Wheel type pepper automatic picking robot

Abstract

The invention relates to the technical field of pepper picking, and discloses a wheel type pepper automatic picking robot which comprises a limiting frame, the bottom of the limiting frame is fixedly connected with a bottom plate, the top of the bottom plate is fixedly connected with a driving machine, the output end of the driving machine is fixedly connected with a rotating wheel, and the inner wall of the limiting frame is fixedly connected with a sliding plate. A hydraulic rod is fixedly connected to the top of the inner wall of the limiting frame, a picking component is arranged at the output end of the hydraulic rod, and a separating component is arranged in the limiting frame. A driving machine drives a rotating wheel to rotate, a limiting frame is driven by the rotating wheel to move in a pod pepper planting field, a hydraulic rod is started to push a rotating disc to move downwards, after bent plates move to the position above the pod peppers, a camera device recognizes the mature pod peppers, and at the moment, the bent plates are in the state of being away from each other; the elastic piece can elastically push the top of the movable plate to rotate towards the lower portion of the rotary disc, and the telescopic plate is pushed to extend through the sliding groove rod during rotation.

Description

Technical Field

[0001] The invention relates to the technical field of pepper picking, in particular to a wheeled automatic pepper picking robot. Background Art

[0002] Pepper is an annual or perennial herbaceous plant of the genus Capsicum in the Solanaceae family. It is ovate in shape, and the flower usually grows alone between two forks. The pedicel is erect, the flower is slightly drooping, the corolla is white or purple, and the fruit pedicel and fruit are erect. Pepper likes warm, sunny, well-lit, dry and loose soil environments. The general propagation method of pepper is seed propagation. Current harvesting robots generally identify mature chili peppers through cameras, but some mature chili peppers are piled up together or covered by pepper leaves, causing the camera to be unable to identify some mature chili peppers, thereby affecting the efficiency of picking chili peppers. Summary of the invention

[0003] The purpose of the present invention is to provide a wheeled automatic pepper picking robot to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention discloses a wheeled automatic pepper picking robot, comprising a limiting frame, wherein the bottom of the limiting frame is fixedly connected to a bottom plate, the top of the bottom plate is fixedly connected to a driving machine, the output end of the driving machine is fixedly connected to a rotating wheel, the inner wall of the limiting frame is fixedly connected to a sliding plate, the top of the inner wall of the limiting frame is fixedly connected to a hydraulic rod, the output end of the hydraulic rod is provided with a picking component, and the interior of the limiting frame is provided with a separating component; The picking component comprises a rotating disk, the top of the rotating disk is fixedly connected to the bottom of the hydraulic rod, the surface of the rotating disk is fixedly connected with an extension plate, the bottom of the extension plate is fixedly connected with a fixed frame, the inner wall of the fixed frame is fixedly connected with a shaft rod, the surface of the shaft rod is sleeved with a movable plate, the bottom of the movable plate is fixedly connected with a bent plate, one end of the bent plate away from the movable plate is hinged with a rubber pad, the surface of the bent plate is fixedly connected with an elastic sheet, one end of the elastic sheet away from the bent plate is fixedly connected with the rubber pad, the top of the extension plate is fixedly connected with an elastic sheet, one end of the elastic sheet away from the extension plate is hinged with the surface of the movable plate, the surface of the movable plate is fixedly connected with an anti-slip plate, the bottom of the rotating disk is fixedly connected with an electric push rod, the bottom of the electric push rod is fixedly connected with a camera device, the surface of the camera device is hinged with a pull plate, the bottom of the rotating disk is fixedly connected with a fixed block, the surface of the fixed block is slidably connected with a moving frame, the surface of the moving frame is fixedly connected with a telescopic plate, and one end of the telescopic plate away from the moving frame is hinged with a slide groove rod.

[0005] Furthermore, the shaft rod is located at the lower interior of the fixed frame, the top of the movable plate extends to the upper interior of the fixed frame, the bottom of the movable plate extends to the outer bottom end of the fixed frame, and the end of the telescopic plate close to the slide rod is telescopically arranged.

[0006] Furthermore, one end of the pull plate away from the camera device is hinged to the surface of the movable frame, the inner wall of the slide slot rod is slidably connected to the surface of the anti-slip plate, and one end of the rubber pad close to the spring is inclined upward.

