Kiwi fruit picking robot

Abstract

The invention relates to the technical field of robots, and discloses a kiwi fruit picking robot which comprises a chassis frame; the walking assembly is used for driving the chassis frame to move; the moving assembly is used for adjusting the picking position; the picking assembly is used for picking kiwi fruits; the collecting assembly is used for collecting kiwi fruits; the moving assembly comprises a first moving frame, a second moving frame and a third moving frame, and the picking assembly comprises a picking mechanical arm and a slideway pipe. Through cooperation of the walking assembly, the moving assembly, the picking assembly and the collecting assembly, the picking mechanical arm can move to the position of kiwi fruits for picking, a flexible material wrapping a clamping piece of the picking mechanical arm plays a role in protecting the kiwi fruits, and a sliding way pipe plays a role in buffering and guiding falling of the kiwi fruits, so that the kiwi fruits are prevented from directly falling and being broken.

Description

Technical Field

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

[0002] Kiwifruit picking is highly seasonal and has a short cycle. A large amount of fruit needs to be picked in a short period of time, so a lot of manpower and material resources are needed for picking. The existing kiwifruit picking methods mainly include manual harvesting and mechanical harvesting. The manual harvesting method requires pickers to bend over, stretch their hands or climb ladders for a long time, and work continuously in the orchard, which is labor-intensive. As labor costs increase year by year, the cost of manual kiwifruit picking is also getting higher and higher. The mechanical harvesting method uses computer vision technology, sensor technology, robotic arm technology and robot mobile technology to achieve automated mechanical harvesting.

[0003] However, the prior art has the following problems:

[0004] In the prior art, when robots are used to harvest kiwifruit, the harvesting robot arms are harder than human hands, and the gripping force of the robot arms cannot be freely adjusted according to the sense of touch like human hands. Therefore, when the harvesting robot arms pick kiwifruit, the surface of the kiwifruit is often damaged due to excessive gripping force, thereby affecting the storage and quality of the kiwifruit. Summary of the invention

[0005] The purpose of the present invention is to provide a kiwi fruit picking robot in order to solve the above-mentioned problems and overcome the defects of the prior art, as described in detail below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A kiwifruit picking robot provided by the present invention comprises: a chassis frame; a walking component for driving the chassis frame to move; a moving component for adjusting a picking position; a picking component for picking kiwifruit; and a collecting component for collecting kiwifruit. Two of the moving components are provided, and both of the two moving components are provided on the chassis frame. The moving components comprise a first moving frame, a second moving frame and a third moving frame, and the first moving frame is slidably mounted on the chassis frame, the second moving frame is slidably mounted on the first moving frame, and the third moving frame is slidably mounted on the second moving frame. Two of the picking components are provided, and the two picking components are respectively arranged on the two moving components, and the picking components comprise a picking mechanical arm and a slide tube, the picking mechanical arm is installed on the top of the third moving frame, and the slide tube is respectively connected to the second moving frame and the third moving frame through two clamps.

[0008] Preferably, the traveling assembly comprises four universal wheels, which are respectively mounted at four corners of the side walls of the chassis frame, and a driving device is provided on the universal wheels.

[0009] Preferably, a driving device is provided on the chassis frame and connected to the two first mobile frames, a driving device is provided between the first mobile frame and the second mobile frame, a driving device is provided between the third mobile frame and the second mobile frame, and a visual camera is provided on the chassis frame.

[0010] Preferably, the collecting assembly comprises a collecting hopper and a collecting box, the collecting hopper is mounted on the chassis frame, the collecting box is slidably mounted inside the chassis frame, and the collecting box is located below the collecting hopper.

[0011] Preferably, the picking robot arm includes two clamps and a driving device, the outer wall of the clamp is wrapped with flexible material, the top and bottom of the slide tube are respectively provided with an inlet and an outlet, the inlet of the slide tube is located below the two clamps, and the outlet of the slide tube is located above the collecting bucket.

