Fruit picking manipulator capable of avoiding branch shielding

Abstract

The invention discloses a fruit picking manipulator capable of avoiding branch shielding, and belongs to the technical field of fruit picking equipment. In the invention, the obstacle avoidance ring on the outer side of the expansion mechanism is used for driving and pressing shielded branches and fruits near the to-be-picked area so as to adjust the shielded area, the picking view of the first machine arm and the clamping jaw is fully shown, and the lateral expansion arm is matched with the flexible net bag to press and avoid the picked shielded branches and fruits; the damage and loss of branches and fruits caused by interference are avoided, the picking efficiency is improved, a part of branches and fruits are wrapped through flexible contraction of a flexible net cover and a flexible belt, the situation that the adjacent branches are dialed through elastic force bounce after the branches are dialed through wrapping limiting is avoided, the obstacle avoiding and dialed effect is improved, and the picking efficiency is improved. And when the flexible net bag is adjusted to the bottom side of the second machine arm and the clamping jaw, the flexible net cover can carry out bag taking and storage on the picked fruits, the fruits can be conveniently stored during picking, and the picking adaptability is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit picking equipment, and in particular relates to a fruit picking manipulator capable of avoiding being blocked by tree branches. Background Art

[0002] Traditional fruit picking usually adopts manual collection. The pickers pick the fruits from the trees or vines by hand or with the help of simple tools such as ladders and picking hooks, or use specific tools such as picking shears and picking hooks to pick the fruits. With the continuous development of science and technology, modern fruit picking has begun to adopt mechanized picking technology. Mechanized picking can improve picking efficiency and reduce labor costs. At the same time, it can also reduce damage during the picking process and improve the quality of fruits.

[0003] The Chinese invention patent with the authorization announcement number CN108450149B discloses a fruit-assisted picking manipulator device, including a handle, a telescopic rod and a picking mechanism; the handle is connected to one end of the telescopic rod; the connecting rod is connected through a limit device and a limit hole; the other end of the telescopic rod is connected to the picking mechanism, and the picking mechanism includes a housing, a cam drive frame, a camshaft, a guide sleeve, a bearing, a secondary rotating disk, a pull rod, a main rotating disk, and a manipulator claw; the cam drive frame is arranged at the lower end of the housing; the roller is arranged inside the cam drive frame and is a symmetrical structure; the camshaft is arranged inside the housing; a first spring is installed on the part of the camshaft passing through the cam drive frame, and a card slot is also arranged on the camshaft; the guide sleeve is fixedly connected to the upper end of the cam drive frame; and the manipulator claw is installed on the main rotating disk. This scheme realizes the expansion of the manipulator through the telescopic rod, but when picking in a densely planted fruit garden, the fruit at the top of the branch is easily blocked and disturbed by nearby branches, and the manipulator is easy to damage the branch and fruit when passing through. The damaged branch may affect the yield and quality of the fruit in the future, and there is room for improvement. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that when picking fruits in densely planted fruit gardens, fruits at the top of branches are easily blocked by nearby branches, and the branches and fruits are easily damaged when the robot passes through. The damaged branches may affect the future yield and quality of the fruits. A fruit picking robot that can avoid being blocked by branches is proposed.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A fruit picking robot capable of avoiding obstruction by tree branches comprises a base, a driving unit is installed on the top of the base, a first machine arm is installed on the top of the driving unit, a second machine arm is installed on the first machine arm through a rotating hinge, a clamping claw is installed on the front side of the second machine arm, an expansion arm is installed outside the second machine arm through a spacing control mechanism, the distance between the expansion arm and the second machine arm is controlled by the spacing control mechanism, the expansion arm rotates around the axis of the second machine arm through the spacing control mechanism, an expansion mechanism is installed on the front side of the expansion arm, and the expansion mechanism is driven by the expansion arm to move and pull a picking area to block tree branches.