[0007] Furthermore, the separation component includes a round hole rod, the inner wall of the round hole rod is fixedly connected to the telescopic end of the hydraulic rod, the surface of the round hole rod is fixedly connected to a linkage frame, the bottom of the linkage frame is fixedly connected to a stabilizing frame, the surface of the stabilizing frame is fixedly connected to a semicircular frame, the center of the semicircular frame is fixedly connected to a central block, the inner wall of the central block is rotatably connected to an extrusion frame, the end of the extrusion frame away from the central block is fixedly connected to a separation frame, the inner wall of the separation frame is hinged to a tripod, the top of the tripod is hinged to a push frame, the end of the central block away from the extrusion frame is fixedly connected to a vertical plate, the surface of the vertical plate is slidably connected to a lifting frame, the surface of the lifting frame is fixedly connected to an arc spring plate, and the end of the arc spring plate away from the lifting frame is hinged to the surface of the bent plate.

[0008] Furthermore, the inner wall of the semicircular frame contacts the surface of the slide plate, the end of the central block extends to the outer end of the semicircular frame, and the end of the vertical plate extends to the outer end of the central block.

[0009] Furthermore, one end of the push frame away from the tripod is fixedly connected to the lifting frame, and the number of the separation frames is two, and the two separation frames are symmetrically arranged with the central block as the center.

[0010] Furthermore, an extension frame is fixedly connected to the upper surface of the limit frame, a round hole column is sleeved on the surface of the extension frame, a force plate is fixedly connected to the surface of the round hole column, a synchronization plate is hinged to the end of the force plate away from the round hole column, the bottom of the synchronization plate is hinged to the top of the extension plate, a right-angle plate is fixedly connected to the bottom of the round hole column, a storage rack is fixedly connected to the end of the right-angle plate away from the round hole column, and a feeding rack is fixedly connected to the top of the storage rack.

[0011] The present invention has the following beneficial effects: The driving machine of the present invention drives the rotating wheel to rotate, and the rotating wheel drives the limiting frame to move in the planting field of the chili pepper, and the hydraulic rod is started to push the turntable to move downward. After the curved plate moves to the top of the chili pepper, the camera device identifies the mature chili pepper. At this time, the curved plates are in a state of being away from each other. Because the elastic sheet can elastically push the top of the movable plate to rotate toward the bottom of the turntable, the telescopic plate is pushed to extend through the slide rod during rotation. The curved plate will push the rubber pad to move away from each other as the movable plate rotates. When the chili pepper needs to be picked and clamped, the electric push rod is started to push the camera device upward. While moving, the sliding connection of the movable frame on the fixed block is pushed by the pull plate. When the movable frame moves, the slide rod is pushed to slide on the surface of the anti-slip plate through the connection between the telescopic plate and the slide rod, and the movable plate is pushed to rotate toward the outer end of the fixed frame while pushing the curved plates to move closer to each other. The rubber pad is used to grab the chili pepper, and the toughness of the rubber pad is used to protect the chili pepper, so as to avoid damage to the chili pepper when grabbing it.

[0012] When the bent plates of the present invention move away from each other, the arc spring plate pushes the lifting frame to move upward. When the lifting frame moves upward, it pushes the pushing frame to move upward and pulls the tripod to deform. The tripod pushes the separation frame to move away from each other. When the bent plates move toward each other, the separation frame moves away from each other. The contraction and expansion of the separation frame are used to shake the chili peppers, so that the obstructed chili peppers can be shaken out, so that the camera device can capture the mature chili peppers in time.

[0013] When the hydraulic rod of the present invention moves downward, it pulls the synchronous plate downward through the extension plate, and the synchronous plate pushes the circular hole column to rotate on the surface of the extension frame through the force plate. When the circular hole column rotates, it pulls the storage rack outward through the right-angle plate so that the rubber pad can grab the chili peppers. When the hydraulic rod moves upward, the storage rack can be reset to the bottom of the bent plate so that the grabbed chili peppers can be collected.

