An intelligently controlled automatic fruit picking device

Abstract

The present invention discloses an intelligently controlled automatic fruit picking device, which relates to the field of agricultural machinery. The device comprises a vehicle body, on which a control assembly is provided, capable of controlling the movement of the vehicle body; a picking arm mounted on the vehicle body via a position adjustment mechanism, the position adjustment mechanism capable of controlling the movement of the picking arm to a set position and angle; a picking claw disposed at the end of the picking arm, the picking claw being connected to a clamping claw control mechanism capable of driving the picking claw to open and close; and a depth camera disposed on a side of the picking arm near the picking claw, capable of capturing images and distance information of the fruit, and transmitting the captured data to the control assembly. The intelligently controlled automatic fruit picking device provided by the present invention can improve picking efficiency, reduce picking costs, and alleviate the risks associated with manual picking from trees or ladders.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an intelligently controlled automatic fruit picking device. Background Art

[0002] Currently, fruit picking in orchards still relies heavily on manual labor, which not only increases costs but can also affect picking efficiency and fruit quality due to factors such as weather and labor. Therefore, there is an urgent need to design an automatic picking device that can improve efficiency and reduce costs. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligently controlled automatic fruit picking device to solve the problems existing in the above-mentioned prior art, thereby improving picking efficiency, reducing picking costs, and reducing the risks caused by manual picking on trees or climbing ladders.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an intelligently controlled automatic fruit picking device, comprising:

[0006] a vehicle body, on which a control assembly is provided, capable of controlling the movement of the vehicle body;

[0007] A picking arm is mounted on the vehicle body via a position adjustment mechanism, wherein the position adjustment mechanism is capable of controlling the picking arm to move to a set position and angle;

[0008] A picking claw is provided at the end of the picking arm, and the picking claw is connected to a clamping claw control mechanism, and the clamping claw control mechanism can drive the picking claw to open and close;

[0009] The depth camera is arranged on the side of the picking arm close to the picking claw, and can collect images and distance information of the fruit and transmit the collected data to the control assembly.

[0010] Preferably, the picking claw includes a telescopic rod passing through the end of the picking arm, a claw seat is provided at the end of the telescopic rod, a plurality of ring-arranged claw rods are hinged on the claw seat, and a smooth arc-shaped fitting surface is provided on the inner side of the claw rod; a positioning rod is provided at the end of the claw rod, a sensor and a laser head are provided on the inner side of the positioning rod, and a laser emitter is externally connected to the laser head; a support seat is fixedly provided at the end of the picking arm, the support seat is provided with a central through hole, and a plurality of outwardly inclined support rods are provided on the outer side of the central through hole, the outer side of the claw rod is hinged to the corresponding support rod, and the telescopic rod movably passes through the central through hole; the clamping claw control mechanism can drive the telescopic rod to move forward and backward along the axial direction.

[0011] Preferably, the gripper control mechanism includes a fourth motor fixedly arranged on one side of the picking arm, the output shaft of the fourth motor is transmission-connected to a driving wheel, a driven wheel is provided on the picking arm, and the driving wheel is transmission-connected to the driven wheel through a closed conveyor belt; a rotating nut is fixedly provided on the inner side of the driven wheel, a telescopic screw is provided at the end of the telescopic rod away from the claw seat, and the rotating nut is sleeved on the telescopic screw.

[0012] Preferably, it also includes a positioning system, which has GPS, lidar and chip recognition technology. The chip recognizes the existing ripening scheme, can identify the location of the fruit trees and the distribution of the fruits, and transmits the identification information to the control assembly.

[0013] Preferably, the position adjustment mechanism includes a mounting plate fixedly arranged vertically on the vehicle body, a vertical moving module is provided on one side of the mounting plate, a horizontal moving module is provided on the vertical moving module, a pitch module is provided on the horizontal moving module, and the picking arm is movably mounted on the pitch module; a belt transmission line is provided on the vehicle body, a blanking port is provided at the end of the belt transmission line, an inclined blanking plate is provided at the bottom of the blanking port, a supporting plate fixedly connected to one end of the vehicle body is provided at the bottom of the blanking plate, and a basket is placed on the supporting plate.