[0006] As a further description of the above technical solution: The expansion mechanism includes an obstacle avoidance ring, the outer peripheral side of the obstacle avoidance ring is connected to the front side of the expansion arm through a coupling rod, a retractable flexible belt is provided in the inner cavity of the obstacle avoidance ring, one end of the inner cavity of the obstacle avoidance ring away from the coupling rod is connected to a first guide wheel, and both sides of the inner cavity of the obstacle avoidance ring away from the first guide wheel are slidably connected to second guide wheels, and the flexible belt is sequentially passed between the first guide wheel and the second guide wheel, the ends of the flexible belt pass through sliding grooves opened on both sides of the bottom of the obstacle avoidance ring and are wound with a winding roller, and the winding roller is connected to the outer side of the obstacle avoidance ring through a bearing seat, a second driving mechanism is installed on one side of the winding roller, and the second driving motor is installed on the outer side of the obstacle avoidance ring.

[0007] As a further description of the above technical solution: Sliding holes are provided on both sides of the inner cavity of the obstacle avoidance ring, a sliding rod is slidably connected in the sliding hole, one end of the sliding rod is connected to the second guide wheel, the end of the sliding rod is connected to a step ring, and a spring is sleeved on the outer wall of the sliding rod, and both ends of the spring are respectively connected to the second guide wheel and one side of the inner cavity of the obstacle avoidance ring.

[0008] As a further description of the above technical solution: Both ends of the bottom of the inner cavity of the obstacle avoidance ring close to the coupling rod are connected with fitting rollers, and the inner side of the fitting roller fits with one side of the flexible belt, so that the flexible belt winding friction is reduced by the fitting roller, and the inner side of the obstacle avoidance ring is provided with a crushing energy absorption groove along the circumference, and the outer side of the obstacle avoidance ring away from the rod body is connected with a guide block.

[0009] As a further description of the above technical solution: A plurality of hooks are nested on the outer peripheral side of the flexible belt, a card slot is connected to one side of the hook, a card block is slidably connected in the card slot, and a flexible net bag is connected between the plurality of card blocks.

[0010] As a further description of the above technical solution: The spacing control mechanism includes a rotating ring, which is sleeved on the outside of the second machine arm, and the inner cavity of the rotating ring is rotatably connected to a gear ring, which is connected to the outside of the second machine arm, and a driving gear is meshed on one side of the gear ring, and a third driving motor is connected to the top of the driving gear, and the third driving motor is connected to one side of the top cover of the rotating ring, and one side of the rotating ring is connected to an expansion seat, and one side of the inner cavity of the expansion seat is connected to an electric push rod, one end of the electric push rod is connected to a shaft sleeve, and a hydraulic cylinder is installed on the bottom side of the inner cavity of the shaft sleeve, and one end of the piston of the hydraulic cylinder is connected to the bottom side of the expansion arm, and the electric push rod pulls the hydraulic cylinder and the expansion arm to move in the expansion seat to adjust the spacing.

[0011] As a further description of the above technical solution: An anti-interference mechanism is installed on one side of the expansion arm, and the anti-interference mechanism includes a protective shell, which is connected to one side of the expansion arm, a rotating block is rotatably connected to the inner cavity of the protective shell, a flap is connected to one side of the rotating block, an abutment plate is slidably connected to the flap, a screw seat is connected to the bottom of the inner cavity of the protective shell, an adjusting screw is connected to the inner thread of the screw seat, both ends of the adjusting screw are connected to the bottom of the inner cavity of the protective shell through a bearing seat, and a first drive motor is installed on one end of the adjusting screw, the first drive motor is installed at the bottom of the inner cavity of the protective shell, a rotating seat is connected to the top of the screw seat and the bottom of the flap, and a connecting rod is rotatably connected between the rotating seats on both sides.

[0012] As a further description of the above technical solution: One side of the abutment plate is connected to an electric telescopic rod, and one end of the electric telescopic rod is connected to one side of the inner cavity of the flap, and one side of the abutment plate is connected to a flexible pad.