[0014] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the feed rack of the present invention; Figure 3 This is a schematic diagram of the overall structure of the picking component of the present invention; Figure 4 This is another structural schematic diagram of the picking component of the present invention; Figure 5 For the present invention Figure 4 A magnified schematic diagram of part A in FIG. Figure 6 It is a schematic diagram of the overall structure of the separation component of the present invention; Figure 7 It is another structural schematic diagram of the separation component of the present invention.

[0017] In the accompanying drawings, the components represented by the reference numerals are listed as follows: In the figure: 1, limit frame; 2, bottom plate; 3, driving machine; 4, rotating wheel; 5, sliding plate; 6, extension frame; 7, round hole column; 8, right angle plate; 9, storage rack; 10, feeding rack; 11, force plate; 12, hydraulic rod; 13, synchronous plate; 14, picking part; 15, separation part; 20, turntable; 21, extension plate; 22, slide rod; 23, movable plate; 24, shaft rod; 25, spring piece; 26, bending plate; 27, rubber Pad; 28, fixed frame; 29, anti-slip plate; 30, elastic sheet; 31, fixed block; 32, electric push rod; 33, pull plate; 34, telescopic plate; 35, mobile frame; 36, camera device; 40, round hole rod; 41, linkage frame; 42, stable frame; 43, semicircular frame; 44, vertical plate; 45, center block; 46, push frame; 47, tripod; 48, separation frame; 49, extrusion frame; 50, lifting frame; 51, arc spring plate. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-Figure 7 As shown, the present invention is a wheeled automatic pepper picking robot, comprising a limiting frame 1, a bottom plate 2 is fixedly connected to the bottom of the limiting frame 1, a driving machine 3 is fixedly connected to the top of the bottom plate 2, a rotating wheel 4 is fixedly connected to the output end of the driving machine 3, a slide plate 5 is fixedly connected to the inner wall of the limiting frame 1, a hydraulic rod 12 is fixedly connected to the top of the inner wall of the limiting frame 1, a picking component 14 is arranged at the output end of the hydraulic rod 12, and a separating component 15 is arranged inside the limiting frame 1; The picking component 14 includes a rotating disk 20, the top of which is fixedly connected to the bottom of the hydraulic rod 12, an extension plate 21 is fixedly connected to the surface of the rotating disk 20, a fixing frame 28 is fixedly connected to the bottom of the extension plate 21, an inner wall of the fixing frame 28 is fixedly connected to a shaft rod 24, a movable plate 23 is sleeved on the surface of the shaft rod 24, a bent plate 26 is fixedly connected to the bottom of the movable plate 23, a rubber pad 27 is hinged to the end of the bent plate 26 away from the movable plate 23, a spring sheet 25 is fixedly connected to the surface of the bent plate 26, and an end of the spring sheet 25 away from the bent plate 26 is fixedly connected to the rubber pad 27, and the top of the extension plate 21 is fixedly connected to the bottom of the movable plate 23. The rotating disk 20 is fixedly connected with an elastic sheet 30, one end of the elastic sheet 30 away from the extension plate 21 is hinged to the surface of the movable plate 23, the surface of the movable plate 23 is fixedly connected with an anti-slip plate 29, the bottom of the rotating disk 20 is fixedly connected with an electric push rod 32, the bottom of the electric push rod 32 is fixedly connected with a camera device 36, and the surface of the camera device 36 is hinged with a pull plate 33. The driving machine 3 of the present invention drives the rotating wheel 4 to rotate, and drives the limiting frame 1 to move in the planting field of the chili pepper through the rotating wheel 4, and starts the hydraulic rod 12 to push the rotating disk 20 to move downward. When the bending plate 26 moves to the top of the chili pepper, the camera device 36 takes a picture of the mature chili pepper. The curved plates 26 are in a state of being away from each other at this time, because the elastic sheet 30 will push the top of the movable plate 23 to rotate toward the bottom of the turntable 20 through elasticity, and push the telescopic plate 34 to extend through the slide slot rod 22 during rotation. The curved plate 26 will push the rubber pad 27 to move away from each other as the movable plate 23 rotates. When it is necessary to pick and clamp the chili peppers, the electric push rod 32 is started to push the camera device 36 to move upward. While moving, the pull plate 33 pushes the movable frame 35 to slide in connection with the fixed block 31. When the movable frame 35 moves, the telescopic plate 34 and the slide slot rod 22 are connected. The connection pushes the slide rod 22 to slide on the surface of the anti-slip plate 29, and pushes the movable plate 23 to rotate toward the outer end of the fixed frame 28, while pushing the bent plates 26 to move closer to each other, and the rubber pad 27 is used to grab the chili pepper, and the toughness of the rubber pad 27 is used to protect the chili pepper to avoid damage to the chili pepper when grabbing it. The bottom of the turntable 20 is fixedly connected to a fixed block 31, and the surface of the fixed block 31 is slidably connected to a moving frame 35, and the surface of the moving frame 35 is fixedly connected to a telescopic plate 34, and the end of the telescopic plate 34 away from the moving frame 35 is hinged with the slide rod 22.

