Intelligent robot for flower and fruit thinning of grapes and using method

Abstract

The invention relates to the field of agricultural equipment, in particular to an intelligent robot for flower and fruit thinning of grapes and a using method.The intelligent robot comprises a grape trellis structure and a digital display control panel, a moving vehicle is movably arranged on the upper side of the grape trellis structure, a plurality of mechanical arms are arranged on one side of the moving vehicle, and image recognizers are arranged between the mechanical arms; each mechanical arm is provided with a shearing mechanical claw, one side of the moving vehicle is further provided with a lifting adjusting structure used for driving the mechanical arms and the image recognizer to ascend and descend vertically, and the moving vehicle is provided with a horizontal driving mechanism used for driving the lifting adjusting structure to rotate in the horizontal direction to be converted to the two sides of the grape trellis structure. The moving trolley is arranged on the grape trellis structure and matched with the lifting adjusting structure to move the mechanical arm and the image recognizer up and down, the cutting distance can be controlled more accurately through the shearing mechanical claw, long-time adjustment is not needed, in addition, face cutting treatment in the up-down direction is conducted in cooperation with a climbing rope on the grape trellis structure, and the working efficiency is improved. And grid type accurate focusing can be realized.

Description

Technical Field

[0001] The invention relates to the field of agricultural equipment, and in particular to an intelligent robot for thinning flowers and fruits of grapes and a use method thereof. Background Art

[0002] During the growth of grapes, if the grapes bloom too much and the nutrient supply is insufficient, many small and inferior fruits will grow, which will lead to a reduction in grape production in the next year. In addition, too many grape fruits can easily make the grapes of poor quality and reduce the sales price. Therefore, grape flower and fruit thinning is an important link in the grape planting process. The so-called grape flower and fruit thinning refers to removing excess flowers and grapes in the grape panicles, such as secondary clusters, branches and cluster tips, to facilitate the subsequent growth of the grapes. By thinning the flowers and fruits of the grapes, the nutrient supply of the grapes can be maintained adequately, ensuring good growth of the grapes.

[0003] An intelligent robot and method for thinning grape flowers and fruits based on image recognition, with application number 202110817394.X, comprises a walking device, a controller and a flower and fruit thinning device arranged on the walking device, the controller being communicatively connected with the walking device and the flower and fruit thinning device respectively, and the flower and fruit thinning device being provided with an image acquisition device and an actuator; during the walking process of the walking device, the controller processes images of grape flowers and fruits collected by the image acquisition device.

[0004] Most of the current intelligent robots adopt an independent design. When thinning flowers and fruits, the control of distance is not precise enough and it takes a long time to adjust. In addition, the upper and lower heights are limited by the length of the robotic arm, making it impossible to achieve precise grid-like processing. Summary of the invention

[0005] Technical issues solved The purpose of the present invention is to provide an intelligent robot for thinning flowers and fruits of grapes and a method of use in order to solve the above problems.

[0006] Technical Solution To achieve the above object, the present invention provides the following technical solutions: The present invention provides an intelligent robot for thinning flowers and fruits of grapes, comprising a grape rack structure and a digital display control panel, wherein a mobile vehicle is movably arranged on the upper side of the grape rack structure, a plurality of mechanical arms are arranged on one side of the mobile vehicle, image identifiers are arranged between the mechanical arms, a shearing mechanical claw is arranged on each of the mechanical arms, a lifting and adjusting structure for driving the mechanical arms and the image identifier to move up and down is also arranged on one side of the mobile vehicle, and a horizontal driving mechanism for driving the lifting and adjusting structure to rotate horizontally to convert to both sides of the grape rack structure is arranged on the mobile vehicle.

[0007] Furthermore, the grape rack structure includes a plurality of evenly distributed columns, and the columns are connected to each other by a plurality of climbing ropes evenly distributed in the up and down directions. A base is provided at the bottom end of each column, and the base is disc-shaped. A plurality of evenly distributed mounting holes are opened on the outer side of the base along its circumferential direction, and rail rods are provided between the top ends of the columns.