[0012] Preferably, the picking assembly also includes a mounting block, which is mounted on the second movable frame through a bracket, and the inner wall of the mounting block is slidably connected with a sliding rod, and the sliding rod is connected with a sliding shaft, and the third movable frame is connected with a slot plate through the bracket, and the slot plate is provided with a wavy slot, and the sliding shaft is slidably connected to the wavy slot of the slot plate, and the end of the sliding rod away from the slot plate is connected with a dial ring, and the dial ring is connected to the outer wall of the slide tube.

[0013] Preferably, the picking assembly also includes a connecting rod, which is installed on the third mobile frame, and a light rod is connected to the connecting rod, and a piston is connected to the bottom end of the light rod, and an air bin is connected to the mounting block, and the piston is slidably connected to the inner wall of the air bin, and the light rod is slidably connected to the top of the air bin, and two air inlet pipes and two air outlet pipes are connected to the air bin, and a hose is connected between the two air outlet pipes via a tee, and the top of the hose is connected to the top outer wall of the slide pipe via a clamp, and the top of the hose is connected to a nozzle.

[0014] Preferably, one of the air inlet pipes and one of the air outlet pipes are located above the piston, and the other air inlet pipe and the other air outlet pipe are located below the piston, and check valves are respectively provided in the air inlet pipe and the air outlet pipe, and an air jet is provided on the nozzle head, and the air jet of the nozzle head faces the two clips of the picking robot arm, and a pry bar is rotatably installed on the top of the slide tube through a bracket, one end of the pry bar is connected to the bottom outer wall of the nozzle head, and a flat plate is provided at the end of the pry bar away from the nozzle head, and the flat plate of the nozzle head is located in the inlet of the slide tube.

[0015] Preferably, a support plate is slidably installed in the collection box, and a plurality of constant force springs are connected between the bottom surface of the support plate and the bottom inner wall of the collection box.

[0016] The beneficial effects are:

[0017] 1. The kiwifruit picking robot, through the cooperation of a walking component, a moving component, a picking component and a collecting component, enables the picking mechanical arm to move to the position of the kiwifruit for picking. The flexible material wrapped by the picking mechanical arm clip plays a role in protecting the kiwifruit, and the slide tube plays a role in buffering and guiding the kiwifruit to prevent the kiwifruit from falling directly and being broken; the support plate and multiple constant force springs play a buffering role through cooperation, thereby protecting the kiwifruit that falls into the collection box, and the support plate can be lowered as the number of kiwifruit above it increases, so as to keep the landing point of the kiwifruit in the collection box at a higher position, shorten the falling distance of the kiwifruit, and reduce the probability of the kiwifruit being broken. Through the arrangement of two moving components and two picking components, the two picking components perform picking operations at the same time, thereby improving the picking efficiency.

[0018] 2. The kiwifruit picking robot, through the setting of the shifting ring, can continuously shift the slide tube when the kiwifruit slides in the slide tube, thereby promoting the sliding of the kiwifruit and avoiding the situation of material blockage in the slide tube.

[0019] 3. The kiwifruit picking robot is equipped with a jet head, which enables the jet head to continuously spray during the picking operation, remove impurities on the surface of the kiwifruit by jet cleaning, and reduce the subsequent cleaning workload; the pry bar is set so that the pry bar can drive the jet head to swing as the kiwifruit falls, thereby increasing the jet range of the jet head and further optimizing the jet cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the mobile assembly of the present invention;

[0023] Figure 3 is a schematic structural diagram of a second mobile rack of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the picking component of the present invention;

[0025] Figure 5 It is a schematic diagram of the mounting block structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the slot plate structure of the present invention;

[0027] Figure 7 It is a schematic diagram of the gas storage structure of the present invention;

[0028] Figure 8 It is a schematic diagram of the piston structure of the present invention;

[0029] Fig. 9 It is a schematic diagram of the structure of the pry bar of the present invention;

[0030] Fig.10 It is a schematic diagram of the structure of the collection component of the present invention;

[0031] Fig.11 It is a schematic diagram of the structure of the collection box of the present invention;

[0032] Fig.12 It is a schematic diagram of the support plate structure of the present invention.

