Picking robot and fruit picking mechanism thereof

Abstract

The invention relates to the technical field of fruit picking, and particularly discloses a picking robot and a fruit picking mechanism thereof.The picking robot comprises a fruit collecting box, an electric telescopic column is installed on one side of the top end of the fruit collecting box, a lifting table is installed at the top end of the electric telescopic column, and a robot mechanical arm is installed in the middle of the top end of the lifting table; the picking mechanism comprises an adjusting box, a positioning frame, a clamping block, a driver, a positive and negative screw rod, a picking clamping jaw and a limiting groove; the two picking clamping jaws are driven by the driver to move towards the middle, so that the force sensor firstly makes contact with fruits to detect the hardness of the fruits, the grabbing force of the picking clamping jaws and the operation force of the robot mechanical arm can be automatically adjusted, and the fruits can be better protected against damage; and through the elasticity of second springs, the multiple clamping rods can be tightly attached to the surfaces of the fruits, so that the adaptability and efficiency of the picking robot are improved, and the application range of the picking robot is also expanded.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit picking, and in particular relates to a picking robot and a fruit picking mechanism thereof. Background Art

[0002] Fruit refers to the organ that develops from the ovary or other parts of the flower after pollination and fertilization of the pistil of angiosperms. The fruit generally consists of two parts: the peel and the seed. For a long time, fruit picking has been mainly done manually. It is more convenient to pick the fruits of short plants manually, but it is more inconvenient to pick the fruits of tall plants manually, which makes it difficult to meet the efficient and precise production needs of modern agriculture. Harvesting robot technology, with its precise operating capabilities, tireless working state and strong environmental adaptability, is gradually becoming an important force to assist or even replace manual picking.

[0003] In a Chinese patent with publication number CN208317466U, a three-claw fruit picking device for fruit trees is mentioned. The outer sleeve is pushed upward to close the picking mechanism, and the picking mechanism is extended to the fruit growing part. The outer sleeve is pushed downward to open the picking mechanism, and the outer sleeve is pushed upward. The annular clamping ring at the upper end of the outer sleeve pushes the picking claws to rotate with the hinge as the rotation axis. The upper ends of the three picking claws gradually close and wrap the fruit, and the lower ends of the picking claws gradually contact the reset spring plate and compress the spring downward. After the three picking claws wrap the fruit, they force the fruit downward to fall. Since the fruit is on the same There are often different degrees of maturity on the plants, and this difference directly leads to the diversity of fruit hardness. However, the picking mechanism currently used lacks a flexible adjustment mechanism for the picking force in its picking claw design. When faced with those fruits that are already ripe and relatively soft, this picking method that lacks adjustment ability often makes it difficult to accurately control the force and easily causes unnecessary damage during the picking process, which invisibly increases production costs and makes it difficult to meet the diverse picking needs for different types and degrees of maturity of fruits, limiting the application scope of the picking robot and thus reducing the overall picking efficiency. Summary of the invention

[0004] The object of the present invention is to provide a picking robot and a fruit picking mechanism thereof to solve the problems raised in the above-mentioned background technology.

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

[0006] A picking robot and a fruit picking mechanism thereof, comprising:

[0007] A fruit collection box, wherein an electric telescopic column is installed on one side of the top of the fruit collection box, a lifting platform is installed on the top of the electric telescopic column, and a robot mechanical arm is installed in the middle of the top of the lifting platform;

[0008] A picking mechanism, the picking mechanism comprising an adjusting box, a positioning frame, a card block, a driver, a forward and reverse screw rods, a picking clamp and a limit groove, the adjusting box is mounted on the outer wall of the disassembly and assembly mechanism, the positioning frame is mounted in the middle of one end of the adjusting box, two cards, two picking clamps and two limit grooves are provided, and the two cards are respectively mounted on both sides of one end of the adjusting box, the driver is arranged on the outer wall of the adjusting box, the forward and reverse screw rods are mounted between both sides of the inner wall of the adjusting box, the two picking clamps are both mounted on the outer surface of the forward and reverse screw rods, and the two limit grooves are arranged on both sides of the other end of the adjusting box;

[0009] A disassembly and assembly mechanism, which is installed at one end of the robot arm and can realize the disassembly and replacement of the picking mechanism;

[0010] The classification mechanism is arranged inside the fruit collection box, and the classification mechanism can realize the classification of large, medium and small fruits.