[0008] Furthermore, an adjustment hole is provided at the top of each of the columns, and an adjustment shaft is arranged in the adjustment hole for up and down movement. The upper end of the adjustment shaft passes through the adjustment hole and is fixedly connected to a mounting seat plate, and the mounting seat plate is fixedly connected to the rail rod by bolts. More than two adjustment bolts for abutting and tightening the adjustment shaft are threadedly connected on the outer wall of the top end of the column.

[0009] Furthermore, the lower side of the mobile vehicle is rotatably provided with more than two toothed moving wheels, the upper side of the rail rod is provided with a rack for meshing and connecting with the toothed moving wheels, one of the toothed moving wheels is provided with a driving motor for driving its rotation, and the output end of the digital display control panel is electrically connected to the input end of the driving motor.

[0010] Furthermore, the horizontal driving mechanism includes a first motor fixedly mounted on the mobile vehicle, the output shaft end of the first motor is fixedly connected to a rotating support disk, and the rotating support disk is provided with two or more parallel cross bars, one end of the cross bar is connected to the lifting and lowering adjustment structure, and the other end of the cross bar is detachably provided with a plurality of weight balancing blocks, and a limiting sleeve is sleeved on the cross bar for limiting the two sides of the weight balancing block, and a first tightening bolt for abutting and tightening with the cross bar is threadedly connected on the outer wall of the limiting sleeve, and the output end of the digital display control panel is electrically connected to the input end of the first motor.

[0011] 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein said linking rod and said adjusting base are pivotally connected to each other with a bolt, and said bolt has a round shank to contact with said linking rod. said linking rod has a round shank to contact with said linking rod.

[0012] Furthermore, the support wheel structure includes a wheel frame with a U-shaped outer contour, a support wheel is rotatably arranged in the wheel frame, one end of the telescopic shaft is fixedly connected to the upper side of the wheel frame, the other end of the telescopic shaft is connected to a rotating drum, a telescopic hole for sliding connection with the telescopic shaft is opened in the rotating drum, the rotating drum is rotatably connected to the lower end of the adjusting column through a bearing, and a second spring is nested on the outer side of the telescopic shaft between the wheel frame and the rotating drum, and both ends of the second spring are respectively fixedly connected to the wheel frame and the rotating drum.

[0013] Furthermore, the shearing mechanical claw includes a cylinder, which adopts a double-push rod cylinder, and the two push rod head ends of the cylinder are fixedly provided with shearing knives, and the two shearing knives are respectively connected to clamping seats through connecting bolts, and the two clamping seats are respectively provided with clamping plates on one side close to each other, and the clamping plates are connected to two parallel guide shafts, and the guide shafts are slidably connected to the guide holes opened on the corresponding clamping seats, and a first spring is fixedly connected between the end of the guide shaft and the inner end surface of the guide hole.

[0014] Furthermore, a storage frame is detachably provided on the outer sleeve, two parallel distributed insertion rods are connected to the upper side of the storage frame, and an insertion sleeve corresponding to the insertion rod is fixedly connected to the lower side of the outer sleeve, and a second tightening bolt for abutting and tightening with the insertion rod is threadedly connected on the outer wall of the insertion sleeve.

[0015] A method for using an intelligent robot for thinning flowers and fruits of grapes, comprising the following steps: S1: When thinning flowers and fruits, the mobile vehicle moves on the grape rack structure, thereby driving the lifting and adjusting structure to move along the grape rack structure. During the movement, the lifting and adjusting structure can also drive the mechanical arm, the shearing mechanical claw and the image recognizer to move up and down, thereby achieving comprehensive processing of the grape rack structure; S2: The image recognizer identifies the secondary spikes, spurs and spike tips of the grapes, and cooperates with the robotic arm to drive the shearing mechanical claws, which then shear the secondary spikes, spurs and spike tips; S3: The grape rack structure can play the role of dividing the surface, and the secondary ears, the supporting axis and the ear tips are respectively located on both sides of the grape rack structure, that is, when the moving vehicle moves to the end edge of the grape rack structure, the horizontal driving mechanism can drive the lifting and adjusting structure to rotate, thereby converting the lifting and adjusting structure on both sides of the grape rack structure; S4: When the grapes need to be picked, the storage frame is installed on the outer sleeve, and the clamping seat is installed on the shearing knife. When the shearing knife shears the stems of the grape bunch, the clamping piece first elastically clamps the stems through the first spring, and then the shearing knife shears them. The clamping piece clamps the grape bunch and is driven by the mechanical arm to place it in the storage frame.