[0033] The accompanying drawings are marked as follows: 1. chassis frame; 2. walking assembly; 3. moving assembly; 31. first moving frame; 32. second moving frame; 33. third moving frame; 4. picking assembly; 41. picking robot arm; 42. slide tube; 43. mounting block; 44. slide bar; 45. slide shaft; 46. groove plate; 47. dial ring; 48. connecting rod; 49. bare rod; 410. piston; 411. air chamber; 412. air inlet pipe; 413. air outlet pipe; 414. hose; 415. nozzle; 416. pry bar; 5. collecting assembly; 51. collecting bucket; 52. collecting box; 53. support plate; 54. constant force spring. DETAILED DESCRIPTION

[0034] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0035] Example 1

[0036] See also Figure 1 - Fig.12 , a kiwi fruit picking robot, comprising: a chassis frame 1;

[0037] The walking assembly 2 is used to drive the chassis frame 1 to move; the walking assembly 2 includes four universal wheels, which are respectively installed at the four corners of the side wall of the chassis frame 1. A driving device is provided on the universal wheel. The four universal wheels of the walking assembly 2 can drive the chassis frame 1 to move through the control of the driving device;

[0038] The mobile assembly 3 is used to adjust the picking position; two mobile assemblies 3 are provided, and the two mobile assemblies 3 are both provided on the chassis frame 1. The mobile assembly 3 includes a first mobile frame 31, a second mobile frame 32 and a third mobile frame 33. The first mobile frame 31 is slidably mounted on the chassis frame 1, the second mobile frame 32 is slidably mounted on the first mobile frame 31, and the third mobile frame 33 is slidably mounted on the second mobile frame 32. A driving device is provided on the chassis frame 1 to connect with the two first mobile frames 31, a driving device is provided between the first mobile frame 31 and the second mobile frame 32, and the third mobile frame A driving device is provided between the first moving frame 33 and the second moving frame 32, a visual camera is provided on the chassis frame 1, the first moving frame 31 can move forward and backward on the chassis frame 1 through the control of the driving component, the second moving frame 32 can move left and right on the first moving frame 31 through the control of the driving component, and the third moving frame 33 can move up and down on the second moving frame 32 through the control of the driving component. A visual camera is also provided on the chassis frame 1. After the visual camera detects the position of the kiwi fruit, it controls each driving component so that the walking component 2 drives the chassis frame 1 to move below the kiwi fruit;

[0039] The picking assembly 4 is used for picking kiwifruit; there are two picking assemblies 4, which are respectively arranged on the two moving assemblies 3, and the picking assembly 4 includes a picking mechanical arm 41 and a slide tube 42. The picking mechanical arm 41 is installed at the top of the third moving frame 33, and the slide tube 42 is respectively connected to the second moving frame 32 and the third moving frame 33 through two hoops. The picking mechanical arm 41 includes two clamps and a driving device. The outer wall of the clamp is wrapped with a flexible material. The top and bottom of the slide tube 42 are respectively provided with an inlet and an outlet, and the inlet of the slide tube 42 is located below the two clamps. The moving assembly 3 drives the picking mechanical arm 41 to move to the kiwifruit. The picking mechanical arm 41 controls the opening of the two clamps through the driving device, and releases the two clamps after clamping the kiwifruit, so that the kiwifruit falls into the inlet of the slide tube 42. The slide tube 42 has a telescopic performance and can be telescopic following the movement of the third moving frame 33. The flexible material wrapped on the outer wall of the clamp can protect the kiwifruit and avoid clamping the kiwifruit;

[0040] The collecting assembly 5 is used to collect kiwifruit; the collecting assembly 5 includes a collecting bucket 51 and a collecting box 52. The collecting bucket 51 is installed on the chassis frame 1, and the collecting box 52 is slidably installed inside the chassis frame 1. The collecting box 52 is located below the collecting bucket 51, and the outlet of the slide tube 42 is located above the collecting bucket 51. The kiwifruit slides down the slide tube 42 and falls onto the collecting bucket 51 through the outlet. The kiwifruit slides along the collecting bucket 51 into the collecting box 52, and the slide tube 42 plays a role of buffering and guiding when the kiwifruit falls.