[0011] Preferably, a camera is installed at the top of the picking mechanism, a material receiving hopper is installed on one side of the top of the lifting platform, a material delivery pipe is installed at the bottom end of the material receiving hopper, and the bottom end of the material delivery pipe is installed on the other side of the top of the fruit collecting box, a control panel is installed on the upper side of one end of the fruit collecting box, mounting frames are installed on the lower sides of both ends of the fruit collecting box, a box door is installed on the lower side of the outer wall of the fruit collecting box, and three fruit classification frames are placed on the bottom inner wall of the fruit collecting box.

[0012] Preferably, the feed pipe is configured as a folding pipe, the camera, the robot arm and the electric telescopic column are all electrically connected to the control panel, and the robot arm is configured as a six-degree-of-freedom robot arm.

[0013] Preferably, the picking clamp comprises a picking splint, an adjusting block, a storage cavity, a second spring, a clamping rod, a rubber block and a force sensor, the adjusting block is installed at one end of the picking splint close to the adjusting box, a plurality of the storage cavities, the second spring, the clamping rod and the rubber block are provided, a plurality of the storage cavities are opened inside the picking splint, a plurality of the second springs are respectively installed on the inner walls of a plurality of the storage cavities, a plurality of the clamping rods are respectively installed on the other end of a plurality of the second springs, a plurality of the rubber blocks are respectively installed on the other end of a plurality of the clamping rods, and the force sensor is provided at the other end of the middlemost rubber block.

[0014] Preferably, the adjustment block and the clamping rod are both configured as convex structures, the force sensor and the driver are both electrically connected to the control panel, and two wedge-shaped protrusions are provided on both side outer walls of the positioning frame.

[0015] Preferably, the disassembly and assembly mechanism includes a disassembly and assembly box, an inlet and outlet, a card slot and a fixed frame. The disassembly and assembly box is installed at one end of the robot manipulator arm away from the lifting platform, and the inlet and outlet are opened at the other end of the disassembly and assembly box. Two card slots and two fixed frames are provided, and the two card slots are respectively opened on both sides of the other end of the disassembly and assembly box. The two fixed frames are respectively installed on the outer walls on both sides of the disassembly and assembly box.

[0016] Preferably, a fixing plate is installed between the inner walls on both sides of the two fixing frames, first springs are installed on opposite sides of the two fixing plates, and the other ends of the two first springs are respectively installed on the inner walls on both sides of the disassembly box, two positioning blocks are installed on opposite sides of the two fixing frames, and through openings are opened at the tops of the two fixing frames.

[0017] Preferably, the positioning block is configured as a wedge-shaped structure, the fixing frame is configured as a U-shaped structure, the card slot is card-engaged with the card block, and the length of the inlet and outlet is consistent with the width of the positioning frame.

[0018] Preferably, the classification mechanism includes forward and reverse screws, classification baffles, limiting rods, classification rods and a driving motor. The forward and reverse screws are installed between the inner walls on both sides of the fruit collection box. There are two classification baffles and two classification rods, and both classification baffles are installed on the outer surface of the forward and reverse screws. The limiting rod is installed between one ends of the two classification baffles, and the limiting rod is installed on the inner wall of the fruit collection box. The two classification rods are respectively installed at the bottom ends of the two classification baffles, and the driving motor is arranged at one end of the forward and reverse screws.

[0019] Preferably, the classification baffle and the classification rod are both arranged as inclined structures, the distance between the two classification rods increases successively from one end to the other end, and the bottom end surface of the classification rod is higher than the top end surface of the fruit classification frame, and the driving motor is electrically connected to the control panel.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The present invention sets a picking mechanism on the outer surface of the disassembly and assembly mechanism, and drives the two picking claws to move toward the middle through the driver, so that the force sensor first contacts the fruit to detect its hardness, and can automatically adjust the gripping force of the picking claws and the operating force of the robot arm, so as to better protect the fruit from damage. The elasticity of the second spring enables the multiple clamping rods to fit closely to the surface of the fruit, thereby improving the adaptability and efficiency of the picking robot and expanding the application range of the picking robot.