[0016] Beneficial Effects Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up a mobile car on the grape rack structure and coordinating the lifting and adjusting structure to move the mechanical arm and image recognizer up and down, the shearing mechanical claw can control the cutting distance more accurately, and it does not need a long time to adjust. In addition, the climbing rope on the grape rack structure is used to perform surface cutting in the up and down directions, which can achieve precise grid focusing; 2. The grape rack structure can separate the secondary ears, support shafts and ear tip lights that need to be cleaned into two sides through the columns and climbing ropes thereon, and the horizontal driving mechanism can drive the lifting and adjusting structure to rotate, thereby converting the lifting and adjusting structure on both sides of the grape rack structure, thereby realizing the layered processing of grape flower and fruit thinning; 3. The shearing mechanical claws and storage frame can also be used together to realize the use of grape picking, realizing the integration of the functions of grape flower thinning, fruit thinning and picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2 The present invention Figure 1 AA cross-sectional structural diagram; Figure 3 The present invention Figure 2 A schematic diagram of the local enlarged structure at B; Figure 4 The present invention Figure 2 A schematic diagram of the local enlarged structure at C; Figure 5 The present invention Figure 1 Schematic diagram of the three-dimensional structure; Figure 6 The present invention Figure 5 A schematic diagram of the local enlarged structure at D; Figure 7 The present invention Figure 5 A schematic diagram of the local enlarged structure at E; Figure 8 The present invention Figure 1 A schematic diagram of a three-dimensional structure in another direction; Fig. 9 It is a schematic diagram of the structure of the shearing mechanical claw of the present invention.

[0019] The following are the descriptions of the reference numerals: 1. Grape rack structure; 101. Upright column; 102. Rail rod; 103. Climbing rope; 104. Base; 105. Adjustment shaft; 106. Adjustment hole; 107. Adjustment bolt; 108. Mounting seat plate; 109. Rack; 2. Mobile vehicle; 201. Toothed moving wheel; 202. First motor; 203. Rotating support plate; 204. Crossbar; 205. Mounting sleeve; 206. Weight balance block; 207. Limit sleeve; 208. First fixing bolt; 3. Lifting and lowering adjustment structure; 301. Adjustment column; 302. Lifting and lowering channel; 303. Second motor; 304. Lead screw; 305. Lifting and lowering slide Block; 306, open slide; 307, outer sleeve; 4, mechanical arm; 5, shearing mechanical claw; 501, cylinder; 502, shearing knife; 503, clamping seat; 504, connecting bolt; 505, guide shaft; 506, clamping piece; 507, guide hole; 508, first spring; 6, supporting wheel structure; 601, wheel frame; 602, telescopic shaft; 603, second spring; 604, supporting wheel; 605, rotating drum; 606, telescopic hole; 607, bearing; 7, image recognizer; 8, storage frame; 801, plug rod; 802, plug cylinder; 803, second fastening bolt; 9, digital display control panel. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 9 As shown, the present invention provides an intelligent robot for thinning flowers and fruits of grapes, comprising a grape rack structure 1 and a digital display control panel 9, a mobile vehicle 2 is movably arranged on the upper side of the grape rack structure 1, a plurality of mechanical arms 4 are arranged on one side of the mobile vehicle 2, image identifiers 7 are arranged between the mechanical arms 4, and a shearing mechanical claw 5 is arranged on each mechanical arm 4, a lifting and adjusting structure 3 for driving the mechanical arms 4 and the image identifier 7 to rise and fall is also arranged on one side of the mobile vehicle 2, and a horizontal driving mechanism for driving the lifting and adjusting structure 3 to rotate horizontally to convert to both sides of the grape rack structure 1 is arranged on the mobile vehicle 2.