[0041] Through the cooperation of the walking component 2, the moving component 3, the picking component 4 and the collecting component 5, the picking robot arm 41 can be moved to the position of the kiwi fruit for picking. The flexible material wrapped by the clip of the picking robot arm 41 plays a role in protecting the kiwi fruit. The slide tube 42 plays a role in buffering and guiding the kiwi fruit when it falls, preventing the kiwi fruit from falling directly and being broken. Through the arrangement of two moving components 3 and two picking components 4, the two picking components 4 perform picking operations at the same time, thereby improving the picking efficiency.

[0042] Furthermore, the picking assembly 4 also includes a mounting block 43, which is mounted on the second mobile frame 32 through a bracket, and a sliding rod 44 is slidably connected to the inner wall of the mounting block 43, and a sliding shaft 45 is connected to the sliding rod 44. A slot plate 46 is connected to the third mobile frame 33 through a bracket, and a wavy slot is provided on the slot plate 46. The sliding shaft 45 is slidably connected to the wavy slot of the slot plate 46. When the slot plate 46 moves up and down, the cooperation of the wavy slot and the sliding shaft 45 drives the sliding rod 44 to move back and forth on the mounting block 43, and the sliding rod 44 is away from one end of the slot plate 46. A dial ring 47 is connected, and the dial ring 47 is connected to the outer wall of the slide tube 42. The slide rod 44 drives the dial ring 47 to move back and forth. When the dial ring 47 moves, the part of the slide tube 42 connected to it is shifted back and forth, thereby achieving the effect of shaking the slide tube 42, thereby promoting the kiwi fruit in the slide tube 42 to slide down, and avoiding the kiwi fruit from being blocked in the slide tube 42; through the setting of the dial ring 47, when the kiwi fruit slides in the slide tube 42, the dial ring 47 can continuously shift the slide tube 42, thereby promoting the kiwi fruit to slide down, and avoiding the situation of material blockage in the slide tube 42.

[0043] Furthermore, the picking assembly 4 also includes a connecting rod 48, which is mounted on the third mobile frame 33, and a light rod 49 is connected to the connecting rod 48, and a piston 410 is connected to the bottom end of the light rod 49, and an air bin 411 is connected to the mounting block 43, and the piston 410 is slidably connected to the inner wall of the air bin 411, and the light rod 49 is slidably connected to the top of the air bin 411, and two air inlet pipes 412 and two air outlet pipes 413 are connected to the air bin 411, and a hose 414 is connected between the two air outlet pipes 413 through a tee, and the top of the hose 414 is connected to the top outer wall of the slideway pipe 42 through a clamp, and the top of the hose 414 is connected to a spray nozzle. The air head 415, one of the air inlet pipes 412 and one of the air outlet pipes 413 are both located above the piston 410, the other air inlet pipe 412 and the other air outlet pipe 413 are both located below the piston 410, the air inlet pipe 412 and the air outlet pipe 413 are respectively provided with a check valve, and the air head 415 is provided with an air jet, the air jet of the air head 415 faces the two clamps of the picking mechanical arm 41, the two air outlet pipes 413 alternately inject air into the hose 414, the hose 414 transports the air to the air head 415, and the air head 415 sprays the air onto the picking mechanical arm 41 and the kiwi fruit being clamped through the air jet, so as to pick the kiwi fruit. Impurities and loose fluff attached to the surface of the kiwi fruit are blown off, which has a certain cleaning effect; a pry bar 416 is rotatably installed on the top of the slide tube 42 through a bracket, one end of the pry bar 416 is connected to the bottom outer wall of the nozzle head 415, and a flat plate is arranged on the end of the pry bar 416 away from the nozzle head 415. The flat plate of the nozzle head 415 is located in the inlet of the slide tube 42. When the kiwi fruit falls into the slide tube 42, it will contact the flat plate on the pry bar 416, so that the kiwi fruit will push the flat plate downward, so that the pry bar 416 uses the lever principle to push the nozzle head 415 downward. Since the hose 414 has a certain resilience, when the pry bar 416 is not in contact with the kiwi fruit, the soft The tube 414 utilizes the rebound elastic force to drive the nozzle 415 and the pry bar 416 to reset, so that the nozzle 415 can swing along with the falling kiwifruit when spraying, thereby increasing the spray range and further improving the effect of the jet cleaning; through the setting of the nozzle 415, the nozzle 415 can continue to spray during the picking operation, and impurities on the surface of the kiwifruit are removed by jet cleaning, thereby reducing the subsequent cleaning workload; through the setting of the pry bar 416, the pry bar 416 can drive the nozzle 415 to swing along with the falling kiwifruit, thereby increasing the spray range of the nozzle 415 and further optimizing the effect of the jet cleaning.