[0013] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, through the designed expansion mechanism, when the expansion arm adjusts the corresponding positions of the distance clamp and the second arm through the spacing control mechanism, the obstacle avoidance ring on the outside of the expansion mechanism can be used to drive and press the obstructing branches and fruits near the picking area to adjust the obstruction area, so as to fully display the picking field of the first arm and the clamp, so that the lateral expansion arm can cooperate with the flexible net bag to apply pressure and avoid the picking of obstructed branches and fruits, avoid interference and cause damage to branches and fruits, improve the picking efficiency, and wrap some branches and fruits through the flexible contraction of the flexible net cover and the flexible belt. The elastic jumping of the branches after being opened is prevented from being dialed to the adjacent branches through the wrapping limit, so as to improve the obstacle avoidance and dialing effect. When the flexible net bag is adjusted to the bottom side of the current second arm and the clamp, the flexible net cover can pick up and store the picked fruits, which is convenient for storing the fruits during picking and improves the picking adaptability.

[0014] 2. In the present invention, the rotation of the active gear can drive itself and the rotating ring to rotate around the axis of the second machine arm through meshing with the gear ring. The rotation of the rotating ring can drive the expansion seat and one side of the expansion arm to adjust the position, which is beneficial to adjust the toggle position around the picking area by rotating the expansion arm around the axis of the second machine arm to meet the obstacle avoidance needs under different obstruction conditions. The movement of the shaft sleeve can synchronously adjust the radial position of the expansion arm from the second machine arm, adjust the obstacle avoidance radius of the picking space, and further improve the picking adaptability.

[0015] 3. In the present invention, the adjustment screw is driven to rotate by the rotation of the output shaft of the first driving motor, and the rotation of the adjustment screw can drive the screw seat to move. The movement of the screw seat can drive the top rotating seat to move and pull the connecting rod. If one end of the connecting rod is not pulled, the other side can rotate around the other rotating seat and push the flap. The flap can rotate around the rotating hinge position through the rotating block. The rotation of the flap can be expanded laterally to the expansion arm. The laterally expanded flap can be used to move the interfering branches on one side of the expansion arm to prevent the interference of the branches from affecting the obstacle avoidance operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention; Figure 2 This is a schematic diagram of the disassembled structure of a fruit picking robot capable of avoiding being blocked by tree branches proposed by the present invention; Figure 3 This is a schematic diagram of the lateral structure of a fruit picking robot capable of avoiding being blocked by tree branches proposed by the present invention; Figure 4 The present invention proposes Figure 3 The structural diagram of the enlarged part A in the middle; Figure 5 A schematic diagram of the lateral structure of a fruit picking robot capable of avoiding being blocked by tree branches proposed by the present invention; Figure 6 This is a schematic diagram of the lateral structure of an expansion mechanism of a fruit picking robot capable of avoiding being blocked by tree branches proposed by the present invention; Figure 7 It is a schematic structural diagram of the enlarged portion B in FIG. B proposed by the present invention; Figure 8 This is a schematic diagram of the disassembled structure of an expansion mechanism of a fruit picking robot capable of avoiding being blocked by tree branches proposed by the present invention; Fig. 9 This is a schematic diagram of the structure of an expansion mechanism of a fruit picking robot capable of avoiding being blocked by tree branches, as proposed by the present invention; Fig.10 This is a schematic diagram of the anti-interference mechanism structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention; Fig.11 This is a schematic diagram of the disassembled structure of the anti-interference mechanism of a fruit picking robot that can avoid being blocked by tree branches proposed by the present invention.

