A fruit picking robot capable of avoiding being blocked by tree branches

Abstract

The present invention discloses a fruit picking robot capable of avoiding obstruction by tree branches, belonging to the technical field of fruit picking equipment. In the present invention, the obstacle avoidance ring on the outside of the expansion mechanism is used to drive and press the obstructing branches and fruits near the picking area to adjust the obstruction area, fully displaying the picking field of the first machine arm and the clamping claw, and the lateral expansion arm is used in conjunction with the flexible net bag to apply pressure and avoid the obstructing branches and fruits to avoid interference and damage to the branches and fruits, thereby improving the picking efficiency. The flexible net cover and the flexible belt are used to wrap some branches and fruits through flexible contraction, and the wrapping limit is used to prevent the elastic force of the branches after being opened from bouncing and hitting the adjacent branches, thereby improving the obstacle avoidance and shaking effect. When the flexible net bag is adjusted to the bottom side of the current second machine arm and the clamping claw, the flexible net cover can pick up and store the picked fruits, making it convenient to store the fruits during picking and improving the picking adaptability.

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 is usually done manually. Pickers pluck the fruit from the tree or vine by hand or with the help of simple tools such as ladders and picking hooks, or with specific tools such as shears and picking hooks. With the continuous development of science and technology, modern fruit picking has begun to adopt mechanized picking technology. Mechanized picking can improve picking efficiency, reduce labor costs, reduce damage during the picking process, and improve fruit quality.

[0003] Chinese invention patent CN108450149B discloses a fruit-assisted picking robot device, comprising 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 via a limit device and a limit hole; the other end of the telescopic rod is connected to the picking mechanism, which 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 robotic gripper. The cam drive frame is disposed at the lower end of the housing; the rollers are symmetrically disposed within the cam drive frame; the camshaft is disposed within the housing; a first spring is mounted on the portion of the camshaft that passes through the cam drive frame, and a retaining slot is also provided on the camshaft; the guide sleeve is fixedly connected to the upper end of the cam drive frame; and the robotic gripper is mounted on the main rotating disk. This solution achieves expansion of the robot arm through the telescopic rod, but when picking in densely planted orchards, fruit located at the top of branches is easily obstructed by nearby branches, which can easily damage the branches and fruit when the robot passes through. Damaged branches may affect future fruit yield and quality, leaving 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, the fruits at the top of the branches are easily blocked and interfered with 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:

[0006] A fruit picking robot capable of avoiding obstruction by tree branches comprises a base, a driving unit mounted on the top of the base, a first arm mounted on the top of the driving unit, a second arm mounted on the first arm via a rotating hinge, a clamping claw mounted on the front side of the second arm, an expansion arm mounted on the outside of the second arm via a spacing control mechanism, the distance between the expansion arm and the second arm being controlled by the spacing control mechanism, the expansion arm rotating around the axis of the second arm via the spacing control mechanism, an expansion mechanism mounted on the front side of the expansion arm, the expansion mechanism driven by the expansion arm to move and pull a picking area to obstruct tree branches.

[0007] As a further description of the above technical solution:

[0008] 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, the end of the inner cavity of the obstacle avoidance ring away from the coupling rod is connected to the first guide wheel, and the two sides of the inner cavity of the obstacle avoidance ring away from the first guide wheel are slidably connected to the second guide wheels, and the flexible belt is sequentially passed between the first guide wheel and the second guide wheel, the end of the flexible belt passes through the slide grooves opened on both sides of the bottom of the obstacle avoidance ring and is 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.

[0009] As a further description of the above technical solution:

[0010] Sliding holes are provided on both sides of the inner cavity of the obstacle avoidance ring, and a sliding rod is slidably connected in the sliding hole. One end of the sliding rod is connected to the second guide wheel, and the end of the sliding rod is connected to the stepped ring. A spring is provided 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.

[0011] As a further description of the above technical solution:

[0012] The bottom of the inner cavity of the obstacle avoidance ring is connected to both ends near the coupling rod, and the inner side of the bonding roller is in contact with one side of the flexible belt. The bonding roller reduces the winding friction of the flexible belt. The inner side of the obstacle avoidance ring is provided with a collapse energy absorption groove along the circumference, and the outer side of the obstacle avoidance ring away from the rod body is connected to a guide block.

[0013] As a further description of the above technical solution:

[0014] A plurality of hooks are nested on the outer peripheral side of the flexible belt, one side of the hook is connected with a card slot, a card block is slidably connected in the card slot, and a flexible net bag is connected between the plurality of card blocks.

[0015] As a further description of the above technical solution:

[0016] The spacing control mechanism includes a rotating ring, which is sleeved on the outside of the second machine arm, and a gear ring is rotatably connected to the inner cavity of the rotating ring. The gear ring is connected to the outside of the second machine arm, and a driving gear is meshed on one side of the gear ring. The top of the driving gear is connected to a third drive motor, and the third drive motor is connected to one side of the top cover of the rotating ring. 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 hydraulic cylinder piston is connected to the bottom side of the expansion arm. The electric push rod pulls the hydraulic cylinder and the expansion arm to move in the expansion seat to adjust the spacing.

