An agricultural picking robot

Abstract

The present application relates to the technical field of agricultural picking, and particularly relates to an agricultural picking robot; the technical scheme: the agricultural picking robot comprises a moving trolley, a digital display screen, a running module, a supporting and pressing assembly, a direction adjusting assembly, a picking module, a pushing and pressing assembly, a flexible bag and an adaptive adjusting assembly; the supporting and pressing assembly is arranged at both ends of the moving trolley and can be used for pressing and moving the main stem of a fruit tree to deviate for picking; the direction adjusting assembly can drive the picking module to adjust the direction; the picking module can be used for picking fruits; the pushing and pressing assembly is symmetrically arranged at both sides of the direction adjusting assembly and can be used for assisting picking to separate branches; the flexible bag is arranged at one side of the direction adjusting assembly and can be used for storing fruits in cooperation with the picking module; and the adaptive adjusting assembly is arranged at both sides of the flexible bag and can be used for driving the flexible bag to expand and contract, thereby improving the overall picking effect.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of agricultural picking, and in particular to an agricultural picking robot. BACKGROUND

[0002] Agricultural picking refers to the process of picking crops or fruits from farmland or orchards after they are ripe according to certain standards and technical requirements. Agricultural picking robots are important tools in modern agriculture. They provide more efficient, more accurate and more sustainable ways for agricultural production through advanced technological means. The existing picking robots directly shear the operation after the crops are ripe, which produces excessive shaking, easily damages the adjacent fruits, damages the fruit surface, affects the fruit storage, and reduces the overall picking effect due to the obstruction of branches and leaves on the tree. Therefore, the agricultural picking robot is proposed to solve the above problems. SUMMARY

[0003] In order to overcome the problem that the picking robot directly shears the operation after the crops are ripe, which produces excessive shaking, easily damages the adjacent fruits, damages the fruit surface, affects the fruit storage, and reduces the overall picking effect due to the obstruction of branches and leaves on the tree.

[0004] The technical scheme of the application is as follows: an agricultural picking robot comprises a moving trolley, a digital display screen, a running module, a supporting and pressing assembly, a direction adjusting assembly, a picking module, a pushing and pressing assembly, a flexible bag and an adaptive adjusting assembly. The side end of the moving trolley is provided with a digital display screen for displaying overall data. The bottom of the moving trolley is provided with a running module for supporting the overall running to the appropriate position. Both ends of the moving trolley are provided with supporting and pressing assemblies for pressing and moving the main rod of the fruit tree to deviate for picking. The moving trolley is provided with a direction adjusting assembly for driving the picking module to adjust the direction. The upper end of the direction adjusting assembly is provided with a picking module for picking fruits. The two sides of the direction adjusting assembly are symmetrically provided with pushing and pressing assemblies for assisting picking and branch pushing operation. One side of the direction adjusting assembly is provided with a flexible bag for storing fruits in cooperation with the picking module. Both sides of the flexible bag are provided with adaptive adjusting assemblies for driving the expansion and contraction.

[0005] Preferably, through the support and pressure components, which are arranged at both ends of the mobile cart, it can be used to press and push the main stem of the fruit tree to deflect it for easy picking; through the direction adjustment component, which is arranged on the mobile cart, it can drive the picking module to perform steering adjustment; through the picking module, which is arranged at the upper end of the direction adjustment component, it can be used to pick fruits; through the spreading and pressing components, which are symmetrically arranged on both sides of the direction adjustment component, it can be used to assist in picking and performing branch spreading operations; through the flexible pocket bag, which is arranged on one side of the direction adjustment component, it can be used to cooperate with the picking module to store fruits; through the adaptation adjustment components, which are arranged on both sides of the flexible pocket bag, it can be used to drive expansion and contraction, thereby improving the overall picking effect.

[0006] Preferably, the driving module includes a chassis, a lithium battery pack, a conductive shaft, a shock-absorbing ring, a wheel, an air cushion, an anti-sliding block and an obstacle avoidance sensor. A lithium battery pack is provided in the center of the chassis, two groups of conductive shafts are linearly passed through the chassis, shock-absorbing rings are provided at both ends of the conductive shaft, wheels are provided at both ends of the conductive shaft, a motor group electrically connected to the lithium battery pack is provided inside the wheel, an anti-sliding block is provided circumferentially at the outer end of the wheel, an air cushion is provided in the center of the wheel, and an obstacle avoidance sensor is provided on the air cushion.