[0022] See the instruction manual Figure 1 , 3As shown in Figure 8, the grape rack structure 1 includes a plurality of evenly distributed columns 101, and the columns 101 are connected to each other with a plurality of climbing ropes 103 evenly distributed in the up-down direction. In actual application, the climbing ropes 103 are used for grapevine climbing, and also play a role in image recognition partitioning of the image recognizer 7. The lifting and adjusting structure 3 drives the image recognizer 7 up and down to realize the grid partitioning of each secondary spike, support axis and spike tip on the grape rack structure 1, so that the mechanical arm 4 drives the shearing mechanical claw 5 to position, shear and clamp. A base 104 is provided at the bottom end of each column 101, and the base 104 is disc-shaped. A plurality of evenly distributed mounting holes are opened on the outer side of the base 104 along its circumferential direction. The base 104 and the mounting holes thereon are used for mounting and fixing the column 101 to the ground. A rail 102 is provided between the top ends of the columns 101. An adjustment hole 106 is provided at the top of each column 101, and an adjustment shaft 105 is arranged in the adjustment hole 106 for upward and downward movement. The upper end of the adjustment shaft 105 passes through the adjustment hole 106 and is fixedly connected to a mounting seat plate 108. The mounting seat plate 108 is fixedly connected to the rail rod 102 by bolts. Two or more adjustment bolts 107 for abutting and tightening the adjustment shaft 105 are threadedly connected on the outer wall of the top of the column 101. In practical applications, the adjustment movement of the adjustment shaft 105 in the adjustment hole 106 can achieve consistency in the support height of the rail rod 102, and ensure the horizontal setting of the rail rod 102.

[0023] The lower side of the mobile vehicle 2 is rotatably provided with more than two toothed mobile wheels 201, and the upper side of the rail rod 102 is provided with a rack 109 for meshing and connecting with the toothed mobile wheels 201. A driving motor for driving the rotation thereof is provided in one of the toothed mobile wheels 201, and the output end of the digital display control panel 9 is electrically connected to the input end of the driving motor.

[0024] See the instruction manual Figure 2 and 3As shown, the horizontal driving mechanism includes a first motor 202 fixedly arranged on the mobile vehicle 2, the output shaft end of the first motor 202 is fixedly connected to a rotating support disk 203, and two or more parallel cross bars 204 are arranged on the rotating support disk 203, one end of the cross bar 204 is connected to the lifting and adjusting structure 3, and the other end of the cross bar 204 is detachably provided with a plurality of weight balancing blocks 206, and the cross bar 204 is sleeved with a limiting sleeve 207 for limiting the two sides of the weight balancing block 206, and the outer wall of the limiting sleeve 207 is threadedly connected with a first fixing bolt 208 for achieving abutment and tightening with the cross bar 204, and the output end of the digital display control panel 9 is electrically connected to the input end of the first motor 202. Through the above-mentioned specific structural design, the weight balancing block 206 can realize the weight balance adjustment of the lifting and adjusting structure 3 at the other end of the cross bar 204, so as to avoid the mobile vehicle 2 being in a state of weightlessness and imbalance on one side, and also facilitate the horizontal driving rotation of the lifting and adjusting structure 3 by the horizontal driving mechanism.

[0025] The lifting adjustment structure 3 includes an adjustment column 301, a mounting sleeve 205 is fixedly sleeved on the outer side of the upper end of the adjustment column 301, one side of the mounting sleeve 205 is fixedly connected to the end of the cross bar 204, a lifting channel 302 is opened in the adjustment column 301, a lifting slider 305 is arranged in the lifting channel 302 for upward and downward movement, a lead screw 304 is rotatably arranged in the lifting channel 302, one end of the lead screw 304 is driven to rotate by a second motor 303 fixedly arranged on the adjustment column 301, and a lifting slider 305 is arranged on the lifting slider 305 for upward and downward movement. A threaded hole for threaded connection with the lead screw 304 is provided, and more than two open slots 306 are provided on the outer wall of the adjusting column 301. The outer side of the lifting slider 305 passes through the open slot 306 and is fixedly connected with an outer sleeve 307 that is slidably sleeved on the outer side of the adjusting column 301. The mechanical arm 4, the image recognizer 7 and the digital display control panel 9 are all arranged on the outer sleeve 307. The bottom end of the adjusting column 301 is provided with a supporting wheel structure 6, and the output end of the digital display control panel 9 is electrically connected to the input end of the second motor 303. Through the above-mentioned specific structural design, the output shaft of the second motor 303 rotates to drive the connected lead screw 304 to rotate, and the lead screw 304 rotates to drive the threaded lifting slider 305 to move up and down in the lifting channel 302, thereby realizing the adjustment of the mechanical arm 4 and the image recognizer 7 to move up and down.