[0044] Furthermore, a support plate 53 is slidably installed in the collection box 52, and a plurality of constant force springs 54 are connected between the bottom surface of the support plate 53 and the bottom inner wall of the collection box 52. The support plate 53 has a certain buffering capacity due to the elastic force of the plurality of constant force springs 54 at the bottom, so as to buffer the fallen kiwifruit and further protect the kiwifruit. As the number of kiwifruit increases, the plurality of constant force springs 54 shrink due to the increase in pressure from above. When the constant force springs 54 shrink, the support plate 53 moves downward accordingly, so that when there are no kiwifruits on the support plate 53, the support plate 53 is at the highest point. As the number of kiwifruits on the support plate 53 increases, the support plate 53 will gradually descend, so that the landing point of the kiwifruits in the collection box 52 is always maintained at a higher position, shortening the falling distance of the kiwifruits, thereby reducing the probability of the kiwifruits being broken.

[0045] With the above structure, the working principle of this case is that the four universal wheels of the walking component 2 can drive the chassis frame 1 to walk through the control of the driving device, the first moving frame 31 can move forward and backward on the chassis frame 1 through the control of the driving component, the second moving frame 32 can move left and right on the first moving frame 31 through the control of the driving component, and the third moving frame 33 can move up and down on the second moving frame 32 through the control of the driving component. After the visual camera on the chassis frame 1 detects the position of the kiwi fruit, each driving component is controlled to make the walking component 2 drive the chassis frame 1 to move under the kiwi fruit, and the mobile component 3 drives the picking mechanical arm 41 to move to the kiwi fruit, and the picking mechanical arm 41 is driven by the driving component. The two clamps are controlled by the driving device to open, and the two clamps are released after the kiwifruit is clamped, so that the kiwifruit falls into the inlet of the slide tube 42. The slide tube 42 has a telescopic performance and can be telescopic following the movement of the third moving frame 33. The flexible material wrapped on the outer wall of the clamp can protect the kiwifruit to avoid being clamped and injured. The kiwifruit slides down the slide tube 42 and falls onto the collecting bucket 51 through the outlet. The kiwifruit slides along the collecting bucket 51 into the collecting box 52. The slide tube 42 plays a role of buffering and guiding when the kiwifruit falls, avoiding the kiwifruit from being damaged by a large impact force when it falls directly. After entering the collecting box 52, the kiwifruit falls on the supporting plate 53, and the supporting plate 53 is supported by multiple constant force springs 5 ​​at the bottom. The elastic force of 4 has a certain buffering ability, which can buffer the falling kiwifruit and further protect the kiwifruit. As the number of kiwifruit increases, multiple constant force springs 54 shrink due to the increase in upper pressure. When the constant force springs 54 shrink, the support plate 53 moves down accordingly, so that when there is no kiwifruit on the support plate 53, the support plate 53 is at the highest point. As the number of kiwifruit on the support plate 53 increases, the support plate 53 will gradually drop, so that the landing point of the kiwifruit in the collection box 52 is always maintained at a higher position, shortening the falling distance of the kiwifruit, thereby reducing the probability of the kiwifruit being broken; through the cooperation of the walking component 2, the moving component 3, the picking component 4 and the collecting component 5, the picking robot arm 41 can The kiwifruit is moved to the position for picking. The flexible material wrapped by the clip of the picking robot arm 41 protects the kiwifruit. The slide tube 42 cushions and guides the kiwifruit to prevent it from falling directly and being damaged. The support plate 53 and multiple constant force springs 54 cooperate to play a buffering role, thereby protecting the kiwifruit that falls into the collection box 52, and the support plate 53 can descend as the number of kiwifruit above it increases, keeping the landing point of the kiwifruit in the collection box 52 at a higher position, shortening the falling distance of the kiwifruit, and reducing the probability of the kiwifruit being damaged. Through the arrangement of two moving components 3 and two picking components 4, the two picking components 4 perform picking operations at the same time, thereby improving the picking efficiency.