[0022] (2) The present invention sets a disassembly and assembly mechanism on the outer surface of the robot mechanical arm. By moving the position of the fixing frame, the positioning block and the positioning frame are canceled, so that the positioning frame can be easily taken out from the disassembly and assembly box to realize the rapid disassembly and replacement of the picking mechanism. It can be replaced with other types of mechanical claws according to the characteristics of the fruit and the picking requirements. By inserting the positioning frame into the disassembly and assembly box, the positioning frame can be automatically positioned by the elasticity of the first spring, so that the disassembly and assembly of the picking mechanism are faster and more convenient.

[0023] (3) The present invention sets a classification mechanism inside the fruit collection box. The fruit enters the fruit collection box through a feeding pipe, and then passes through two inclined classification rods with increasing spacing, so that the fruit rolls and falls into the corresponding fruit classification frame through the gap. The picked fruits can be classified into large, medium and small, and the classified fruits are collected separately, thereby reducing the time and cost of manual sorting and greatly improving the work efficiency of subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view of the present invention;

[0025] Figure 2 For the present invention Figure 1 A magnified view of middle;

[0026] Figure 3 It is a cross-sectional view of the fruit collection box of the present invention;

[0027] Figure 4 It is a cross-sectional view of the disassembly and assembly mechanism of the present invention;

[0028] Figure 5 is a three-dimensional diagram of the fixing frame of the present invention;

[0029] Figure 6 is a cross-sectional view of the picking mechanism of the present invention;

[0030] Figure 7 is a cross-sectional view of the picking clamp of the present invention;

[0031] Figure 8 A three-dimensional diagram of the classification mechanism of the present invention;

[0032] In the figure: 1. Fruit collection box; 2. Electric telescopic column; 3. Lifting platform; 4. Robotic mechanical arm; 5. Disassembly and assembly mechanism; 6. Picking mechanism; 7. Camera; 8. Sorting mechanism; 9. Feed hopper; 10. Feed pipe; 11. Control panel; 12. Mounting frame; 13. Box door; 14. Fruit sorting frame;

[0033] 51. Disassembly and assembly box; 52. Inlet and outlet; 53. Card slot; 54. Fixing frame; 55. Fixing plate; 56. First spring; 57. Positioning block; 58. Through port;

[0034] 61. Adjustment box; 62. Positioning frame; 63. Block; 64. Driver; 65. Forward and reverse screw rods; 66. Picking claws; 67. Limiting groove;

[0035] 661, picking splint; 662, adjusting block; 663, storage cavity; 664, second spring; 665, clamping rod; 666, rubber block; 667, force sensor;

[0036] 81. forward and reverse screws; 82. classification baffle; 83. limit rod; 84. classification rod; 85. driving motor. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1:

[0039] See also Figures 1 to 8 As shown, a picking robot and a fruit picking mechanism thereof, comprising:

[0040] A fruit collection box 1, an electric telescopic column 2 is installed on one side of the top of the fruit collection box 1, a lifting platform 3 is installed on the top of the electric telescopic column 2, and a robot mechanical arm 4 is installed in the middle of the top of the lifting platform 3;

[0041] The picking mechanism 6 includes an adjusting box 61, a positioning frame 62, a card block 63, a driver 64, a forward and reverse screw rod 65, a picking clamp 66 and a limit groove 67. The adjusting box 61 is installed on the outer wall of the disassembly and assembly mechanism 5, the positioning frame 62 is installed in the middle of one end of the adjusting box 61, and two card blocks 63, picking clamps 66 and limit grooves 67 are provided, and the two card blocks 63 are respectively installed on both sides of one end of the adjusting box 61, the driver 64 is arranged on the outer wall of the adjusting box 61, the forward and reverse screw rod 65 is installed between the two sides of the inner wall of the adjusting box 61, and the two picking clamps 66 are installed on the outer surface of the forward and reverse screw rod 65, and two limit grooves 67 are provided on both sides of the other end of the adjusting box 61;

[0042] The disassembly and assembly mechanism 5 is installed at one end of the robot mechanical arm 4, and the disassembly and assembly mechanism 5 can realize the disassembly and replacement of the picking mechanism 6;

[0043] The classification mechanism 8 is arranged inside the fruit collection box 1, and the classification mechanism 8 can classify the fruits into large, medium and small sizes.