[0014] Preferably, the vertical moving module includes a vertical guide rail fixed on one side of the mounting plate, the vertical guide rail is connected to the horizontal moving module through a vertical slider, a first motor is provided on the top of the mounting plate, the first motor is transmission-connected to a vertical screw, a vertical screw nut is provided on the vertical screw, and the vertical screw nut is fixedly connected to the vertical slider.

[0015] Preferably, the horizontal movement module includes a horizontal plate, which is fixedly connected to one side of the vertical slider, and a horizontal guide rail is provided on the horizontal plate, and the horizontal guide rail is connected to the pitch module through a horizontal slider. A second motor is provided at one end of the horizontal plate, and the second motor is connected to a horizontal lead screw, and a horizontal lead screw nut is provided on the horizontal lead screw, and the horizontal lead screw nut is fixedly connected to the horizontal slider.

[0016] Preferably, the pitch module includes a pitch base, which is fixed on the horizontal slider, and a pitch plate is hinged on the pitch base, and a pitch track is provided on the pitch plate, and the pitch track is connected to the side wall of the picking arm through a track slider, and a third motor is provided at the end of the pitch plate away from the picking claw, and the third motor is transmission-connected to a tilt screw, and a tilt screw nut is provided on the tilt screw, and the tilt screw nut is fixedly connected to the track slider.

[0017] Preferably, the pitch base is provided with two symmetrically arranged limit plates, the pitch plate is arranged between the two limit plates, and both sides of the pitch plate are rotatably connected to the limit plates on the same side by a rotating shaft.

[0018] Preferably, an arc-shaped sliding groove is provided at one end of the limiting plate away from the rotating shaft, and positioning rods are provided on both sides of the pitching plate, and the ends of the positioning rods are slidably arranged in the arc-shaped sliding groove on the same side.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The picking device of the present invention can automatically identify and pick fruits without manual picking, thereby improving picking efficiency, reducing picking costs, and reducing the risks caused by manual picking on trees or ladders; the control assembly can drive the vehicle body to move to the area to be picked in the orchard, and after the depth camera determines the position of the fruit, the control assembly controls the position adjustment mechanism to drive the end of the picking arm to move close to the fruit position, and controls the clamp control mechanism to cover the picking claws on the outside of the fruit, and then drives the picking arm backward to realize fruit picking, automate the picking process, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic structural diagram of an intelligently controlled automatic fruit picking device according to one embodiment of the present invention;

[0023] Figure 2 This is a partially enlarged schematic diagram of a position adjustment mechanism of an intelligently controlled automatic fruit picking device according to one embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a pitch module of an intelligently controlled automatic fruit picking device according to one embodiment of the present invention;

[0025] Figure 4 This is a structural diagram of the picking claws of an intelligently controlled automatic fruit picking device according to one embodiment of the present invention;

[0026] Figure 5 This is a schematic structural diagram from another angle of the intelligently controlled automatic fruit picking device according to one embodiment of the present invention.

[0027] In the figure: 1-car body, 2-control assembly, 3-picking arm, 4-vertical moving module, 5-horizontal moving module, 6-pitch module, 601-pitch base, 602-pitch plate, 603-limiting plate, 604-arc slide, 7-telescopic rod, 8-claw seat, 9-claw rod, 10-support seat, 11-support rod, 12-linear motor, 13-connecting rod, 14-tilt rod, 15-belt transmission line, 16-basket, 17-dropping port, 18-dropping plate. DETAILED DESCRIPTION

[0028] 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 creative efforts are within the scope of protection of the present invention.