[0017] Legend: 1. Base; 2. First arm; 3. Rotating hub; 4. Second arm; 5. Extension arm; 6. Anti-interference mechanism; 601. Protective shell; 602. Flip plate; 603. Abutment plate; 604. Rotating block; 605. Adjusting screw rod; 606. Screw rod seat; 607. Rotating seat; 608. Connecting rod; 609. First driving motor; 7. Extension mechanism; 701. Obstacle avoidance ring; 702. Crushing energy absorption groove; 703. Guide block; 704. First guide wheel; 705. Flexible belt ; 706, second guide wheel; 707, slide bar; 708, spring; 709, hook; 710, slot; 711, block; 712, flexible net bag; 713, laminating roller; 714, winding roller; 715, second drive motor; 716, coupling rod; 8, clamping claw; 9, spacing control mechanism; 901, rotating ring; 902, gear ring; 903, driving gear; 904, third drive motor; 905, extension seat; 906, electric push rod; 907, hydraulic cylinder. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1-Figure 11 The present invention provides a technical solution: a fruit picking manipulator capable of avoiding tree branches from blocking, comprising a base 1, a driving unit installed on the top of the base 1, a first machine arm 2 installed on the top of the driving unit, the first machine arm 2 is installed with a second machine arm 4 through a rotating hub 3, a clamping claw 8 is installed on the front side of the second machine arm 4, characterized in that an expansion arm 5 is installed outside the second machine arm 4 through a spacing control mechanism 9, the distance between the expansion arm 5 and the second machine arm 4 is controlled by the spacing control mechanism 9, the expansion arm 5 rotates around the axis of the second machine arm 4 through the spacing control mechanism 9, an expansion mechanism 7 is installed on the front side of the expansion arm 5, and the expansion mechanism 7 is driven by the expansion arm 5 to move and pull the picking area to block the branches; The base 1 can be installed on the top of a traction vehicle or a traction platform, and is provided with corresponding gas circuits, oil circuits, control circuits and control cabinets to realize transmission control of the first arm 2, the second arm 4, the extension arm 5 and the corresponding transmission mechanism; The expansion mechanism 7 includes an obstacle avoidance ring 701, the outer peripheral side of the obstacle avoidance ring 701 is connected to the front side of the expansion arm 5 through a coupling rod 716, a retractable flexible belt 705 is provided in the inner cavity of the obstacle avoidance ring 701, and the end of the inner cavity of the obstacle avoidance ring 701 away from the coupling rod 716 is connected to the first guide wheel 704, and the two sides of the inner cavity of the obstacle avoidance ring 701 away from the first guide wheel 704 are slidably connected to the second guide wheels 706, and the flexible belt 705 is sequentially passed between the first guide wheel 704 and the second guide wheel 706, and the ends of the flexible belt 705 pass through the slide grooves opened on both sides of the bottom of the obstacle avoidance ring 701 and are wound with a winding roller 714, and the winding roller 714 is connected to the outer side of the obstacle avoidance ring 701 through a bearing seat, and a second driving mechanism is installed on one side of the winding roller 714, and the second driving motor 715 is installed on the outer side of the obstacle avoidance ring 701; Sliding holes are provided on both sides of the inner cavity of the obstacle avoidance ring 701, and a sliding rod 707 is slidably connected in the sliding hole. One end of the sliding rod 707 is connected to the second guide wheel 706, and the end of the sliding rod 707 is connected to a step ring. A spring 708 is sleeved on the outer wall of the sliding rod 707, and the two ends of the spring 708 are respectively connected to the second guide wheel 706 and one side of the inner cavity of the obstacle avoidance ring 701; Both ends of the inner bottom of the obstacle avoidance ring 701 near the coupling rod 716 are connected with laminating rollers 713, and the inner side of the laminating roller 713 is in contact with one side of the flexible belt 705, and the rolling friction of the flexible belt 705 is reduced by the laminating roller 713. The inner side of the obstacle avoidance ring 701 is provided with a collapse energy absorption groove 702 along the circumference, and the outer side of the obstacle avoidance ring 701 away from the rod body is connected with a guide block 703; A plurality of hooks 709 are nested on the outer peripheral side of the flexible belt 705 , a card slot 710 is connected to one side of the hook 709 , a card block 711 is slidably connected in the card slot 710 , and a flexible net bag 712 is connected between the plurality of card blocks 711 .