[0044] Depend on Figures 1 to 3, Figure 6 and Figure 7 It can be seen that a camera 7 is installed at the top of the picking mechanism 6, a receiving hopper 9 is installed on one side of the top of the lifting platform 3, a feeding pipe 10 is installed at the bottom of the receiving hopper 9, and the bottom end of the feeding pipe 10 is installed on the other side of the top of the fruit collecting box 1, a control panel 11 is installed on the upper side of one end of the fruit collecting box 1, mounting frames 12 are installed on the lower sides of both ends of the fruit collecting box 1, a box door 13 is installed on the lower side of the outer wall of the fruit collecting box 1, and three fruit classification frames 14 are placed on the bottom inner wall of the fruit collecting box 1;

[0045] The picking clamp 66 includes a picking splint 661, an adjusting block 662, a storage cavity 663, a second spring 664, a clamping rod 665, a rubber block 666 and a force sensor 667. The adjusting block 662 is installed at one end of the picking splint 661 close to the adjusting box 61. There are a plurality of storage cavities 663, a second spring 664, a clamping rod 665 and a rubber block 666. A plurality of storage cavities 663 are arranged inside the picking splint 661. A plurality of second springs 664 are respectively installed on the inner walls of a plurality of storage cavities 663. A plurality of clamping rods 665 are respectively installed on the other end of a plurality of second springs 664. A plurality of rubber blocks 666 are respectively installed on the other end of a plurality of clamping rods 665. A force sensor 667 is arranged at the other end of the middle rubber block 666.

[0046] As can be seen from the above, first, the picking robot is installed as a whole on the crawler vehicle, so that the crawler vehicle can drive the picking robot to move flexibly in the orchard. When it is necessary to pick fruits, the position of the fruits is accurately located through the camera 7, and then the control panel 11 takes over the entire picking process. The extension and retraction of the electric telescopic column 2 and the adjustment of the robot mechanical arm 4 work together to move the picking mechanism 6 accurately to the side of the fruit. At this time, the start driver 64 drives the forward and reverse screw rods 65 to rotate, and the two adjustment blocks 662 are respectively guided by the two limit grooves 67 to stably push the two picking clamps 661 to move closer to the middle. During the grasping process, the force sensor 667 first contacts the fruit and senses it in real time. The hardness of the fruit is measured and this data is fed back to the control panel 11. The control panel 11 automatically adjusts the gripping force of the picking claws 66 accordingly, and may also adjust the picking force of the robot arm 4 to ensure that the fruit is protected from damage. In addition, thanks to the elastic design of the second spring 664, the multiple clamping rods 665 can move flexibly to better fit the outer surface of the fruit, which not only improves the adaptability of the picking robot, but also significantly improves the picking efficiency. Such a design meets the diversified picking needs for different types and maturity of fruits, greatly expands the application scope of the picking robot, and also meets the urgent needs of modern agriculture for efficient and precise picking.

[0047] Specifically, refer to Figures 1 to 3 , Figure 6 and Figure 7 As shown, the feed pipe 10 is configured as a folding tube, the camera 7, the robot arm 4 and the electric telescopic column 2 are all electrically connected to the control panel 11, and the robot arm 4 is configured as a six-degree-of-freedom robot arm; the adjustment block 662 and the clamping rod 665 are both configured as convex structures, the force sensor 667 and the driver 64 are both electrically connected to the control panel 11, and two wedge-shaped protrusions are provided on the outer walls of both sides of the positioning frame 62.

[0048] As can be seen from the above, the folding design of the feed pipe 10 can move synchronously with the movement of the lifting platform 3, and the overall control of the entire picking robot can be achieved through the control panel 11. The six-degree-of-freedom design makes the use of the robot arm 4 more flexible, and the convex adjustment block 662 is convenient for sliding in the limit groove 67 and achieving limit, and the convex design enables the clamping rod 665 to be firmly maintained in the storage cavity 663 without detaching, and the wedge-shaped protrusion is conducive to the clamping installation of the positioning frame 62 and the positioning block 57.