[0026] See the instruction manual Figure 2 and 4As shown, the support wheel structure 6 includes a wheel frame 601 with a U-shaped profile, a support wheel 604 is rotatably arranged in the wheel frame 601, one end of a telescopic shaft 602 is fixedly connected to the upper side of the wheel frame 601, and the other end of the telescopic shaft 602 is connected to a rotating drum 605, a telescopic hole 606 for slidingly connecting with the telescopic shaft 602 is opened in the rotating drum 605, and the rotating drum 605 is rotatably connected to the lower end of the adjustment column 301 through a bearing, and a second spring 603 is nested outside the telescopic shaft 602 between the wheel frame 601 and the rotating drum 605, and the two ends of the second spring 603 are respectively fixedly connected to the wheel frame 601 and the rotating drum 605. In practical applications, the support wheel structure 6 plays a supporting role for the lifting and adjusting structure 3, which facilitates the mobile vehicle 2 to drive the lifting and adjusting structure 3 to move.

[0027] See the instruction manual Figure 8 and 9 As shown, the shearing mechanical claw 5 includes a cylinder 501, and the cylinder 501 adopts a double-push rod cylinder. The two push rod head ends of the cylinder 501 are fixedly provided with shearing knives 502. The two shearing knives 502 are respectively connected to clamping seats 503 through connecting bolts 504. The two clamping seats 503 are respectively provided with clamping plates 506 on one side close to each other. The clamping plates 506 are connected to two parallel guide shafts 505. The guide shafts 505 are slidably connected to the guide holes 507 opened on the corresponding clamping seats 503, and the first springs 508 are fixedly connected between the end of the guide shaft 505 and the inner end surface of the guide hole 507.

[0028] A storage frame 8 is detachably provided on the outer sleeve 307, and two parallel distributed insertion rods 801 are connected to the upper side of the storage frame 8. An insertion sleeve 802 corresponding to the insertion rod 801 is fixedly connected to the lower side of the outer sleeve 307, and a second tightening bolt 803 for abutting and tightening with the insertion rod 801 is threadedly connected on the outer wall of the insertion sleeve 802.

[0029] Working principle and technical effect of the present invention: When thinning flowers and fruits, the mobile vehicle 2 moves on the grape rack structure 1, thereby driving the lifting and adjusting structure 3 to move along the grape rack structure 1. During the movement, the lifting and adjusting structure 3 can also drive the mechanical arm 4, the shearing mechanical claw 5 and the image recognition device 7 to move up and down, thereby realizing the comprehensive processing of the grape rack structure 1; the image recognition device 7 recognizes the secondary spikes, fulcrums and spike tips of the grapes, and cooperates with the mechanical arm 4 to drive the shearing mechanical claw 5, and the shearing mechanical claw 5 shears the secondary spikes, fulcrums and spike tips; the grape rack structure 1 can play the role of dividing the surface, and the secondary spikes, fulcrums and spike tips are respectively located on the grape rack. When the two sides of the structure 1, that is, the mobile vehicle 2 moves to the end edge of the grape rack structure 1, the horizontal driving mechanism can drive the lifting and adjusting structure 3 to rotate, thereby converting the lifting and adjusting structure 3 on both sides of the grape rack structure 1; when it is necessary to pick grapes, the storage frame 8 is installed on the outer sleeve 307, and the clamping seat 503 is installed on the shearing knife 502. When the shearing knife 502 shears the stems of the grape bunches, the clamping piece 506 firstly elastically clamps the stems through the first spring 508, and then the shearing knife 502 shears them. The clamping piece 506 clamps the grape bunches and is driven by the mechanical arm 4 to be placed in the storage frame 8.