[0046] When the third moving frame 33 moves up and down, it drives the groove plate 46 to move up and down. Since the slide bar 44 and the slide shaft 45 are limited and can only move forward and backward, when the groove plate 46 moves up and down, the cooperation of the wavy slide groove and the slide shaft 45 drives the slide bar 44 to move back and forth on the mounting block 43, and the slide bar 44 drives the dial ring 47 to move back and forth. When the dial ring 47 moves, the part of the slide tube 42 connected to it is dialed back and forth, achieving the effect of shaking the slide tube 42, thereby promoting the kiwi fruit in the slide tube 42 to slide down, and avoiding the kiwi fruit from being blocked in the slide tube 42; when the third moving frame 33 moves up and down, it drives the light rod 49 to move up and down through the connecting rod 48, and the light rod 49 drives the piston 410 moves up and down, and the check valve in the air inlet pipe 412 and the air outlet pipe 413 allows the gas to flow in only one direction. When the piston 410 moves up, the air between the top surface of the piston 410 and the air chamber 411 is squeezed into the upper air outlet pipe 413, and the air between the bottom surface of the piston 410 and the air chamber 411 is supplemented through the lower air inlet pipe 412. When the piston 410 moves down, the air between the bottom surface of the piston 410 and the air chamber 411 is squeezed into the lower air outlet pipe 413, and the air between the top surface of the piston 410 and the air chamber 411 is supplemented through the upper air inlet pipe 412. Therefore, the two air outlet pipes 413 alternately inject air into the hose 414, and the hose 414 4 transports air to the nozzle 415, and the nozzle 415 sprays air onto the picking mechanical arm 41 and the kiwi fruit being clamped through the nozzle, blows off the impurities and loose fluff attached to the surface of the kiwi fruit, and has a certain cleaning effect. When the kiwi fruit falls into the slide tube 42, it will contact the flat plate on the pry bar 416, so that the kiwi fruit pushes the flat plate downward, so that the pry bar 416 pushes the nozzle 415 downward by the lever principle. Since the hose 414 has a certain rebound performance, when the pry bar 416 does not contact the kiwi fruit, the hose 414 uses the rebound elastic force to drive the nozzle 415 and the pry bar 416 to reset, so that the nozzle 415 can follow the kiwi fruit falling when spraying. The kiwifruit is swung in the slide tube 42, thereby increasing the jet range and further improving the jet cleaning effect; by setting the dial ring 47, when the kiwifruit slides in the slide tube 42, the dial ring 47 can continuously move the slide tube 42 to promote the sliding of the kiwifruit and avoid blockage in the slide tube 42; by setting the jet head 415, the jet head 415 can continuously spray during the picking operation, remove impurities on the surface of the kiwifruit by jet cleaning, and reduce the subsequent cleaning workload; by setting the pry bar 416, the pry bar 416 can drive the jet head 415 to swing as the kiwifruit falls, thereby increasing the jet range of the jet head 415 and further optimizing the jet cleaning effect.

[0047] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A kiwi fruit picking robot, characterized in that: include: Chassis frame (1); A walking assembly (2), used for driving the chassis frame (1) to move; A moving component (3) for adjusting the picking position; A picking component (4), used for picking kiwifruit; A collecting component (5), used for collecting kiwifruit; Two movable assemblies (3) are provided, and both movable assemblies (3) are provided on the chassis frame (1). The movable assemblies (3) include a first movable frame (31), a second movable frame (32) and a third movable frame (33). The first movable frame (31) is slidably mounted on the chassis frame (1), the second movable frame (32) is slidably mounted on the first movable frame (31), and the third movable frame (33) is slidably mounted on the second movable frame (32); Two picking assemblies (4) are provided, and the two picking assemblies (4) are respectively provided on two moving assemblies (3). The picking assemblies (4) comprise a picking mechanical arm (41) and a slide pipe (42). The picking mechanical arm (41) is installed at the top of the third moving frame (33), and the slide pipe (42) is respectively connected to the second moving frame (32) and the third moving frame (33) through two clamps.