[0007] Preferably, the support and pressure assembly includes a first adjustment frame, a second adjustment frame, a first control motor, a first steering rod, a support plate, a pressure ball, a rotating disk, a second control motor, a third control motor, a positioning disk, a fixed sleeve, a second steering rod and a scale bar. A first steering rod is provided between the first adjustment frame and the second adjustment frame. The first control motor drives the first steering rod to drive the first adjustment frame and the second adjustment frame to steering operation. A support plate is provided at the end of the second adjustment frame away from the first adjustment frame, and pressure balls are distributed on the support plate.

[0008] Preferably, the first adjustment frame is provided with a positioning disk in a direction away from the second adjustment frame, a rotating disk is provided at the center of the positioning disk, a fixed sleeve is fixed laterally on the rotating disk, a second steering rod connected to the first adjustment frame is provided at the center of the fixed sleeve, the third control motor drives the second steering rod to drive the first adjustment frame to rotate, a scale bar corresponding to the rotating disk is provided circumferentially on the positioning disk, and the second control motor drives the rotating disk to rotate.

[0009] Preferably, the direction adjustment assembly includes a rotating disk, a fixed tube, a protective ring, a first drive motor, a connecting frame, a second drive motor, a first coupling, an extension plate and a first camera. A rotating disk is provided at the center of the fixed tube, and a protective ring fixedly connected to the rotating disk is symmetrically provided on the periphery of the rotating disk. A connecting frame is provided on the top of the rotating disk. The first drive motor drives the rotating disk to drive the connecting frame to rotate. The connecting frames are arranged in three groups. A first coupling is provided between two groups of connecting frames. The second drive motor drives the first coupling to drive the two groups of connecting frames to adjust the steering. An extension plate is provided at the end of the connecting frame away from the first coupling, and the outer end of the extension plate is provided with a first camera.

[0010] As preferred, the picking module comprises a first rotating shaft, a first driving motor, an adjusting clamp, a fixing clamp, a cutting tooth, a second rotating shaft, a second driving motor and a mounting sleeve, the top of the first rotating shaft is provided with the adjusting clamp and the fixing clamp, the adjusting clamp and the fixing clamp are linearly provided with the cutting tooth between them, the second rotating shaft is arranged between the adjusting clamp and the first rotating shaft, the mounting sleeve is arranged on the outer side of the second rotating shaft, the second driving motor drives the second rotating shaft to drive the adjusting clamp to adjust the direction, and the first driving motor drives the first rotating shaft to drive the adjusting clamp and the fixing clamp to change the direction.

[0011] As preferred, the pushing and pressing assembly comprises a guide frame, a first servo motor, a second camera, a reinforcing head, a swing frame, a third driving motor and a positioning hole, the top of the guide frame is provided with the reinforcing head, a plurality of groups of the second camera are linearly arranged on the guide frame, a shaft is arranged at the end of the guide frame away from the reinforcing head, the first servo motor drives the shaft to drive the guide frame to rotate, the swing frame is arranged on the reinforcing head, a shaft is arranged between the swing frame and the reinforcing head, the swing frame is linearly provided with the positioning hole, and the third driving motor drives the shaft to drive the swing frame to swing.

[0012] As preferred, the top of the flexible bag is provided with a positioning frame, the bottom of the flexible bag is provided with a base, the inner wall of the flexible bag is provided with a flexible layer, and the adaptive adjusting assembly comprises a first extension rod, a second extension rod, a bending frame, a positioning pin, a limiting hole, a second servo motor, a third servo motor, a second coupling and a third coupling, the second coupling is arranged between the first extension rod and the second extension rod, the third servo motor drives the second coupling to drive the first extension rod and the second extension rod to change the direction.

[0013] As preferred, the end of the first extension rod away from the second coupling is provided with the bending frame, the limiting hole is linearly arranged on the bending frame, the center of the limiting hole is provided with the positioning pin, the third coupling is arranged between the bending frame and the first extension rod, and the second servo motor drives the third coupling to drive the bending frame and the first extension rod to change the direction.