[0030] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An intelligent robot for thinning grape flowers and fruits, characterized by: The invention comprises a grape rack structure (1) and a digital display control panel (9), wherein a mobile vehicle (2) is movably arranged on the upper side of the grape rack structure (1), a plurality of mechanical arms (4) are arranged on one side of the mobile vehicle (2), image recognizers (7) are arranged between the mechanical arms (4), and each of the mechanical arms (4) is provided with a shearing mechanical claw (5), and a lifting and adjusting structure (3) for driving the mechanical arms (4) and the image recognizer (7) to move up and down is also arranged on one side of the mobile vehicle (2), and a horizontal driving mechanism for driving the lifting and adjusting structure (3) to rotate horizontally to convert to two sides of the grape rack structure (1) is arranged on the mobile vehicle (2).

2. According to claim 1, an intelligent robot for thinning flowers and fruits of grapes, characterized in that: The grape rack structure (1) comprises a plurality of evenly distributed upright posts (101), the upright posts (101) being connected to each other by a plurality of climbing ropes (103) evenly distributed in an up-and-down direction, a base (104) being arranged at the bottom end of each upright post (101), the base (104) being disc-shaped, a plurality of evenly distributed mounting holes being arranged on the outer side of the base (104) along its circumferential direction, and rail rods (102) being arranged between the top ends of the upright posts (101).

3. According to claim 2, an intelligent robot for thinning flowers and fruits of grapes, characterized in that: An adjustment hole (106) is provided at the top of each column (101), an adjustment shaft (105) is arranged in the adjustment hole (106) to move up and down, the upper end of the adjustment shaft (105) passes through the adjustment hole (106) and is fixedly connected to a mounting seat plate (108), the mounting seat plate (108) is fixedly connected to the rail rod (102) by bolts, and at least two adjustment bolts (107) for abutting and tightening the adjustment shaft (105) are threadedly connected to the outer wall of the top end of the column (101).

4. According to claim 3, an intelligent robot for thinning flowers and fruits of grapes is characterized by: The lower side of the moving vehicle (2) is rotatably provided with more than two toothed moving wheels (201), the upper side of the rail rod (102) is provided with a rack (109) for meshing with the toothed moving wheels (201), one of the toothed moving wheels (201) is provided with a drive motor for driving the rotation thereof, and the output end of the digital display control panel (9) is electrically connected to the input end of the drive motor.

5. The intelligent robot for thinning flowers and fruits of grapes according to claim 1, characterized in that: The horizontal drive mechanism comprises a first motor (202) fixedly mounted on the moving vehicle (2); an output shaft end of the first motor (202) is fixedly connected to a rotating support disk (203); two or more parallel cross bars (204) are arranged on the rotating support disk (203); one end of the cross bar (204) is connected to the lifting and lowering adjustment structure (3); the other end of the cross bar (204) is detachably provided with a plurality of weight balancing blocks (206); a limiting sleeve (207) for limiting the positions of the two sides of the weight balancing block (206) is sleeved on the cross bar (204); a first fixing bolt (208) for abutting and fixing with the cross bar (204) is threadedly connected to the outer wall of the limiting sleeve (207); and the output end of the digital display control panel (9) is electrically connected to the input end of the first motor (202).

6. The intelligent robot for thinning flowers and fruits of grapes according to claim 1, characterized in that: The lifting and lowering adjustment structure (3) comprises an adjusting column (301), a mounting sleeve (205) is fixedly sleeved on the outer side of the upper end of the adjusting column (301), one side of the mounting sleeve (205) is fixedly connected to the end of the cross bar (204), a lifting channel (302) is provided in the adjusting column (301), a lifting slider (305) is provided in the lifting channel (302) for upward and downward movement, a lead screw (304) is rotatably provided in the lifting channel (302), one end of the lead screw (304) is driven to rotate by a second motor (303) fixedly provided on the adjusting column (301), and a lifting slider (305) is provided on the lifting slider (305). A threaded hole is penetrated to be threadedly connected with the lead screw (304); the outer wall of the adjusting column (301) is provided with two or more open slide grooves (306); the outer side of the lifting slider (305) passes through the open slide groove (306) and is fixedly connected to an outer sleeve (307) slidably mounted on the outer side of the adjusting column (301); the mechanical arm (4), the image recognition device (7) and the digital display control panel (9) are all arranged on the outer sleeve (307); the bottom end of the adjusting column (301) is provided with a supporting wheel structure (6); the output end of the digital display control panel (9) is electrically connected to the input end of the second motor (303).