[0020] The shaft rod 24 is located at the lower part of the fixed frame 28, the top of the movable plate 23 extends to the upper part of the fixed frame 28, the bottom of the movable plate 23 extends to the bottom outer end of the fixed frame 28, and the end of the telescopic plate 34 close to the slide rod 22 is telescopically arranged.

[0021] The end of the pull plate 33 away from the camera device 36 is hinged to the surface of the moving frame 35, the inner wall of the slide slot rod 22 is slidably connected to the surface of the anti-slip plate 29, and the end of the rubber pad 27 close to the spring sheet 25 is inclined upward.

[0022] The separation component 15 includes a round hole rod 40, the inner wall of the round hole rod 40 is fixedly connected to the telescopic end of the hydraulic rod 12, the surface of the round hole rod 40 is fixedly connected to a linkage frame 41, the bottom of the linkage frame 41 is fixedly connected to a stabilizing frame 42, the surface of the stabilizing frame 42 is fixedly connected to a semicircular frame 43, the center of the semicircular frame 43 is fixedly connected to a central block 45, the inner wall of the central block 45 is rotatably connected to an extrusion frame 49, the end of the extrusion frame 49 away from the central block 45 is fixedly connected to a separation frame 48, the inner wall of the separation frame 48 is hinged to a tripod 47, the top of the tripod 47 is hinged to a push frame 46, the end of the central block 45 away from the extrusion frame 49 is fixedly connected to a vertical plate 44, the surface of the vertical plate 44 is slidably connected to a lifting frame 50, the surface of the lifting frame 50 is fixedly connected to an arc spring plate 51, and the end of the arc spring plate 51 away from the lifting frame 50 is hinged to the surface of the bent plate 26.

[0023] The inner wall of the semicircular frame 43 is in contact with the surface of the slide plate 5. When the curved plates 26 of the present invention move away from each other, the arc spring plate 51 pushes the lifting frame 50 to move upward. When the lifting frame 50 moves upward, it pushes the pushing frame 46 to move upward and pulls the tripod 47 to deform. The tripod 47 pushes the separation frame 48 to move away from each other. When the curved plates 26 move toward each other, the separation frame 48 will move away from each other. The contraction and expansion of the separation frame 48 are used to shake the chili peppers, so that the obstructed chili peppers can be shaken out, so that the camera device 36 can capture the mature chili peppers in time. The end of the central block 45 extends to the outer end of the semicircular frame 43, and the end of the vertical plate 44 extends to the outer end of the central block 45.

[0024] One end of the push frame 46 away from the tripod 47 is fixedly connected to the lifting frame 50 . There are two separation frames 48 , which are symmetrically arranged with the central block 45 as the center.

[0025] The upper surface of the limiting frame 1 is fixedly connected to an extension frame 6, and a circular hole column 7 is sleeved on the surface of the extension frame 6. A force plate 11 is fixedly connected to the surface of the circular hole column 7. A synchronous plate 13 is hinged at one end of the force plate 11 away from the circular hole column 7. The bottom of the synchronous plate 13 is hinged to the top of the extension plate 21. A right-angle plate 8 is fixedly connected to the bottom of the circular hole column 7. An end of the right-angle plate 8 away from the circular hole column 7 is fixedly connected to a storage rack 9. When the hydraulic rod 12 of the present invention moves downward, the synchronous plate 13 is pulled downward through the extension plate 21. The synchronous plate 13 pushes the circular hole column 7 to rotate on the surface of the extension frame 6 through the force plate 11. When the circular hole column 7 rotates, the storage rack 9 is pulled outward through the right-angle plate 8 so that the rubber pad 27 can grab the chili pepper. When the hydraulic rod 12 moves upward, the storage rack 9 can be reset to the bottom of the bent plate 26 to collect the grabbed chili pepper. The top of the storage rack 9 is fixedly connected to a feeding rack 10.