[0014] The present application has the following advantages:

[0015] 1. According to previous picking robots, after the crops are mature, due to the obstruction of branches and leaves on the tree, direct cutting operation will cause excessive shaking, which is easy to damage the adjacent fruits, damage the surface of the fruit, affect the storage of the fruit, and reduce the overall picking effect. The difference is that the driving module is located at the bottom of the mobile trolley and can be used to support the overall driving to the appropriate position. The supporting and pressing components are located at both ends of the mobile trolley and can be used to press and push the main stem of the fruit tree to deflect for easy picking. The direction adjustment component is located on the mobile trolley and can drive the picking module to adjust the steering. The picking module is located at the upper end of the direction adjustment component and can be used to pick fruits. The pushing and pressing components are symmetrically located on both sides of the direction adjustment component and can be used to assist in picking branches and pulling apart operations. The flexible pocket is located on one side of the direction adjustment component and can be used to cooperate with the picking module for fruit storage. The adaptive adjustment components are located on both sides of the flexible pocket and can be used to drive expansion and contraction to improve the overall picking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the picking robot of the present invention;

[0017] Figure 2 This is a schematic diagram of the driving module of the picking robot of the present invention;

[0018] Figure 3 This is a schematic diagram of the supporting and pressing components of the picking robot of the present invention;

[0019] Figure 4 This is a schematic diagram of the direction adjustment component and the prying and pressing component of the picking robot of the present invention;

[0020] Figure 5 Schematic diagram of the picking module of the picking robot of the present invention;

[0021] Figure 6 Schematic diagram of the flexible pocket and adaption adjustment components of the picking robot of the present invention.

[0022] Explanation of reference signs: 1, mobile trolley; 2, digital display screen; 3, travel module; 4, supporting and pressing assembly; 5, direction adjusting assembly; 6, picking module; 7, pushing and pressing assembly; 8, flexible bag; 9, adaptive adjusting assembly; 301, chassis; 302, lithium battery pack; 303, transmission shaft; 304, shock absorbing ring; 305, wheel; 306, air cushion disc; 307, anti-skid block; 308, obstacle avoidance sensor; 401, first adjusting frame; 402, second adjusting frame; 403, first control motor; 404, first steering rod; 405, supporting plate; 406, pressing ball; 407, rotating disc; 408, second control motor; 409, third control motor; 410, fixed sleeve; 411, second steering rod; 412, scale bar; 413, positioning disc; 501, rotating disc; 502, fixed tube; 503, protection ring; 504, first drive motor; 505, connecting frame; 506, second drive motor; 507, first coupling; 508, extension plate; 509, first camera; 601, first rotating shaft; 602, first drive motor; 603, adjusting clamp plate; 604, fixed clamp plate; 605, cutting tooth; 606, second rotating shaft; 607, second drive motor; 608, mounting sleeve; 701, guide frame; 702, first servo motor; 703, second camera; 704, reinforcing head; 705, swing frame; 706, third drive motor; 707, positioning hole; 801, base; 802, positioning frame; 901, first extension rod; 902, second extension rod; 903, bent frame; 904, positioning pin; 905, limiting hole; 906, second servo motor; 907, third servo motor; 908, second coupling; 909, third coupling. DETAILED DESCRIPTION

[0023] The application will be further described below in conjunction with the drawings and examples.

[0024] Please refer to Figure 1-2The application provides an embodiment of an agricultural picking robot which comprises a moving trolley 1, a digital display screen 2, a driving module 3, a supporting and pressing assembly 4, a direction adjusting assembly 5, a picking module 6, a pushing and pressing assembly 7, a flexible bag 8 and an adaptive adjusting assembly 9. The side end of the moving trolley 1 is provided with the digital display screen 2 for displaying overall data, the bottom of the moving trolley 1 is provided with the driving module 3 for supporting the overall driving to a suitable position, both ends of the moving trolley 1 are provided with the supporting and pressing assembly 4 for pressing and moving the main rod of a fruit tree to deviate for picking, the moving trolley 1 is provided with the direction adjusting assembly 5 for driving the picking module 6 to adjust the direction, the upper end of the direction adjusting assembly 5 is provided with the picking module 6 for picking fruits, the two sides of the direction adjusting assembly 5 are symmetrically provided with the pushing and pressing assembly 7 for assisting picking to branch and push, one side of the direction adjusting assembly 5 is provided with the flexible bag 8 for storing fruits in cooperation with the picking module 6, and both sides of the flexible bag 8 are provided with the adaptive adjusting assembly 9 for driving to expand and contract.