[0049] Embodiment 2:

[0050] refer to Figure 4 and Figure 5 As shown, the disassembly and assembly mechanism 5 includes a disassembly and assembly box 51, an inlet and outlet 52, a card slot 53 and a fixing frame 54. The disassembly and assembly box 51 is installed at one end of the robot mechanical arm 4 away from the lifting platform 3, and the inlet and outlet 52 is opened at the other end of the disassembly and assembly box 51. There are two card slots 53 and two fixing frames 54, and the two card slots 53 are respectively opened on both sides of the other end of the disassembly and assembly box 51. The two fixing frames 54 are respectively installed on the outer walls of both sides of the disassembly and assembly box 51;

[0051] A fixing plate 55 is installed between the inner walls on both sides of the two fixing frames 54, first springs 56 are installed on the opposite sides of the two fixing plates 55, and the other ends of the two first springs 56 are respectively installed on the inner walls on both sides of the disassembly box 51, two positioning blocks 57 are installed on the opposite sides of the two fixing frames 54, and through openings 58 are opened at the tops of the two fixing frames 54.

[0052] As can be seen from the above, when the picking mechanism 6 needs to be replaced, the fixing frame 54 can be easily grasped and moved through the opening 58, and the position of the positioning block 57 can be moved at the same time to release the positioning and fixing of the positioning frame 62 by the positioning block 57. In this way, the positioning frame 62 can be easily taken out of the disassembly box 51 to achieve rapid disassembly and replacement of the picking mechanism 6. Then, according to the characteristics of the fruit and the picking needs, the user can choose to replace it with other types of mechanical claws, or replace the damaged picking mechanism 6. When installing a new picking mechanism 6, it is only necessary to pass the positioning frame 62 through the inlet and outlet 52 and insert it into the disassembly box 51. During this process, the wedge-shaped protrusion on the positioning frame 62 will push the positioning block 57 to move. Subsequently, under the elastic force of the first spring 56, the fixing frame 54 will automatically move, so that the positioning block 57 tightly clamps the positioning frame 62, thereby achieving a firm installation between the disassembly box 51 and the picking mechanism 6. This design makes the installation and disassembly process of the picking mechanism 6 faster and more convenient.

[0053] Preferably, reference Figure 4 and Figure 5 As shown, the positioning block 57 is configured as a wedge-shaped structure, the fixing frame 54 is configured as a U-shaped structure, the card slot 53 is card-engaged with the card block 63 , and the length of the inlet and outlet 52 is consistent with the width of the positioning frame 62 .

[0054] As can be seen from the above, the wedge-shaped positioning block 57 is designed to enable the positioning frame 62 to push it smoothly, thereby realizing the rapid insertion and locking of the positioning frame 62. The U-shaped fixing frame 54 further improves its own firmness and stability. The tight engagement between the card slot 53 and the card block 63 ensures a firm connection between the disassembly box 51 and the adjustment box 61, making it easy for the positioning frame 62 to pass through the inlet and outlet 52 and be inserted into the disassembly box 51.

[0055] Embodiment three:

[0056] refer to Figure 8 As shown, the classification mechanism 8 includes a forward and reverse screw 81, a classification baffle 82, a limit rod 83, a classification rod 84 and a drive motor 85. The forward and reverse screw 81 is installed between the inner walls on both sides of the fruit collection box 1. There are two classification baffles 82 and two classification rods 84, and the two classification baffles 82 are installed on the outer surface of the forward and reverse screw 81. The limit rod 83 is installed between one ends of the two classification baffles 82, and the limit rod 83 is installed on the inner wall of the fruit collection box 1. The two classification rods 84 are respectively installed at the bottom ends of the two classification baffles 82, and the drive motor 85 is set at one end of the forward and reverse screw 81.

[0057] As can be seen from the above, the fruits picked by the picking mechanism 6 can be placed into the receiving hopper 9 through the robot mechanical arm 4, and then the fruits slide into the fruit collection box 1 through the feeding pipe 10. After the fruits encounter the classification baffle 82 in the fruit collection box 1, they will roll onto two inclined classification rods 84 with increasing spacing in sequence. Through these two classification rods 84, the fruits will roll according to their sizes and fall into the corresponding fruit classification frames 14 through appropriate gaps, thereby realizing automatic classification of the picked fruits and collecting the classified fruits separately, thereby significantly reducing the time and cost of manual sorting and greatly improving the efficiency of post-sorting. To improve the work efficiency of subsequent processing, when the size of the picked fruits is generally small, the control panel 11 can be used to control the drive motor 85 to start, so that the forward and reverse screws 81 drive the two classification baffles 82 thereon to move toward the middle. During this process, the limit rod 83 provides a stable guide limit for the two classification baffles 82, ensuring that they can smoothly drive the two classification rods 84 to move toward the middle. By flexibly adjusting the spacing between the classification rods 84, even smaller fruits can be accurately graded and fall into the corresponding classification frames, further enhancing the adaptability and flexibility of the picking and classification system.