[0020] Specifically, through the designed expansion mechanism 7, when the expansion arm 5 adjusts the distance between the clamping claw 8 and the corresponding position of the second machine arm 4 through the spacing control mechanism 9, the obstacle avoidance ring 701 outside the expansion mechanism 7 can be driven and pressed to adjust the blocking area, so as to fully display the picking field of the first machine arm 2 and the clamping claw 8, so that the lateral expansion arm 5 can cooperate with the flexible net bag 712 to apply pressure to avoid the picking of the blocking branches and fruits, avoid interference and cause damage to the branches and fruits, and improve the picking efficiency. At the same time, when the obstacle avoidance ring 701 moves, the output shafts of the second driving motors 715 on both sides of the bottom can be controlled to rotate to drive the winding rollers 714 to wind up the flexible belt 705. The flexible belt 705 can be tightened by winding to pull the second guide wheels 706 on both sides to move inward. The movement of the second guide wheels 706 can drive the slide bar 707 to move, so that the inner flexible net bag 712 can be closed by the tightened flexible belt 705, which is conducive to wrapping some branches and fruits through the flexible net cover and the flexible contraction of the flexible belt 705. The wrapping limit is used to prevent the elastic force of the branches after being opened from bouncing to the adjacent branches, thereby improving the obstacle avoidance and pulling effect. In addition, by adjusting the flexible net bag 712 to the bottom side of the current second machine arm 4 and the clamping claw 8, the flexible net cover can pick up and store the picked fruits, which is convenient for storing the fruits during picking and improving the picking adaptability. Furthermore, the movement of the slide bar 707 can drive the spring 708 to expand, which is conducive to the flexible belt 705 being pulled and reset by the spring 708 when the second drive motor 715 rotates in the opposite direction to drive the flexible belt 705 to relax; Furthermore, the first arm 2 can be rotated and the tilt angle can be adjusted through the driving part, and the second arm 4 can be driven to rotate around the first arm 2 through the rotating hub 3, which is beneficial to improve the picking adaptability through multi-axis adjustment of the first arm 2 and the second arm 4, and the clamping claws 8 and the expansion mechanism 7 corresponding to the front sides of the first arm 2 and the second arm 4 are configured to be able to rotate around the axis and offset the rotation through the front end rotating part and the torsion part to improve the picking adaptability.

[0021] See also Figure 3-Figure 5 The spacing control mechanism 9 includes a rotating ring 901, which is sleeved on the outside of the second machine arm 4. The inner cavity of the rotating ring 901 is rotatably connected to a gear ring 902, which is connected to the outside of the second machine arm 4. A driving gear 903 is meshed on one side of the gear ring 902. The top of the driving gear 903 is connected to a third driving motor 904, which is connected to one side of the top cover of the rotating ring 901. An expansion seat 905 is connected to one side of the rotating ring 901. An electric push rod 906 is connected to one side of the inner cavity of the expansion seat 905. One end of the electric push rod 906 is connected to a shaft sleeve. A hydraulic cylinder 907 is installed on the bottom side of the inner cavity of the shaft sleeve. One end of the piston of the hydraulic cylinder 907 is connected to one side of the bottom of the expansion arm 5. The hydraulic cylinder 907 and the expansion arm 5 are moved and adjusted in the expansion seat 905 by pulling the electric push rod 906.

[0022] Specifically, the rotation of the output shaft of the driving motor can drive the active gear 903 to rotate. The rotation of the active gear 903 can drive itself and the rotating ring 901 to rotate around the axis of the second machine arm 4 by engaging with the gear ring 902. The rotation of the rotating ring 901 can drive the expansion seat 905 and one side expansion arm 5 to adjust their positions, which is beneficial for adjusting the toggle position around the picking area by rotating the expansion arm 5 around the axis of the second machine arm 4 to adapt to the obstacle avoidance needs under different obstruction conditions. In addition, through the designed electric push rod 906, the extension or shortening of the electric push rod 906 can pull the shaft sleeve to move, and the movement of the shaft sleeve can synchronously adjust the radial position of the expansion arm 5 from the second machine arm 4, which is convenient for adjusting the obstacle avoidance radius of the picking space, and further improving the picking adaptability.