[0026] When in use, the driving machine 3 drives the rotating wheel 4 to rotate, and the rotating wheel 4 drives the limiting frame 1 to move in the planting field of the chili pepper, and the hydraulic rod 12 is started to push the turntable 20 to move downward. When the curved plate 26 moves to the top of the chili pepper, the camera device 36 identifies the mature chili pepper. At this time, the curved plates 26 are in a state of being away from each other, because the elastic sheet 30 will elastically push the top of the movable plate 23 to rotate toward the bottom of the turntable 20, and the telescopic plate 34 will be extended through the slide rod 22 during rotation. The curved plate 26 will push the rubber with the rotation of the movable plate 23. The pads 27 move away from each other. When the chili pepper needs to be picked and clamped, the electric push rod 32 is started to push the camera device 36 to move upward. While moving, the pull plate 33 pushes the sliding connection of the mobile frame 35 on the fixed block 31. When the mobile frame 35 moves, the connection between the telescopic plate 34 and the slide slot rod 22 pushes the slide slot rod 22 to slide on the surface of the anti-slip plate 29, and pushes the movable plate 23 to rotate toward the outer end of the fixed frame 28 while pushing the bent plate 26 to move closer to each other, and the chili pepper is grabbed by the rubber pad 27. The toughness of the device protects the chili pepper and avoids damage to the chili pepper when it is grabbed. When the curved plates 26 move away from each other, the arc spring plate 51 pushes the lifting frame 50 to move upward. When the lifting frame 50 moves upward, it pushes the push frame 46 to move upward and pulls the tripod 47 to deform. The tripod 47 pushes the separation frame 48 to move away from each other. When the curved plates 26 move closer to each other, the separation frame 48 moves away from each other. The contraction and expansion of the separation frame 48 are used to shake the chili pepper, so that The obstructed chili peppers can be shaken out so that the camera device 36 can capture the mature chili peppers in time. When the hydraulic rod 12 moves downward, it pulls the synchronous plate 13 downward through the extension plate 21. The synchronous plate 13 pushes the circular hole column 7 to rotate on the surface of the extension frame 6 through the force plate 11. When the circular hole column 7 rotates, it pulls the storage rack 9 outward through the right-angle plate 8 so that the rubber pad 27 can grab the chili peppers. When the hydraulic rod 12 moves upward, the storage rack 9 can be reset to the bottom of the bent plate 26 to collect the grabbed chili peppers.

[0027] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A wheeled automatic pepper picking robot, comprising a limiting frame (1), characterized in that: The bottom of the limiting frame (1) is fixedly connected to a bottom plate (2), the top of the bottom plate (2) is fixedly connected to a driving machine (3), the output end of the driving machine (3) is fixedly connected to a rotating wheel (4), the inner wall of the limiting frame (1) is fixedly connected to a sliding plate (5), the top of the inner wall of the limiting frame (1) is fixedly connected to a hydraulic rod (12), the output end of the hydraulic rod (12) is provided with a picking component (14), and the interior of the limiting frame (1) is provided with a separating component (15); The picking component (14) comprises a rotating disk (20), the top of the rotating disk (20) is fixedly connected to the bottom of the hydraulic rod (12), the surface of the rotating disk (20) is fixedly connected to an extension plate (21), the bottom of the extension plate (21) is fixedly connected to a fixing frame (28), the inner wall of the fixing frame (28) is fixedly connected to a shaft rod (24), the surface of the shaft rod (24) is sleeved with a movable plate (23), the bottom of the movable plate (23) is fixedly connected to a bent plate (26), one end of the bent plate (26) away from the movable plate (23) is hinged to a rubber pad (27), the surface of the bent plate (26) is fixedly connected to a spring sheet (25), one end of the spring sheet (25) away from the bent plate (26) is fixedly connected to the rubber pad (27), the extension plate ( The top of the rotating disk (21) is fixedly connected to an elastic sheet (30), one end of the elastic sheet (30) away from the extension plate (21) is hinged to the surface of the movable plate (23), the surface of the movable plate (23) is fixedly connected to an anti-slip plate (29), the bottom of the rotating disk (20) is fixedly connected to an electric push rod (32), the bottom of the electric push rod (32) is fixedly connected to a camera device (36), the surface of the camera device (36) is hinged to a pull plate (33), the bottom of the rotating disk (20) is fixedly connected to a fixed block (31), the surface of the fixed block (31) is slidably connected to a movable frame (35), the surface of the movable frame (35) is fixedly connected to a telescopic plate (34), and one end of the telescopic plate (34) away from the movable frame (35) is hinged to a slide rod (22).