[0017] As a further description of the above technical solution:

[0018] 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, and a rotating block is rotatably connected to the inner cavity of the protective shell, and a flap is connected to one side of the rotating block, and an abutment plate is slidably connected to the inner cavity of the flap, and a screw rod seat is connected to the bottom of the inner cavity of the protective shell, and an adjusting screw rod is connected to the inner thread of the screw rod seat. Both ends of the adjusting screw rod are connected to the bottom of the inner cavity of the protective shell through a bearing seat, and one end of the adjusting screw rod is installed with a first drive motor, and the first drive motor is installed at the bottom of the inner cavity of the protective shell, the top of the screw rod seat and the bottom of the flap are both connected to a rotating seat, and a connecting rod is rotatably connected between the rotating seats on both sides.

[0019] As a further description of the above technical solution:

[0020] 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.

[0021] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0022] 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 obstructed area, fully showing 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 obstructed branches and fruits to avoid interference and damage to the branches and fruits, thereby improving the picking efficiency. The flexible net cover and the flexible belt are used to wrap some branches and fruits through flexible contraction, and 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. By adjusting the flexible net bag 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 improving the picking adaptability.

[0023] 2. In the present invention, the rotation of the driving gear can drive itself and the rotating ring to rotate around the axis of the second machine arm through engagement with the gear ring. The rotation of the rotating ring can drive the expansion seat and one side expansion arm to adjust their positions, which is beneficial to adjusting the toggle position around the picking area by rotating the expansion arm around the axis of the second machine arm, adapting to 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.

[0024] 3. In the present invention, the adjustment screw is driven to rotate by the rotation of the output shaft of the first drive 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

[0025] 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;

[0026] Figure 2 This is a schematic diagram of the disassembled structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0027] Figure 3 This is a schematic diagram of the side structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0028] Figure 4 The present invention proposes Figure 3 A schematic diagram of the structure of the enlarged part A;

[0029] Figure 5 This is a schematic diagram of the side structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0030] Figure 6 This is a schematic diagram of the lateral structure of an expansion mechanism of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the enlarged portion B in FIG. B proposed by the present invention;

[0032] Figure 8 This is a schematic diagram of the disassembled structure of the expansion mechanism of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0033] Figure 9 This is a schematic diagram of the expansion mechanism structure of a fruit picking robot that can avoid being blocked by tree branches, as proposed by the present invention;

[0034] Figure 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;

[0035] Figure 11 This is a schematic diagram of the disassembled structure of the anti-interference mechanism of a fruit picking robot proposed by the present invention that can avoid being blocked by tree branches.

[0036] Legend:

[0037] 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; 606. Screw seat; 607. Rotating seat; 608. Connecting rod; 609. First drive 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

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0039] See also Figures 1-11The present invention provides a technical solution: a fruit picking robot capable of avoiding obstruction by tree branches, comprising a base 1, a driving unit installed on the top of the base 1, a first arm 2 installed on the top of the driving unit, the first arm 2 being installed with a second arm 4 via a rotating hub 3, a clamping claw 8 installed on the front side of the second arm 4, characterized in that an expansion arm 5 is installed on the outside of the second arm 4 via a spacing control mechanism 9, the distance between the expansion arm 5 and the second arm 4 is controlled by the spacing control mechanism 9, the expansion arm 5 rotates around the axis of the second arm 4 via the spacing control mechanism 9, an expansion mechanism 7 is installed on the front side of the expansion arm 5, and the expansion arm 5 drives the expansion mechanism 7 to move and pull the picking area to obstruct the tree branches;

[0040] The base 1 can be installed on the top of a traction vehicle or a traction platform, and is provided with corresponding air circuits, oil circuits, control circuits, and a control cabinet to realize transmission control of the first arm 2, the second arm 4, the expansion arm 5, and the corresponding transmission mechanisms;

[0041] 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 end of the flexible belt 705 passes through the slide grooves opened on both sides of the bottom of the obstacle avoidance ring 701 and is 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;

[0042] Sliding holes are provided on both sides of the inner cavity of the obstacle avoidance ring 701. 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. The end of the sliding rod 707 is connected to a stepped ring. A spring 708 is sleeved on the outer wall of the sliding rod 707. 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;

[0043] Both ends of the inner bottom of the obstacle avoidance ring 701 near the coupling rod 716 are connected to a laminating roller 713, and the inner side of the laminating roller 713 is in contact with one side of the flexible belt 705, thereby reducing the winding friction of the flexible belt 705. The inner side of the obstacle avoidance ring 701 is provided with a crush 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.

[0044] 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 .

[0045] Specifically, through the designed expansion mechanism 7, when the expansion arm 5 adjusts the distance between the clamping claw 8 and the second arm 4 through the spacing control mechanism 9, the obstacle avoidance ring 701 on the outside of the expansion mechanism 7 can be driven and pressed to adjust the obstructing branches and fruits near the picking area to adjust the obstruction area, fully showing the picking field of the first arm 2 and the clamping claw 8. In this way, the lateral expansion arm 5 can cooperate with the flexible net bag 712 to apply pressure and avoid the obstructing branches and fruits to avoid interference and damage to branches and fruits, thereby improving the picking efficiency.