7. The intelligent robot for thinning flowers and fruits of grapes according to claim 6, characterized in that: The support wheel structure (6) comprises a wheel frame (601) having a U-shaped outer profile, a support wheel (604) being rotatably arranged in the wheel frame (601), one end of a telescopic shaft (602) being fixedly connected to the upper side of the wheel frame (601), the other end of the telescopic shaft (602) being connected to a rotating drum (605), a telescopic hole (606) for being slidably connected to the telescopic shaft (602) being provided in the rotating drum (605), the rotating drum (605) being rotatably connected to the lower end of the adjusting column (301) via a bearing, a second spring (603) being embedded in the outer side of the telescopic shaft (602) between the wheel frame (601) and the rotating drum (605), the two ends of the second spring (603) being fixedly connected to the wheel frame (601) and the rotating drum (605) respectively.

8. The intelligent robot for thinning grape flowers and fruits according to claim 1, characterized in that: The shearing mechanical claw (5) comprises a cylinder (501), wherein the cylinder (501) is a double-push rod cylinder, wherein shearing knives (502) are fixedly provided at the two push rod head ends of the cylinder (501), and the two shearing knives (502) are respectively connected to clamping seats (503) via connecting bolts (504), and the two clamping seats (503) are respectively provided with clamping plates (506) on one side close to each other, and the clamping plates (506) are connected to two parallel guide shafts (505), and the guide shafts (505) are slidably connected to the guide holes (507) provided on the corresponding clamping seats (503), and a first spring (508) is fixedly connected between the end of the guide shaft (505) and the inner end surface of the guide hole (507).

9. The intelligent robot for thinning grape flowers and fruits according to claim 6, characterized in that: The outer sleeve (307) is detachably provided with a storage frame (8), the upper side of the storage frame (8) is connected to two parallel-distributed insertion rods (801), the lower side of the outer sleeve (307) is fixedly connected to an insertion sleeve (802) corresponding one-to-one to the insertion rod (801), and the outer side wall of the insertion sleeve (802) is threadedly connected to a second fixing bolt (803) for achieving abutment and fixing with the insertion rod (801).

10. A method for using an intelligent robot for thinning flowers and fruits of grapes, using the intelligent robot for thinning flowers and fruits of grapes according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: When thinning flowers and fruits, the mobile vehicle (2) moves on the grape rack structure (1), thereby driving the lifting and adjusting structure (3) to move along the grape rack structure (1). During the movement, the lifting and adjusting structure (3) can also drive the mechanical arm (4), the shearing mechanical claw (5) and the image recognition device (7) to move up and down, thereby achieving comprehensive processing of the grape rack structure (1); S2: The image recognition device (7) recognizes the secondary spike, the spur and the spike tip of the grape, and cooperates with the mechanical arm (4) to drive the shearing mechanical claw (5), so that the shearing mechanical claw (5) shears the secondary spike, the spur and the spike tip; S3: The grape rack structure (1) can play a role of dividing the surface, and the secondary spike, the support axis and the spike tip are respectively located on both sides of the grape rack structure (1), that is, when the moving vehicle (2) moves to the end edge of the grape rack structure (1), the horizontal driving mechanism can drive the lifting and adjusting structure (3) to rotate, thereby converting the lifting and adjusting structure (3) on both sides of the grape rack structure (1); S4: When it is necessary to pick grapes, the storage frame (8) is mounted on the outer sleeve (307), and the clamping seat (503) is mounted on the shearing knife (502). When the shearing knife (502) shears the stems of the grape bunch, the clamping piece (506) firstly elastically clamps the stems through the first spring (508), and then the shearing knife (502) shears the stems. The clamping piece (506) clamps the grape bunch and is driven by the mechanical arm (4) to place it in the storage frame (8).

Images