[0058] Preferably, reference Figure 8 As shown, the classification baffle 82 and the classification rod 84 are both arranged as an inclined structure, the distance between the two classification rods 84 increases successively from one end to the other end, and the bottom end surface of the classification rod 84 is higher than the top end surface of the fruit classification frame 14, and the driving motor 85 is electrically connected to the control panel 11.

[0059] As can be seen from the above, the inclined classification baffle 82 can block the fruit, the inclined classification rod 84 is conducive to the rolling of the fruit, and the inner side of the classification baffle 82, the outer surface of the classification rod 84 and the inner wall of the fruit classification frame 14 are all set to elastic material, which can buffer the fruit to avoid damage, so that the classification rod 84 does not contact the fruit classification frame 14, which is conducive to the taking and placing of the fruit classification frame 14.

[0060] Application examples:

[0061] This design is applied in an orchard environment and can meet the needs of picking diverse fruits, show high efficiency during the peak of seasonal picking, and effectively alleviate the picking pressure in labor-shortage areas. This design has a built-in force sensor 667 through the picking mechanism 6. This innovation can monitor the hardness of the fruit in real time and automatically adjust the picking force accordingly to ensure that the fruit is not damaged, thereby protecting the quality of the fruit and improving its commodity value. In addition, the six-degree-of-freedom robot arm 4 provides a high degree of flexibility and accuracy for the picking process, allowing the robot to easily cope with various complex picking environments, and the disassembly and assembly mechanism 5 The design further enhances the applicability of the picking robot. Users can easily replace the picking mechanism 6 through this mechanism. The clamping type picking mechanism 6 can be replaced with other types of clamps, which can be completed quickly to meet the picking needs of different types of fruits. This modular design enables the picking robot to perform the picking tasks of a variety of fruits, significantly expanding its application range. Finally, the addition of the classification mechanism 8 brings convenience to the subsequent fruit processing. The mechanism can classify the picked fruits into large, medium and small sizes, greatly improving the efficiency of subsequent processing and reducing the time and cost of manual sorting.

[0062] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A picking robot and a fruit picking mechanism thereof, characterized in that: include: A fruit collection box (1), wherein an electric telescopic column (2) is installed on one side of the top of the fruit collection box (1), a lifting platform (3) is installed on the top of the electric telescopic column (2), and a robot mechanical arm (4) is installed in the middle of the top of the lifting platform (3); A picking mechanism (6), the picking mechanism (6) comprising an adjusting box (61), a positioning frame (62), a block (63), a driver (64), a forward and reverse screw rod (65), a picking clamping claw (66) and a limiting groove (67), the adjusting box (61) being mounted on the outer wall of the disassembling and assembling mechanism (5), the positioning frame (62) being mounted on the middle part of one end of the adjusting box (61), two blocks (63), two picking clamping claws (66) and two limiting grooves (67) being provided, and the two blocks (63) being respectively mounted on both sides of one end of the adjusting box (61), the driver (64) being arranged on the outer wall of the adjusting box (61), the forward and reverse screw rod (65) being mounted between both sides of the inner wall of the adjusting box (61), the two picking clamping claws (66) being mounted on the outer surface of the forward and reverse screw rod (65), and the two limiting grooves (67) being provided on both sides of the other end of the adjusting box (61); A disassembly and assembly mechanism (5), wherein the disassembly and assembly mechanism (5) is installed at one end of the robot mechanical arm (4), and the disassembly and assembly mechanism (5) can realize the disassembly and replacement of the picking mechanism (6); A classification mechanism (8), wherein the classification mechanism (8) is arranged inside the fruit collection box (1), and the classification mechanism (8) can classify the fruits into large, medium and small sizes.

2. A picking robot and a fruit picking mechanism thereof according to claim 1, characterized in that: A camera (7) is installed at the top of the picking mechanism (6), a receiving hopper (9) is installed on one side of the top of the lifting platform (3), a feeding pipe (10) is installed at the bottom of the receiving hopper (9), and the bottom end of the feeding pipe (10) is installed on the other side of the top of the fruit collection box (1), a control panel (11) is installed on the upper side of one end of the fruit collection box (1), mounting frames (12) are installed on the lower sides of both ends of the fruit collection box (1), a box door (13) is installed on the lower side of the outer wall of the fruit collection box (1), and three fruit classification frames (14) are placed on the bottom inner wall of the fruit collection box (1).