[0029] The purpose of the present invention is to provide an intelligently controlled automatic fruit picking device to solve the problems existing in the above-mentioned prior art, thereby improving picking efficiency, reducing picking costs, and reducing the risks caused by manual picking on trees or climbing ladders.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] The present invention provides an intelligently controlled automatic fruit picking device. Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 and attached Figure 5As shown, it includes a vehicle body 1, on which is provided a control assembly 2 capable of controlling the movement of the vehicle body 1. The vehicle body 1 of the present invention adopts an electrically driven four-wheel independent suspension mobile device, with tracks or four wheels at the bottom, and has good off-road capability and stability. In addition, a battery pack is provided on the vehicle body 1 to ensure long-term operation requirements; the picking arm 3 is mounted on the vehicle body 1 via a position adjustment mechanism, which can control the movement of the picking arm 3 to a set position and angle; the picking claw is provided at the end of the picking arm 3, and the picking claw is connected to a clamping claw control mechanism, which can drive the picking claw to open and close; the depth camera is provided on the side of the picking arm 3 close to the picking claw, which can collect images and distance information of the fruit and transmit the collected data to the control assembly 2. In conjunction with the high-precision GPS, laser radar, and chip recognition technology installed on the vehicle body 1, the location of the fruit trees and the distribution of the fruits can be accurately identified. At the same time, the maturity of the fruits can be determined based on the images taken by the depth camera, and the fruits can be classified according to maturity, with mature fruits being picked first. To ensure safety, the present invention provides an emergency stop button at the control assembly 2, which can achieve an emergency stop during the picking process to prevent the machine from being unable to shut down quickly in an emergency. The front end of the picking claw is equipped with a sensor that can identify sugar and smell (ripe fruits generally have a unique smell that is stronger than unripe ones). In addition, the color and size of the visual recognition are sent to the database of the control assembly, and compared and screened according to the set standards to determine the maturity of the fruits for identification and classification. The data command center of the control assembly can also command the machine to classify and arrange good fruits, bad fruits, and rotten fruits. It can effectively improve the quality of the fruits.

[0032] In order to further improve the picking efficiency, this embodiment is equipped with an auxiliary light source on the vehicle body, which can realize 24-hour all-weather artificial intelligence picking. During the picking process, the auxiliary light source on the vehicle body adjusts and emits different light spectra at all times through a series of comparisons such as light waves during the day and at night, ultraviolet rays, and the color and reflectivity of each fruit, and cooperates with the depth camera to extract data and perform collection work.

[0033] In order to be able to pick the fruits better and avoid damaging the fruits as much as possible during the picking process, the picking claws of this embodiment include a telescopic rod 7 that is passed through the end of the picking arm 3, and a claw seat 8 is provided at the end of the telescopic rod 7. A plurality of ring-arranged claw rods 9 are hinged on the claw seat 8 through an inclined rod 14. The inner side of the claw rod 9 is provided with a smooth arc-shaped fitting surface, which can fit with the surface of the fruit without damaging the fruit skin; a support seat 10 is fixedly provided at the end of the picking arm 3, and the support seat 10 is provided with a central through hole, and a plurality of outwardly inclined support rods 11 are provided on the outside of the central through hole. A connecting rod 13 is fixed on the outside of the claw rod 9, and the connecting rod 13 is hinged to the corresponding support rod 11, and the telescopic rod 7 moves through the central through hole; the clamping claw control of this embodiment The control mechanism includes a fourth motor fixedly arranged on one side of the picking arm 3, and the output shaft of the fourth motor is connected to the driving wheel. The picking arm 3 is provided with a driven wheel, and the driving wheel is connected to the driven wheel through a closed conveyor belt; a rotating nut is fixed on the inner side of the driven wheel, and a telescopic rod 7 is provided with a telescopic screw at the end away from the claw seat 8. The rotating nut is sleeved on the telescopic screw. The telescopic screw and the rotating nut are a nut-screw structure. The fourth motor drives the rotating nut to rotate forward or reversely through the pulley structure, thereby causing the telescopic screw to move back and forth along the axial direction, so that the clamping claw control mechanism can drive the telescopic rod 7 to move back and forth along the axial direction, and the claw seat 8 follows the movement back and forth, and then the claw rod 9 rotates around the hinge point on the support rod 11, thereby causing the claw rod 9 is closed or opened. When picking, the claw rod 9 closes and wraps the fruit. The end of the claw rod 9 is provided with an arc-shaped smooth positioning rod. The inside of the positioning rod is provided with a laser head and a sensor. The laser head is connected to the laser. When the claw rod 9 is closed and wraps the fruit, the rotating motor at one end of the telescopic shaft away from the claw rod 9 can drive the telescopic shaft to rotate, thereby driving the claw rod 9 to rotate. While rotating, the laser is turned on, so that the laser head emits light waves, and the light waves cut off the surface of the root branch. After one circle of rotation, the laser stops, and the rotating motor continues to rotate. The branch is twisted off by the external force of rotation, and the fruit falls into the wrapping space inside the claw rod 9. A belt transmission line 15 is provided on the vehicle body 1. The belt transmission line 15 is a mature structure, including a driving wheel, a moving wheel, and a connecting wheel. The closed belt of the driving wheel and the driven wheel, the driving wheel transmission is connected to the belt transmission line drive motor, and then the belt rotation can be controlled. A drop port 17 is provided at the end of the belt transmission line 15. When the fruit on the belt moves to the end, it can fall into the drop port 17. An inclined drop plate 18 is provided at the bottom of the drop port 17. A supporting plate fixedly connected to one end of the vehicle body 1 is provided at the bottom of the drop plate 18. A basket 16 is placed on the supporting plate. After the fruit falls into the claw rod 9, the claw rod 9 can put it on the belt transmission line 15 and then transmit it to the drop port 17 through the belt, and then roll it into the basket 16 through the inclined drop plate 18. Since the roots and branches of the fruit are cut by laser, they are flat and intact, which is more conducive to water retention and freshness preservation of the fruit.