[0025] Please refer to Figure 2-4 In the embodiment, the driving module 3 comprises a chassis 301, a lithium battery group 302, a transmission shaft 303, a damping ring 304, a wheel 305, an air cushion disc 306, an anti-skid block 307 and an obstacle avoidance sensor 308. The center of the chassis 301 is provided with the lithium battery group 302, the chassis 301 is linearly provided with two groups of transmission shafts 303, both ends of the transmission shaft 303 are provided with the damping ring 304, both ends of the transmission shaft 303 are provided with the wheel 305, the inside of the wheel 305 is provided with a motor group electrically connected with the lithium battery group 302, the outer end of the wheel 305 is annularly provided with the anti-skid block 307, the center of the wheel 305 is provided with the air cushion disc 306, and the air cushion disc 306 is provided with the obstacle avoidance sensor 308, which is a CNS-LS05i type. The supporting and pressing assembly 4 comprises a first adjusting frame 401, a second adjusting frame 402, a first control motor 403, a first steering rod 404, a supporting plate 405, a pressing ball 406, a rotating disc 407, a second control motor 408, a third control motor 409, a positioning disc 413, a fixed sleeve 410, a second steering rod 411 and a scale bar 412. The first adjusting frame 401 and the second adjusting frame 402 are provided with the first steering rod 404, the first control motor 403 drives the first steering rod 404 to drive the first adjusting frame 401 and the second adjusting frame 402 to steer, one end of the second adjusting frame 402 away from the first adjusting frame 401 is provided with the supporting plate 405, and the supporting plate 405 is distributed with the pressing ball 406.

[0026] Please refer to Figure 3-4In the embodiment, the first adjusting frame 401 is provided with a positioning disc 413 away from the second adjusting frame 402, the center of the positioning disc 413 is provided with a rotating disc 407, the rotating disc 407 is transversely and fixedly provided with a fixed sleeve 410, the center of the fixed sleeve 410 is provided with a second steering rod 411 connected with the first adjusting frame 401, a third control motor 409 drives the second steering rod 411 to drive the first adjusting frame 401 to rotate, the positioning disc 413 is annularly provided with a scale bar 412 corresponding to the rotating disc 407, a second control motor 408 drives the rotating disc 407 to rotate, the direction adjusting assembly 5 comprises a rotating disc 501, a fixed tube 502, a protection ring 503, a first driving motor 504, a connecting frame 505, a second driving motor 506, a first coupling 507, an extension plate 508 and a first camera 509, the center of the fixed tube 502 is provided with the rotating disc 501, the periphery of the rotating disc 501 is symmetrically provided with the protection ring 503 fixedly connected with the rotating disc 501, the top of the rotating disc 501 is provided with the connecting frame 505, the first driving motor 504 drives the rotating disc 501 to drive the connecting frame 505 to rotate, the connecting frame 505 is provided in three groups, the first coupling 507 is arranged between two connecting frames 505, the second driving motor 506 drives the first coupling 507 to drive the two connecting frames 505 to adjust the direction, the end of the connecting frame 505 away from the first coupling 507 is provided with the extension plate 508, and the outer end of the extension plate 508 is provided with the first camera 509.