3. A picking robot and a fruit picking mechanism thereof according to claim 2, characterized in that: The conveying pipe (10) is configured as a folding pipe, the camera (7), the robot arm (4) and the electric telescopic column (2) are all electrically connected to the control panel (11), and the robot arm (4) is configured as a six-degree-of-freedom robot arm.

4. The picking robot and the fruit picking mechanism thereof according to claim 1, characterized in that: The picking clamp (66) comprises a picking clamp (661), an adjusting block (662), a receiving cavity (663), a second spring (664), a clamping rod (665), a rubber block (666) and a force sensor (667). The adjusting block (662) is mounted on one end of the picking clamp (661) close to the adjusting box (61). The receiving cavity (663), the second spring (664), the clamping rod (665) and the rubber block (666) are each provided in plurality. The storage cavities (663) are all opened inside the picking clamp (661), and the plurality of second springs (664) are respectively installed on the inner walls of the plurality of storage cavities (663). The plurality of clamping rods (665) are respectively installed on the other ends of the plurality of second springs (664). The plurality of rubber blocks (666) are respectively installed on the other ends of the plurality of clamping rods (665). The force sensor (667) is arranged at the other end of the middle rubber block (666).

5. A picking robot and a fruit picking mechanism thereof according to claim 4, characterized in that: The adjustment block (662) and the clamping rod (665) are both configured as convex structures, the force sensor (667) and the driver (64) are both electrically connected to the control panel (11), and two wedge-shaped protrusions are provided on both side outer walls of the positioning frame (62).

6. The picking robot and the fruit picking mechanism thereof according to claim 1, characterized in that: The assembly and disassembly mechanism (5) comprises an assembly and disassembly box (51), an inlet and outlet (52), a slot (53) and a fixing frame (54); the assembly and disassembly box (51) is installed at one end of the robot mechanical arm (4) away from the lifting platform (3); the inlet and outlet (52) is provided at the other end of the assembly and disassembly box (51); two slots (53) and two fixing frames (54) are provided, and the two slots (53) are respectively provided at two sides of the other end of the assembly and disassembly box (51); and the two fixing frames (54) are respectively installed on the outer walls of both sides of the assembly and disassembly box (51).

7. A picking robot and a fruit picking mechanism thereof according to claim 6, characterized in that: A fixing plate (55) is installed between the inner walls on both sides of the two fixing frames (54), first springs (56) are installed on the opposite sides of the two fixing plates (55), and the other ends of the two first springs (56) are respectively installed on the inner walls on both sides of the disassembly box (51), two positioning blocks (57) are installed on the opposite sides of the two fixing frames (54), and through openings (58) are opened at the top ends of the two fixing frames (54).

8. The picking robot and the fruit picking mechanism thereof according to claim 7, characterized in that: The positioning block (57) is configured as a wedge-shaped structure, the fixing frame (54) is configured as a U-shaped structure, the clamping groove (53) is clamped with the clamping block (63), and the length of the inlet and outlet (52) is consistent with the width of the positioning frame (62).

9. The picking robot and the fruit picking mechanism thereof according to claim 1, characterized in that: The classification mechanism (8) comprises a forward and reverse screw (81), a classification baffle (82), a limiting rod (83), a classification rod (84) and a driving motor (85); the forward and reverse screw (81) is installed between the inner walls of both sides of the fruit collection box (1); two classification baffles (82) and two classification rods (84) are provided, and the two classification baffles (82) are installed on the outer surface of the forward and reverse screw (81); the limiting rod (83) is installed between one ends of the two classification baffles (82), and the limiting rod (83) is installed on the inner wall of the fruit collection box (1); the two classification rods (84) are respectively installed at the bottom ends of the two classification baffles (82); and the driving motor (85) is provided at one end of the forward and reverse screw (81).

10. A picking robot and a fruit picking mechanism thereof according to claim 9, characterized in that: The classification baffle (82) and the classification rod (84) are both arranged to be inclined structures, the distance between the two classification rods (84) increases from one end to the other end, and the bottom end surface of the classification rod (84) is higher than the top end surface of the fruit classification frame (14), and the driving motor (85) is electrically connected to the control panel (11).

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