sleeve 462. At this time, the cutter 463 cuts off the foam net on the surface of the clamping sleeve 462 and the foam net on the surface of the conveying pipe 464. Then, the clamping sleeves 462 arranged above and below shrink respectively, and the foam net on the surface of the clamping sleeve 462 shrinks along with the shrinkage of the clamping sleeve 462 until it contacts the surface of the fruit. Then, the fruit will fall off the clamping sleeve 462 wrapped with the foam net, and then leave the packaging device 4 through the gap of the disc 42, thereby realizing the picking, rejection and packaging of the fruit. The above shows and describes the basic principles, main features and advantages of the present invention. The technicians in this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The protection scope of the present invention is defined by the following claims and their equivalents.

Claims

1. An automatic loading and picking machine capable of removing bad fruits, characterized in that: include: A vehicle frame (1), wherein a plurality of wheels are symmetrically connected to a bottom surface of the vehicle frame (1); A connecting shell is arranged on the frame (1) and has openings at both ends. A sorting device (3) is installed in the connecting shell. The sorting device (3) comprises a rejecting block (31), a transmission rod (32) and an analysis camera (33). A circular arc through hole is arranged on the side of the connecting shell. The rejecting block (31) is embedded in the circular arc through hole. The inner side surface of the connecting shell is connected to a plurality of transmission rods (32). The two ends of the transmission rods (32) are arranged in an array on both sides of the inner side surface of the connecting shell in an inclined manner along with the frame (1). An analysis camera (33) is arranged above the transmission rod (32). The analysis camera (33) is hinged to the inner side surface of the connecting shell. The rejecting block (31) is used to transfer the fruit on the transmission rod (32) to the transport cylinder (311) according to feedback data from the analysis camera (33). A mechanical arm picking device (2), one end of which is connected to the connecting shell, and the other end of which is equipped with a picking block (29) for picking fruits, the picking block (29) being used to pick fruits and put them into the opening of the connecting shell; The robot arm picking device (2) comprises a robot arm waist (21), a robot arm shoulder (22), a load-bearing arm (23), a robot arm elbow (24), a robot arm wrist (25), a motor (26) and a picking block (29); the top of the connecting shell is connected to one end of the robot arm waist (21); the other end of the robot arm waist (21) is hinged to one end of the robot arm shoulder (22); the sides of the robot arm waist (21) and the robot arm shoulder (22) are respectively hinged to two ends of the load-bearing arm (23); the other end of the robot arm shoulder (22) is hinged to one end of the robot arm elbow (24); the other end of the robot arm elbow (24) is hinged to one end of the robot arm wrist (25); the other end of the robot arm wrist (25) is movably connected to an adjustment motor (27); the output shaft of the adjustment motor (27) is connected to the picking block (29); the adjustment motor (27) is used to control the picking block (29) to rotate; The picking block (29) comprises a rotating piece (291), an arc-shaped piece (293), a picking roller (295) and a rotating motor (28); the rotating piece (291) is connected to the output shaft of the rotating motor (28); a linear groove (292) is provided on the surface of the rotating piece (291); two arc-shaped pieces (293) are slidably connected in the linear groove (292); the arc-shaped piece (293) passes through the linear groove (292) and is slidably connected to an arc-shaped piece lead screw (2933); the arc-shaped piece lead screw (2933) controls the two arc-shaped pieces (293) to move closer to or farther from each other by rotating; each arc-shaped piece (293) is provided with an arc groove (294); the rotating piece (291) is connected to the output shaft of the rotating motor (28); a linear groove (292) is provided on the surface of the rotating piece (291); two arc-shaped pieces (293) are slidably connected in the linear groove (292); the arc-shaped piece lead screw (2933) passes through the linear groove (292) and is slidably connected to the arc-shaped piece lead screw (2933); the arc-shaped piece lead screw (2933) controls the two arc-shaped pieces (293) to move closer to or farther from each other by rotating; each arc-shaped piece (293) is provided with an arc groove (294); A pair of cover plates (2951) are symmetrically arranged on the side of the movable plate (291); the opposite surfaces of the pair of cover plates (2951) are butt-connected to a picking roller screw rod (2953); the two ends of the picking roller screw rod (2953) are respectively connected to a picking roller connecting rod (2952); the two ends of the picking roller connecting rod (2952) are connected to a picking roller (295); the two picking rollers (295) connected to the picking roller connecting rod (2952) are respectively located in different circular arc grooves (294); the picking rollers (295) are slidably connected to the circular arc grooves (294); the picking roller screw rod (2953) controls the two picking roller connecting rods (2952) to move closer to or farther from each other by rotating; The rejecting block (31) comprises a transport cylinder (311), a connecting rod (312), a swing telescopic rod and a sorting claw (314); the transport cylinder (311) passes through an arc-shaped through hole of a connecting shell; two ends of the transport cylinder (311) are respectively located inside and outside the connecting shell; a plurality of swing connecting rods (313) are hingedly connected to the side surface of the connecting shell; the swing connecting rods (313) are symmetrically arranged with the transport cylinder (311) as the center; the symmetrically arranged swing connecting rods (313) are connected via a connecting rod (312); the connecting rod (312) is connected to the side surface of the transport cylinder (311); and one end of the transport cylinder (311) located inside the connecting shell is hingedly connected to the sorting claw (314).