[0023] See also Figure 10-11 An anti-interference mechanism 6 is installed on one side of the expansion arm 5. The anti-interference mechanism 6 includes a protective shell 601, which is connected to one side of the expansion arm 5. A rotating block 604 is rotatably connected to the inner cavity of the protective shell 601. A flap 602 is connected to one side of the rotating block 604. An abutment plate 603 is slidably connected to the flap 602. A screw seat 606 is connected to the bottom of the inner cavity of the protective shell 601. An adjusting screw 605 is connected to the inner thread of the screw seat 606. Both ends of the adjusting screw 605 are connected through bearing seats. At the bottom of the inner cavity of the protective shell 601, a first drive motor 609 is installed at one end of the adjusting screw rod 605, and the first drive motor 609 is installed at the bottom of the inner cavity of the protective shell 601. The top of the screw rod seat 606 and the bottom of the flap 602 are connected to a rotating seat 607, and a connecting rod 608 is rotatably connected between the rotating seats 607 on both sides. An electric telescopic rod is connected to one side of the abutment plate 603, and one end of the electric telescopic rod is connected to one side of the inner cavity of the flap 602, and one side of the abutment plate 603 is connected with a flexible.

[0024] Specifically, through the designed anti-interference mechanism 6, the adjustment screw 605 can be driven to rotate by rotating the output shaft of the first drive motor 609, and the rotation of the adjustment screw 605 can drive the screw seat 606 to move, and the movement of the screw seat 606 can drive the top rotating seat 607 to move and pull the connecting rod 608. When one end of the connecting rod 608 is not pulled, the other side can rotate around the other rotating seat 607 and push the flap 602, and the flap 602 can rotate around the rotating hinge position through the rotating block 604. The rotation of the flap 602 can be laterally expanded to the expansion arm 5, so that the interfering branches on one side of the expansion arm 5 can be moved through the laterally expanded flap 602 to avoid the interference of the branches affecting the obstacle avoidance operation, and through the designed electric telescopic rod, the electric telescopic rod has the same structure as the electric push rod 906, and the movement of the abutment plate 603 in the flap 602 is controlled by the contraction and expansion of the electric telescopic rod. The movement of the abutment plate 603 can further adjust the abutment range of the side branches, thereby improving the processing adaptability.

[0025] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A fruit picking robot capable of avoiding being blocked by tree branches, comprising a base (1), a driving unit mounted on the top of the base (1), a first arm (2) mounted on the top of the driving unit, a second arm (4) mounted on the first arm (2) via a rotating hinge (3), a clamping claw (8) mounted on the front side of the second arm (4), characterized in that: An expansion arm (5) is installed outside the second machine arm (4) via a spacing control mechanism (9); the distance between the expansion arm (5) and the second machine arm (4) is controlled via the spacing control mechanism (9); the expansion arm (5) rotates around the axis of the second machine arm (4) via the spacing control mechanism (9); an expansion mechanism (7) is installed on the front side of the expansion arm (5); the expansion mechanism (7) is driven by the expansion arm (5) to move and pull the picking area to block branches.

2. A fruit picking robot capable of avoiding tree branch occlusion according to claim 1, characterized in that: The expansion mechanism (7) comprises an obstacle avoidance ring (701), the outer peripheral side of the obstacle avoidance ring (701) is connected to the front side of the expansion arm (5) via a coupling rod (716), a retractable flexible belt (705) is provided in the inner cavity of the obstacle avoidance ring (701), one end of the inner cavity of the obstacle avoidance ring (701) away from the coupling rod (716) is connected to a first guide wheel (704), and both sides of the inner cavity of the obstacle avoidance ring (701) away from the first guide wheel (704) are slidably connected to second guide wheels (706), The flexible belt (705) is sequentially passed between the first guide wheel (704) and the second guide wheel (706); the ends of the flexible belt (705) pass through slide grooves provided at two sides of the bottom of the obstacle avoidance ring (701) and are wound around a winding roller (714); the winding roller (714) is connected to an outer side of the obstacle avoidance ring (701) via a bearing seat; a second drive mechanism is installed on one side of the winding roller (714); and the second drive motor (715) is installed on an outer side of the obstacle avoidance ring (701).