[0034] The sensor is a mature sensor of known structure, which can identify sugar content and smell (mature fruits generally emit a unique smell, which is stronger than immature fruits). In addition, the color and size of the visually recognized fruits are sent to the mature large database in the computer of the control assembly 2. The fruits are compared and screened according to the set standards to judge the maturity of the fruits, and then identified and classified for picking. Through computer control, the picking claws can also be directed to classify and place good fruits, bad fruits, and rotten fruits. For example, multiple baskets 16 can be set, and each basket 16 corresponds to a belt transmission line 15. Therefore, the fruits can be placed on the corresponding belt transmission line 15 according to their quality, and then fall into the corresponding baskets 16 to achieve the purpose of classified storage, which can effectively improve the quality of the fruits.

[0035] The control method of the telescopic rod 7 is not limited. In another preferred embodiment, a hydraulic cylinder can be provided at the end of the hollow picking arm 3, and the cylinder rod of the hydraulic cylinder is connected to the end of the telescopic rod 7 away from the claw rod 9, so that the telescopic rod 7 can also be driven to move axially by controlling the extension and contraction of the cylinder rod of the hydraulic cylinder. Figure 3 As shown, the fourth motor may be replaced by a linear motor 12 , and then the linear motor 12 is connected to the telescopic rod 7 in a transmission manner, thereby directly driving the telescopic rod 7 to move forward and backward.

[0036] In order to improve the picking efficiency, in a preferred embodiment, a cutting blade is fixedly provided at the end of the claw rod 9. When multiple claw rods 9 are closed, the cutting blades can be in contact and connected, so that when the claw rods 9 are closed to wrap the fruit, the cutting blades at the end of the claw rods 9 cut off the stems of the fruit, thereby achieving efficient picking.

[0037] In order to enable the present invention to pick fruits at different positions, the position adjustment mechanism of the present invention can control the picking arm 3 to perform up and down, front and back, left and right, and pitch movements, thereby making it suitable for picking fruits at different positions. To achieve this function, the position adjustment mechanism of this embodiment uses a screw and nut pair for transmission. Its structure includes a mounting plate fixed vertically on the vehicle body 1, a vertical movement module 4 is provided on one side of the mounting plate, a horizontal movement module 5 is provided on the vertical movement module 4, and a pitch module 6 is provided on the horizontal movement module 5. The picking arm 3 is movably mounted on the pitch module 6.