[0027] Please refer to Figure 4-5In this embodiment, the picking module 6 includes a first rotating shaft 601, a first driving motor 602, an adjusting splint 603, a fixed splint 604, a cutting tooth 605, a second rotating shaft 606, a second driving motor 607 and a mounting sleeve 608. The adjusting splint 603 and the fixed splint 604 are oppositely arranged on the top of the first rotating shaft 601. The cutting tooth 605 is linearly opened between the adjusting splint 603 and the fixed splint 604. The second rotating shaft 606 is provided between the adjusting splint 603 and the first rotating shaft 601. The outer sleeve of the second rotating shaft 606 is provided with a mounting sleeve 608. The second driving motor 607 drives the second rotating shaft 606 to drive the adjusting splint 603 to adjust the direction. The first driving motor 602 drives the first rotating shaft 601 to drive the adjusting The splint 603 and the fixed splint 604 are turned, and the pressing assembly 7 includes a guide frame 701, a first servo motor 702, a second camera 703, a reinforcement head 704, a swing frame 705, a third drive motor 706 and a positioning hole 707. The top of the guide frame 701 is provided with a reinforcement head 704, and multiple groups of second cameras 703 are linearly provided on the guide frame 701. An axis is passed through the end of the guide frame 701 away from the reinforcement head 704. The first servo motor 702 drives the axis to drive the guide frame 701 to rotate. A swing frame 705 is provided on the reinforcement head 704. A shaft is provided between the swing frame 705 and the reinforcement head 704. A positioning hole 707 is linearly opened on the swing frame 705. The third drive motor 706 drives the axis to drive the swing frame 705 to swing.

[0028] See also Figure 5-6 In this embodiment, a positioning frame 802 is provided on the top of the flexible pocket bag 8, a base 801 is provided on the bottom of the flexible pocket bag 8, a flexible layer is provided on the inner wall of the flexible pocket bag 8, and the adaption adjustment component 9 includes a first extension rod 901, a second extension rod 902, a bent frame 903, a positioning pin 904, a limiting hole 905, a second servo motor 906, a third servo motor 907, a second coupling 908 and a third coupling 909. A second coupling 908 is provided between the first extension rod 901 and the second extension rod 902, and the third coupling 909 is provided. The third servo motor 907 drives the second coupling 908 to drive the first extension rod 901 and the second extension rod 902 to steer. A bent frame 903 is provided at the end of the first extension rod 901 away from the second coupling 908. A limiting hole 905 is provided along the edge of the bent frame 903. A positioning pin 904 is provided in the center of the limiting hole 905. A third coupling 909 is provided between the bent frame 903 and the first extension rod 901. The second servo motor 906 drives the third coupling 909 to drive the bent frame 903 and the first extension rod 901 to steer.

[0029] During operation, the parameters are adjusted using the digital display screen 2, the lithium battery pack 302 supplies power to the driving module 3, the motor group drives the transmission shaft 303 to drive the wheel 305 to turn to the appropriate position, and the obstacle avoidance sensor 308 performs obstacle avoidance protection. As the tree moves, the first control motor 403 drives the first steering rod 404 to drive the first adjustment frame 401 and the second adjustment frame 402 to turn, the third control motor 409 drives the second steering rod 411 to drive the first adjustment frame 401 to rotate, and the second control motor 408 drives the rotating disk 407 to rotate, pressing the support plate 405 and the pressure ball 406 against the main body of the tree, performing overall biased pressing to facilitate subsequent picking;

[0030] When picking, the first drive motor 504 drives the rotating disk 501 to drive the connecting frame 505 to rotate, the second drive motor 506 drives the first coupling 507 to drive the two sets of connecting frames 505 to steer and adjust, the first camera 509 observes the direction, the first drive motor 602 drives the first rotating shaft 601 to drive the adjusting clamping plate 603 and the fixed clamping plate 604 to steer, the second drive motor 607 drives the second rotating shaft 606 to drive the adjusting clamping plate 603 to steer and adjust, the positioning hole 707 is used to install a suitable stick, the first servo motor 702 drives the shaft to drive the guide frame 701 to rotate, the third drive motor 706 drives the shaft to drive the swing frame 705 to swing, and the second camera 703 is used to observe and separate the branches for picking;

[0031] The third servo motor 907 drives the second coupling 908 to drive the first extension rod 901 and the second extension rod 902 to turn, and the positioning pin 904 and the bolt are inserted into the limiting hole 905 to position the flexible pocket 8 to complete the positioning. The second servo motor 906 drives the third coupling 909 to drive the bending frame 903 and the first extension rod 901 to turn, and make appropriate adjustments to store fruits.