2. The automatic loading and picking machine for removing bad fruits according to claim 1, characterized in that: A packaging device (4) is arranged inside the connecting shell, and the packaging device (4) comprises a bracket (41), a disc (42), a transport partition (43), a debris processing block (44), a guide block (45) and a packaging block (46). The bracket (41) is arranged inside the connecting shell, and a plurality of openings are arranged on the surface of the bracket (41). The bracket (41) is butted with one end of the transmission rod (32). The debris processing block (44) and the packaging block (46) are both arranged inside the bracket (41). A plurality of openings are arranged on the outside of the bracket (41). The side surface of the bracket (41) is externally connected to the disc (42), and a plurality of notches are arranged on the surface of the disc (42). The transport partition (43) is arranged in an array on the inside of the disc (42). A guide block (45) is arranged above the transmission rod (32), and two ends of the guide block (45) are respectively in contact with the disc (42) and the side surface of the connecting shell.

3. The automatic loading and picking machine for removing bad fruits according to claim 2, characterized in that: The debris processing block (44) comprises an air intake pipe (442) and a filter screen (441); the air intake pipe (442) is arranged on the bracket (41); the filter screen (441) is arranged inside the bracket (41); the filter screen (441) faces the transmission rod (32); and the filter screen (441) is connected to a plurality of openings on the surface of the bracket (41).

4. The automatic loading and picking machine for removing bad fruits according to claim 2, characterized in that: The packaging block (46) comprises an introduction swing rod (461), a clamping sleeve (462), a conveying pipe (464), a cutter (463), a conveying roll (465) and a roll support rod (466); the clamping sleeve (462) is symmetrically arranged in the support seat (41); the clamping sleeve (462) is capable of being telescopic; one end of the clamping sleeve (462) corresponds to an opening of the support seat (41), and the other end corresponds to the conveying pipe (464); the introduction swing rod (461) is connected to the opening of the support seat (41) corresponding to the clamping sleeve (462). The transport partition (43) is provided with a transition opening (431) matching the shape of the introduced swing rod (461), a cutter (463) is provided between the clamping sleeve (462) and the transport pipe (464), the transport pipe (464) is connected to the outside from the top of the connecting shell, the outer side of the connecting rod (312) is connected to a plurality of transport reels (465), the two ends of the transport reel (465) are connected to reel support rods (466), and the reel support rods (466) are provided on the top surface of the connecting shell.

5. The automatic loading and picking machine for removing bad fruits according to claim 1, characterized in that: One end of the connection shell close to the robot arm picking device (2) is connected to one end of the sponge block (11), and the sponge block (11) is inclined and retracted towards the end in contact with the connection shell.

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