[0038] In a specific embodiment, the vertical movement module 4 includes a vertical guide rail fixedly mounted on one side of the mounting plate, the vertical guide rail being connected to the horizontal movement module 5 via a vertical slider, a first motor being provided at the top of the mounting plate, the first motor being connected to a vertical lead screw, the vertical lead screw being provided with a vertical lead screw nut, and the vertical lead screw nut being fixedly connected to the vertical slider. The horizontal movement module 5 includes a horizontal plate being fixedly connected to one side of the vertical slider, the horizontal plate being provided with a horizontal guide rail, the horizontal guide rail being connected to the pitch module 6 via a horizontal slider, a second motor being provided at one end of the horizontal plate, the second motor being connected to a horizontal lead screw, the horizontal lead screw being provided with a horizontal lead screw nut, and the horizontal lead screw nut being fixedly connected to the horizontal slider. Through the respective lead screw and nut structures, the vertical movement and left-right movement of the pitch module 6 can be realized, thereby enabling the picking arm 3 on the pitch module 6 to move vertically and left-right. The pitch module 6 of this embodiment includes a pitch base 601, which is fixed on a horizontal slider, and a pitch plate 602 is hinged on the pitch base 601, and a vertical oil cylinder is arranged between the pitch base 601 and the pitch plate 602, and the pitch plate 602 is driven to rotate up and down by the vertical oil cylinder, thereby adjusting its pitch angle; a pitch track is provided on the pitch plate 602, and the pitch track is connected to the side wall of the picking arm 3 through a track slider, and a third motor is provided at the end of the pitch plate 602 away from the picking claw, and the third motor is transmission-connected with a tilt screw, and a tilt screw nut is provided on the tilt screw, and the tilt screw nut is fixedly connected to the track slider, and the forward and backward movement of the picking arm 3 is realized by cooperation of the tilt screw and the tilt screw nut. At this point, the above structure can realize the up and down, front and back, left and right and pitch movement of the picking arm 3, thereby making its picking range wider.

[0039] In order to make the pitching motion more stable and smooth, in one embodiment, two symmetrically arranged limit plates 603 are provided on the pitching base 601, and the pitching plate 602 is disposed between the two limit plates 603. A plurality of axial holes are provided at equal intervals on both sides of the pitching plate 602, into which a rotating shaft can be inserted, thereby rotatably connecting the pitching plate 603 on the same side. The rotating shaft can be inserted into the axial holes at different positions as needed to adjust the rotational connection position of the pitching plate 602 and the limit plate 603. An arcuate slot 604 is provided on the end of the limit plate 603 away from the rotating shaft, and positioning rods are provided on both sides of the pitching plate 602. The ends of the positioning rods slide in the arcuate slots 604 on the same side. When the pitching plate 602 performs a pitching motion, the positioning rods slide along the arcuate slots 604, thereby achieving a limiting function during its pitching motion.

[0040] The control assembly 2 of the present invention includes a well-established computer and related software. Using intelligent control, it enables remote and automatic control of the vehicle body 1 and its various modules. In automatic mode, the position and angle of the picking device are automatically adjusted based on information from the positioning system, enabling automated picking. In addition to acquiring color information, the depth camera of the present invention also captures the distance from the pixel to the camera, i.e., depth information. Using the pixel's position in the image and its depth information, the control assembly 2 calculates the pixel's coordinates in the camera coordinate system, thereby controlling the movement of the picking arm 3 to the picking position. Specifically, the mature software within the control assembly 2 supports hand-eye calibration to determine the coordinate transformation between the depth camera coordinate system and the picking arm 3 coordinate system. Hand-eye calibration, which establishes the coordinate transformation between the depth camera and the picking arm 3, is a mature technology and will not be described in detail. The depth camera captures an image, and the computer within the control assembly 2 uses the information captured by the depth camera to identify the fruit, thereby extracting the fruit's coordinates in the image. The image coordinates, combined with the depth information, are converted into positions in the picking arm 3 coordinate system, enabling the picking arm 3 to accurately move to the designated location for picking.