[0032] Through the above steps, the supporting and pressing components 4 are arranged at both ends of the mobile cart 1, which can be used to press and push the main stem of the fruit tree to deflect it for easy picking. The direction adjustment component 5 is arranged on the mobile cart 1, which can drive the picking module 6 to perform steering adjustment. The picking module 6 is arranged at the upper end of the direction adjustment component 5, which can be used to pick fruits. The pushing and pressing components 7 are symmetrically arranged on both sides of the direction adjustment component 5, which can be used to assist in picking and branching operations. The flexible pocket bag 8 is arranged on one side of the direction adjustment component 5, which can be used to cooperate with the picking module 6 for fruit storage. The adapting and adjusting components 9 are arranged on both sides of the flexible pocket bag 8, which can be used to drive expansion and contraction to improve the overall picking effect.

[0033] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims

1. An agricultural picking robot, comprising a mobile vehicle (1); characterized in that: The mobile trolley (1) further comprises a digital display screen (2), a driving module (3), a supporting and pressing component (4), a direction adjustment component (5), a picking module (6), a pushing and pressing component (7), a flexible pocket (8) and an adaption adjustment component (9); a digital display screen (2) for displaying overall data is provided at the side end of the mobile trolley (1); a driving module (3) for supporting the entire trolley (1) to move to a suitable position is provided at the bottom; a supporting and pressing component (4) for pressing and pushing the main stem of the fruit tree to deflect the trolley for easy picking is provided at both ends of the mobile trolley (1); a direction adjustment component (5) for driving the picking module (6) to adjust the direction is provided on the mobile trolley (1); The upper end of the adjustment component (5) is provided with a picking module (6) for picking fruits, and the two sides of the direction adjustment component (5) are symmetrically provided with a pushing and pushing component (7) for assisting in picking and performing a branch pushing operation, and one side of the direction adjustment component (5) is provided with a flexible pocket (8) for cooperating with the picking module (6) to store fruits, and both sides of the flexible pocket (8) are provided with an adapting adjustment component (9) for driving expansion and contraction, and the supporting and pressing component (4) includes a first adjustment frame (401), a second adjustment frame (402), a first control motor (403), a first steering rod (404), a supporting plate (405), a pressing ball (406), and a rotating disk. (407), a second control motor (408), a third control motor (409), a positioning plate (413), a fixed sleeve (410), a second steering rod (411) and a scale bar (412), a first steering rod (404) is provided between the first adjustment frame (401) and the second adjustment frame (402), the first control motor (403) drives the first steering rod (404) to drive the first adjustment frame (401) and the second adjustment frame (402) to perform a steering operation, a support plate (405) is provided at one end of the second adjustment frame (402) away from the first adjustment frame (401), and pressure balls (406) are distributed on the support plate (405), the first adjustment frame (401) and the second adjustment frame (402) are provided with a first steering rod (404) and a second steering rod (404) are provided between the first adjustment frame (401) and the second adjustment frame (402) A positioning disc (413) is provided on the section frame (401) in a direction away from the second adjustment frame (402), a rotating disc (407) is provided at the center of the positioning disc (413), a fixed sleeve (410) is fixedly provided on the rotating disc (407) in a transverse direction, a second steering rod (411) connected to the first adjustment frame (401) is provided at the center of the fixed sleeve (410), a third control motor (409) drives the second steering rod (411) to drive the first adjustment frame (401) to rotate, a scale bar (412) corresponding to the rotating disc (407) is provided circumferentially on the positioning disc (413), and the second control motor (408) drives the rotating disc (407) to rotate.

2. The agricultural harvesting robot according to claim 1, characterized in that: The driving module (3) includes a chassis (301), a lithium battery pack (302), a transmission shaft (303), a shock absorbing ring (304), a wheel (305), an air cushion disc (306), an anti-sliding block (307) and an obstacle avoidance sensor (308). The center of the chassis (301) is provided with a lithium battery pack (302). Two sets of transmission shafts (303) are linearly passed through the chassis (301). Both ends of the transmission shafts (303) are sleeved with shock absorbing rings (304). Both ends of the transmission shafts (303) are provided with wheels (305). A motor group electrically connected to the lithium battery pack (302) is provided inside the wheel (305). An anti-sliding block (307) is provided circumferentially at the outer end of the wheel (305). An air cushion disc (306) is provided at the center of the wheel (305). The obstacle avoidance sensor (308) is provided on the air cushion disc (306).