2. The kiwi fruit picking robot according to claim 1, characterized in that: The walking assembly (2) comprises four universal wheels, which are respectively mounted at four corners of the side wall of the chassis frame (1), and a driving device is arranged on the universal wheels.

3. The kiwi fruit picking robot according to claim 2, characterized in that: The chassis frame (1) is provided with a driving device connected to the two first mobile frames (31); a driving device is provided between the first mobile frame (31) and the second mobile frame (32); a driving device is provided between the third mobile frame (33) and the second mobile frame (32); and a visual camera is provided on the chassis frame (1).

4. The kiwifruit picking robot according to claim 3, characterized in that: The collecting assembly (5) comprises a collecting hopper (51) and a collecting box (52); the collecting hopper (51) is mounted on the chassis frame (1); the collecting box (52) is slidably mounted inside the chassis frame (1); and the collecting box (52) is located below the collecting hopper (51).

5. The kiwifruit picking robot according to claim 4, characterized in that: The picking mechanical arm (41) comprises two clamps and a driving device, the outer wall of the clamp is wrapped with a flexible material, the top and bottom of the slide tube (42) are respectively provided with an inlet and an outlet, the inlet of the slide tube (42) is located below the two clamps, and the outlet of the slide tube (42) is located above the collecting bucket (51).

6. The kiwi fruit picking robot according to claim 5, characterized in that: The picking assembly (4) further comprises a mounting block (43), wherein the mounting block (43) is mounted on the second movable frame (32) via a bracket, a sliding rod (44) is slidably connected to the inner wall of the mounting block (43), a sliding shaft (45) is connected to the sliding rod (44), a slot plate (46) is connected to the third movable frame (33) via the bracket, a wavy slot is provided on the slot plate (46), the sliding shaft (45) is slidably connected to the wavy slot of the slot plate (46), and a dial ring (47) is connected to the end of the sliding rod (44) away from the slot plate (46), and the dial ring (47) is connected to the outer wall of the slideway tube (42).

7. The kiwifruit picking robot according to claim 6, characterized in that: The picking assembly (4) also includes a connecting rod (48), which is mounted on the third mobile frame (33). A light rod (49) is connected to the connecting rod (48), and a piston (410) is connected to the bottom end of the light rod (49). An air bin (411) is connected to the mounting block (43). The piston (410) is slidably connected to the inner wall of the air bin (411), and the light rod (49) is slidably connected to the top of the air bin (411). Two air inlet pipes (412) and two air outlet pipes (413) are connected to the air bin (411). A hose (414) is connected between the two air outlet pipes (413) via a tee. The top of the hose (414) is connected to the top outer wall of the slideway pipe (42) via a clamp, and the top of the hose (414) is connected to a nozzle (415).

8. The kiwifruit picking robot according to claim 7, characterized in that: One of the air inlet pipes (412) and one of the air outlet pipes (413) are both located above the piston (410), and the other air inlet pipe (412) and the other air outlet pipe (413) are both located below the piston (410). Check valves are respectively arranged in the air inlet pipe (412) and the air outlet pipe (413). The nozzle head (415) is provided with an air jet, and the air jet of the nozzle head (415) faces the two clips of the picking mechanical arm (41). A pry bar (416) is rotatably mounted on the top of the slide tube (42) through a bracket, and one end of the pry bar (416) is connected to the bottom outer wall of the nozzle head (415). A flat plate is arranged at one end of the pry bar (416) away from the nozzle head (415), and the flat plate of the nozzle head (415) is located in the inlet of the slide tube (42).

9. The kiwi fruit picking robot according to claim 8, characterized in that: A support plate (53) is slidably mounted inside the collection box (52), and a plurality of constant force springs (54) are connected between the bottom surface of the support plate (53) and the bottom inner wall of the collection box (52).

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