[0046] At the same time, when the obstacle avoidance ring 701 moves, the second driving motor 715 on both sides of the bottom can be controlled to output a rotation to drive the winding roller 714 to wind up the flexible belt 705, and 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 tightened flexible belt 705 can drive the inner flexible net bag 712 to close, 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 prevents the elastic force of the branches after being opened from bouncing to the adjacent branches, thereby improving the obstacle avoidance 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 scoop up and store the picked fruits, which is convenient for storing the fruits when picking and improving the picking adaptability.

[0047] 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 back by the spring 708 when the second drive motor 715 rotates in the opposite direction to relax the flexible belt 705;

[0048] Furthermore, the first arm 2 can be rotated and its 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 improving the picking adaptability through multi-axis adjustment of the first arm 2 and the second arm 4. In addition, 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 through the front rotating part and the torsion part to improve the picking adaptability.

[0049] See also Figure 3-Figure 5The spacing control mechanism 9 includes a rotating ring 901, which is sleeved on the outside of the second 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 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 drive motor 904, which is connected to one side of the top cover of the rotating ring 901. One side of the rotating ring 901 is connected to an expansion seat 905, and 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. One end of the piston of the hydraulic cylinder 907 is connected to the bottom side of the expansion arm 5. The hydraulic cylinder 907 and the expansion arm 5 are pulled by the electric push rod 906 to move and adjust in the expansion seat 905.

[0050] Specifically, the rotation of the output shaft of the driving motor can drive the rotation of the active gear 903. The rotation of the active gear 903 can drive itself and the rotating ring 901 to rotate around the axis of the second arm 4 by engaging with the gear ring 902. The rotation of the rotating ring 901 can drive the expansion seat 905 and the expansion arm 5 on one side 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 arm 4 to adapt to the obstacle avoidance needs under different occlusion 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. The movement of the shaft sleeve can synchronously adjust the radial position of the expansion arm 5 from the second arm 4, which is convenient for adjusting the obstacle avoidance radius of the picking space and further improving the picking adaptability.

[0051] See also Figure 10-11 , 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, which is connected to one side of the expansion arm 5. The inner cavity of the protective shell 601 is rotatably connected to a rotating block 604, and one side of the rotating block 604 is connected to a flap 602, and the flap 602 is slidably connected to an abutment plate 603. The bottom of the inner cavity of the protective shell 601 is connected to a screw seat 606, and the inner thread of the screw seat 606 is connected to an adjusting screw 605. 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. 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 the rotating seat 607, and the rotating seats 607 on both sides are rotatably connected with a connecting rod 608. 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.

[0052] Specifically, through the designed anti-interference mechanism 6, the output shaft of the first drive motor 609 can be rotated to drive the adjusting screw 605 to rotate, and the rotation of the adjusting screw 605 can drive the screw seat 606 to move. 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. The flap 602 can be rotated around the rotating hinge position through the rotating block 604. The rotation of the flap 602 can be expanded laterally to the expansion arm 5, so that the interfering branches on one side of the expansion arm 5 can be moved by the laterally expanded flap 602 to avoid the interference of the branches affecting the obstacle avoidance operation. In addition, through the designed electric telescopic rod, the electric telescopic rod has the same structure as the electric push rod 906. 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.

[0053] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0054] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 hub (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 arm (4) via a spacing control mechanism (9), and the distance between the expansion arm (5) and the second arm (4) is controlled by the spacing control mechanism (9). The expansion arm (5) rotates around the axis of the second arm (4) via 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 branches; 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), 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 end of the flexible belt (705) passes through the slide grooves provided on both sides of the bottom of the obstacle avoidance ring (701) and is wound around 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, 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 stepped ring. A spring (708) is provided 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 bottom of the inner cavity of the obstacle avoidance ring (701) near 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), so that the winding 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); 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).

2. A fruit picking robot capable of avoiding tree branch occlusion according to claim 1, characterized in that: The spacing control mechanism (9) includes a rotating ring (901), the rotating ring (901) 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), the gear ring (902) is connected to the outside of the second machine arm (4), one side of the gear ring (902) is meshed with a driving gear (903), the top of the driving gear (903) is connected to a third driving motor (904), and the third driving motor (904) is 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. 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 hydraulic cylinder (907) and the expansion arm (5) are pulled by the electric push rod (906) to move in the expansion seat (905) to adjust the spacing.

3. 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), the inner cavity of the protective shell (601) is rotatably connected to a rotating block (604), one side of the rotating block (604) is connected to a flap (602), and an abutment plate (603) is slidably connected to the flap (602), and the bottom of the inner cavity of the protective shell (601) is connected to a screw seat (606), and the screw seat (606) is connected to the inner cavity of the screw seat (606). 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 a bearing seat, 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.

4. The fruit picking robot capable of avoiding tree branch occlusion according to claim 3, 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). One side of the abutment plate (603) is connected to a flexible pad.

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