3. A fruit picking robot capable of avoiding tree branch occlusion according to claim 2, characterized in that: Sliding holes are provided on both sides of the inner cavity of the obstacle avoidance ring (701), and a sliding rod (707) is slidably connected in the sliding hole. One end of the sliding rod (707) is connected to the second guide wheel (706), and the end of the sliding rod (707) is connected to a step ring. The outer wall of the sliding rod (707) is sleeved with a spring (708), and the two ends of the spring (708) are respectively connected to the second guide wheel (706) and one side of the inner cavity of the obstacle avoidance ring (701).

4. The fruit picking robot capable of avoiding tree branch occlusion according to claim 3, characterized in that: Both ends of the bottom of the inner cavity of the obstacle avoidance ring (701) close to the coupling rod (716) are connected to laminating rollers (713), and the inner side of the laminating roller (713) is in contact with one side of the flexible belt (705), and the rolling friction of the flexible belt (705) is reduced by the laminating roller (713). The inner side of the obstacle avoidance ring (701) is provided with a collapse energy absorption groove (702) along the circumference, and the outer side of the obstacle avoidance ring (701) away from the rod body is connected to a guide block (703).

5. The fruit picking robot capable of avoiding tree branch occlusion according to claim 3, characterized in that: A plurality of hooks (709) are nested on the outer peripheral side of the flexible belt (705), one side of the hook (709) is connected to a card slot (710), a card block (711) is slidably connected in the card slot (710), and a flexible net bag (712) is connected between the plurality of card blocks (711).

6. The fruit picking robot capable of avoiding tree branch occlusion according to claim 1, characterized in that: The spacing control mechanism (9) comprises a rotating ring (901), the rotating ring (901) being sleeved on the outside of the second machine arm (4), the inner cavity of the rotating ring (901) being rotatably connected to a gear ring (902), the gear ring (902) being connected to the outside of the second machine arm (4), one side of the gear ring (902) being meshed with a driving gear (903), the top of the driving gear (903) being connected to a third driving motor (904), the third driving motor (904) being connected to the top of the rotating ring (901). On one side of the cover body, one side of the rotating ring (901) is connected to an expansion seat (905), one side of the inner cavity of the expansion seat (905) is connected to an electric push rod (906), one end of the electric push rod (906) is connected to a shaft sleeve, and a hydraulic cylinder (907) is installed on the bottom side of the inner cavity of the shaft sleeve, and one end of the piston of the hydraulic cylinder (907) is connected to one side of the bottom of the expansion arm (5), and the electric push rod (906) pulls the hydraulic cylinder (907) and the expansion arm (5) to move in the expansion seat (905) to adjust the spacing.

7. The fruit picking robot capable of avoiding tree branch occlusion according to claim 1, characterized in that: An anti-interference mechanism (6) is installed on one side of the expansion arm (5), and the anti-interference mechanism (6) includes a protective shell (601), the protective shell (601) is connected to one side of the expansion arm (5), a rotating block (604) is rotatably connected to the inner cavity of the protective shell (601), a flap (602) is connected to one side of the rotating block (604), an abutment plate (603) is slidably connected to the inner cavity of the flap (602), a screw seat (606) is connected to the bottom of the inner cavity of the protective shell (601), and the screw seat (606) is An adjusting screw rod (605) is threadedly connected, and both ends of the adjusting screw rod (605) are connected to the bottom of the inner cavity of the protective shell (601) through bearing seats, and a first drive motor (609) is installed at one end of the adjusting screw rod (605), and the first drive motor (609) is installed at the bottom of the inner cavity of the protective shell (601). The top of the screw rod seat (606) and the bottom of the flap (602) are both connected to a rotating seat (607), and a connecting rod (608) is rotatably connected between the rotating seats (607) on both sides.

8. The fruit picking robot capable of avoiding tree branch occlusion according to claim 7, characterized in that: One side of the abutment plate (603) is connected to an electric telescopic rod, and one end of the electric telescopic rod is connected to one side of the inner cavity of the flap (602), and one side of the abutment plate (603) is connected to a flexible pad.

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