3. The agricultural harvesting robot according to claim 1, characterized in that: The direction adjustment component (5) includes a rotating disk (501), a fixed tube (502), a protective ring (503), a first drive motor (504), a connecting frame (505), a second drive motor (506), a first coupling (507), an extension plate (508) and a first camera (509). The rotating disk (501) is provided at the center of the fixed tube (502). The protective ring (503) fixedly connected to the rotating disk (501) is symmetrically provided on the periphery of the rotating disk (501). The top of the rotating disk (501) is provided with a connecting frame. (505), a first driving motor (504) drives the rotating disk (501) to drive the connecting frame (505) to rotate, the connecting frame (505) is set in three groups, a first coupling (507) is provided between two groups of connecting frames (505), the second driving motor (506) drives the first coupling (507) to drive the two groups of connecting frames (505) to adjust the direction, an extension plate (508) is provided at one end of the connecting frame (505) away from the first coupling (507), and a first camera (509) is provided at the outer end of the extension plate (508).

4. The agricultural harvesting robot according to claim 1, characterized in that: The picking module (6) comprises a first rotating shaft (601), a first driving motor (602), an adjusting splint (603), a fixed splint (604), cutting teeth (605), a second rotating shaft (606), a second driving motor (607) and a mounting sleeve (608); the adjusting splint (603) and the fixed splint (604) are arranged on the top of the first rotating shaft (601) relative to each other; the cutting teeth (605) are linearly arranged between the adjusting splint (603) and the fixed splint (604); the second rotating shaft (606) is arranged between the adjusting splint (603) and the first rotating shaft (601); the outer sleeve of the second rotating shaft (606) is provided with a mounting sleeve (608); the second driving motor (607) drives the second rotating shaft (606) to drive the adjusting splint (603) to adjust the direction; the first driving motor (602) drives the first rotating shaft (601) to drive the adjusting splint (603) and the fixed splint (604) to turn.

5. The agricultural harvesting robot according to claim 1, characterized in that: The push-open pressing assembly (7) comprises a guide frame (701), a first servo motor (702), a second camera (703), a reinforcing head (704), a swing frame (705), a third drive motor (706) and a positioning hole (707). The top of the guide frame (701) is provided with a reinforcing head (704). A plurality of second cameras (703) are linearly provided on the guide frame (701). An end of the guide frame (701) away from the reinforcing head (704) is provided with a shaft. The first servo motor (702) drives the shaft to drive the guide frame (701) to rotate. The reinforcing head (704) is provided with a swing frame (705). A shaft is provided between the swing frame (705) and the reinforcing head (704). A positioning hole (707) is linearly provided on the swing frame (705). The third drive motor (706) drives the shaft to drive the swing frame (705) to swing.

6. The agricultural harvesting robot according to claim 1, characterized in that: The top of the flexible pocket bag (8) is provided with a positioning frame (802), the bottom of the flexible pocket bag (8) is provided with a base (801), and the inner wall of the flexible pocket bag (8) is provided with a flexible layer. The adaption adjustment component (9) includes a first extension rod (901), a second extension rod (902), a bending frame (903), a positioning pin (904), a limiting hole (905), a second servo motor (906), a third servo motor (907), a second coupling (908) and a third coupling (909). A second coupling (908) is provided between the first extension rod (901) and the second extension rod (902). The third servo motor (907) drives the second coupling (908) to drive the first extension rod (901) and the second extension rod (902) to perform a steering operation.

7. The agricultural harvesting robot according to claim 6, characterized in that: A bent frame (903) is provided at one end of the first extension rod (901) away from the second coupling (908), a limiting hole (905) is provided along the edge of the bent frame (903), a positioning pin (904) is provided at the center of the limiting hole (905), a third coupling (909) is provided between the bent frame (903) and the first extension rod (901), and a second servo motor (906) drives the third coupling (909) to drive the bent frame (903) and the first extension rod (901) to turn.

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