2. The wheeled automatic pepper picking robot according to claim 1, characterized in that: The shaft rod (24) is located at the lower part of the fixed frame (28), the top of the movable plate (23) extends to the upper part of the fixed frame (28), the bottom of the movable plate (23) extends to the outer end of the bottom of the fixed frame (28), and the end of the telescopic plate (34) close to the slide rod (22) is telescopically arranged.

3. The wheeled automatic pepper picking robot according to claim 2 is characterized in that: One end of the pull plate (33) away from the camera device (36) is hinged to the surface of the movable frame (35), the inner wall of the slide slot rod (22) is slidably connected to the surface of the anti-slip plate (29), and one end of the rubber pad (27) close to the spring sheet (25) is arranged to be inclined upward.

4. The wheeled automatic pepper picking robot according to claim 3 is characterized by: The separation component (15) comprises a round hole rod (40), the inner wall of the round hole rod (40) is fixedly connected to the telescopic end of the hydraulic rod (12), the surface of the round hole rod (40) is fixedly connected to a linkage frame (41), the bottom of the linkage frame (41) is fixedly connected to a stabilizing frame (42), the surface of the stabilizing frame (42) is fixedly connected to a semicircular frame (43), the center of the semicircular frame (43) is fixedly connected to a central block (45), the inner wall of the central block (45) is rotatably connected to an extrusion frame (49), and the extrusion frame (49) is away from One end of the center block (45) is fixedly connected to a separation frame (48), an inner wall of the separation frame (48) is hingedly connected to a tripod frame (47), a top of the tripod frame (47) is hingedly connected to a push frame (46), one end of the center block (45) away from the extrusion frame (49) is fixedly connected to a vertical plate (44), a surface of the vertical plate (44) is slidably connected to a lifting frame (50), a surface of the lifting frame (50) is fixedly connected to an arc spring plate (51), and one end of the arc spring plate (51) away from the lifting frame (50) is hingedly connected to the surface of the bending plate (26).

5. The wheeled automatic pepper picking robot according to claim 4, characterized in that: The inner wall of the semicircular frame (43) contacts the surface of the slide plate (5), the end of the central block (45) extends to the outer end of the semicircular frame (43), and the end of the vertical plate (44) extends to the outer end of the central block (45).

6. The wheeled automatic pepper picking robot according to claim 5, characterized in that: One end of the push frame (46) away from the tripod (47) is fixedly connected to the lifting frame (50), and the number of the separation frames (48) is two, and the two separation frames (48) are symmetrically arranged with the central block (45) as the center.

7. The wheeled automatic pepper picking robot according to claim 6, characterized in that: The upper surface of the limit frame (1) is fixedly connected to an extension frame (6), the surface of the extension frame (6) is sleeved with a round hole column (7), the surface of the round hole column (7) is fixedly connected to a force plate (11), the end of the force plate (11) away from the round hole column (7) is hinged to a synchronization plate (13), the bottom of the synchronization plate (13) is hinged to the top of the extension plate (21), the bottom of the round hole column (7) is fixedly connected to a right angle plate (8), the end of the right angle plate (8) away from the round hole column (7) is fixedly connected to a storage frame (9), and the top of the storage frame (9) is fixedly connected to a feeding frame (10).

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