[0041] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. An intelligently controlled automatic fruit picking device, characterized by: include: a vehicle body, on which a control assembly is provided, capable of controlling the movement of the vehicle body; A picking arm is mounted on the vehicle body via a position adjustment mechanism, wherein the position adjustment mechanism is capable of controlling the picking arm to move to a set position and angle; A picking claw is provided at the end of the picking arm, and the picking claw is connected to a clamping claw control mechanism, and the clamping claw control mechanism can drive the picking claw to open and close; A depth camera is provided on the side of the picking arm close to the picking claw, capable of collecting images and distance information of the fruit and transmitting the collected data to the control assembly; The picking claw includes a telescopic rod passing through the end of the picking arm, a claw seat is provided at the end of the telescopic rod, a plurality of annular claw rods are hinged on the claw seat, and a smooth arc-shaped fitting surface is provided on the inner side of the claw rod; a positioning rod is provided at the end of the claw rod, a sensor and a laser head are provided inside the positioning rod, and a laser emitter is externally connected to the laser head; a support seat is fixedly provided at the end of the picking arm, the support seat is provided with a central through hole, a plurality of outwardly inclined support rods are provided outside the central through hole, the outer side of the claw rod is hinged to the corresponding support rod, and the telescopic rod movably passes through the central through hole; the clamping claw control mechanism can drive the telescopic rod to move forward and backward along the axial direction; when the claw rod is closed to wrap the fruit, a rotary motor at one end of the telescopic shaft away from the claw rod can drive the telescopic shaft to rotate, thereby driving the claw rod to rotate, and at the same time turning on the laser emitter, so that the laser head emits light waves, which cut off the surface of the root branch rod. After one rotation, the laser stops, the rotary motor continues to rotate, and the branch rod is twisted off by the external force of rotation, and the fruit falls into the wrapping space inside the claw rod; The position adjustment mechanism includes a mounting plate fixed vertically on the vehicle body, a vertical moving module is provided on one side of the mounting plate, a horizontal moving module is provided on the vertical moving module, a pitch module is provided on the horizontal moving module, the pitch module includes a pitch base, two symmetrically arranged limit plates are provided on the pitch base, and an arc-shaped slide groove is provided on the end of the limit plate away from the rotating shaft.

2. The intelligently controlled automatic fruit picking device according to claim 1, characterized in that: The gripper control mechanism includes a fourth motor fixedly arranged on one side of the picking arm, the output shaft of the fourth motor is connected to a driving wheel, a driven wheel is provided on the picking arm, and the driving wheel is connected to the driven wheel through a closed conveyor belt; a rotating nut is fixedly provided on the inner side of the driven wheel, and a telescopic screw is provided at the end of the telescopic rod away from the claw seat, and the rotating nut is sleeved on the telescopic screw.

3. The intelligently controlled automatic fruit picking device according to claim 1, characterized in that: It also includes a positioning system, which has GPS, lidar and chip recognition technology, can identify the location of fruit trees and the distribution of fruits, and transmit the identification information to the control assembly.

4. The intelligently controlled automatic fruit picking device according to claim 1, characterized in that: The picking arm is movably mounted on the pitch module; a belt transmission line is provided on the vehicle body, a drop port is provided at the end of the belt transmission line, an inclined drop plate is provided at the bottom of the drop port, a supporting plate fixedly connected to one end of the vehicle body is provided at the bottom of the drop plate, and a basket is placed on the supporting plate.

5. The intelligently controlled automatic fruit picking device according to claim 4, characterized in that: The vertical moving module includes a vertical guide rail fixed on one side of the mounting plate, the vertical guide rail is connected to the horizontal moving module through a vertical slider, a first motor is provided on the top of the mounting plate, the first motor is connected to a vertical screw, a vertical screw nut is provided on the vertical screw, and the vertical screw nut is fixedly connected to the vertical slider.

6. The intelligently controlled automatic fruit picking device according to claim 5, characterized in that: The horizontal movement module includes a horizontal plate, which is fixedly connected to one side of the vertical slider. A horizontal guide rail is provided on the horizontal plate, and the horizontal guide rail is connected to the pitch module through a horizontal slider. A second motor is provided at one end of the horizontal plate, and the second motor is connected to a horizontal lead screw. A horizontal lead screw nut is provided on the horizontal lead screw, and the horizontal lead screw nut is fixedly connected to the horizontal slider.

7. The intelligently controlled automatic fruit picking device according to claim 6, characterized in that: The pitch base is fixed on the horizontal slider, and a pitch plate is hinged on the pitch base. A pitch track is provided on the pitch plate. The pitch track is connected to the side wall of the picking arm through a track slider. A third motor is provided at the end of the pitch plate away from the picking claw. The third motor is transmission-connected to a tilt screw, and a tilt screw nut is provided on the tilt screw, and the tilt screw nut is fixedly connected to the track slider.

8. The intelligently controlled automatic fruit picking device according to claim 7, characterized in that: The pitching plate is arranged between the two limiting plates, and both sides of the pitching plate are rotatably connected to the limiting plates on the same side by using a rotating shaft.

9. The intelligently controlled automatic fruit picking device according to claim 8, characterized in that: Positioning rods are provided on both sides of the pitching plate, and the ends of the positioning rods are slidably arranged in the arc-shaped sliding grooves on the same side.

Images