An intelligent picking robot

Abstract

The present application relates to the technical field of picking robot, and discloses an intelligent picking robot, which comprises a robot, a supporting platform fixed on the robot, an auxiliary assembly arranged on the supporting platform, a positioning piece, the positioning piece comprising a sliding rail fixed on the top of the supporting platform, a supporting rod arranged on one side of the sliding rail, a supporting column inserted into the supporting rod, a movable column inserted into the supporting rod, a positioning plate fixed on the bottom end of the movable column, a mounting plate fixed on the top end of the movable column, a first spring sleeved on the outer side of the movable column, a pulley rotatably connected to the end of the supporting column, and the pulley sliding in the sliding rail. The present application has the beneficial effects that when the material frame is full, the full material frame can be taken down by the auxiliary assembly and placed stably on the ground, and then an empty material frame is placed at the specified position, so that the material frame does not need to be replaced manually, thereby improving the picking efficiency and saving the labor cost.

Description

Technical Field

[0001] This invention relates to the field of harvesting robot technology, and in particular to an intelligent harvesting robot. Background Technology

[0002] A fruit-harvesting robot is an automated mechanical device used in agricultural production for fruit harvesting. It integrates knowledge from multiple disciplines such as mechanical engineering, electronic technology, computer science, and sensor technology, aiming to automate and intelligently manage the fruit-harvesting process to improve efficiency, reduce labor costs, and ensure harvest quality. During harvesting, the robot places the harvested fruit into a crate. When the crate is full, it needs to be manually removed and replaced with a new one. This manual replacement process is relatively slow, especially in large-scale harvesting operations. Frequent human intervention can interrupt the robot's harvesting process, leading to a decrease in overall harvesting efficiency. Furthermore, it requires dedicated personnel to handle crate replacement, increasing labor costs. Summary of the Invention

[0003] In view of the problems existing in the above-mentioned intelligent harvesting robots, the present invention is proposed.

[0004] Therefore, the problem that this invention aims to solve is that the need for manual replacement of the feed frames affects harvesting efficiency.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent harvesting robot, comprising a robot and a support platform fixed on the robot;

[0006] An auxiliary component, disposed on the support platform, includes a positioning element. The positioning element includes a slide rail fixed to the top of the support platform. A support rod is disposed on one side of the slide rail. A support column is inserted into the support rod. A movable column is inserted into the support rod. A positioning plate is fixed to the bottom end of the movable column. An installation plate is fixed to the top end of the movable column. A first spring is sleeved on the outside of the movable column. A pulley is rotatably connected to the end of the support column. The pulley slides within the slide rail.

[0007] In a preferred embodiment of the intelligent harvesting robot of the present invention, the auxiliary component further includes a storage component, which includes a positioning frame fixed to the top of the support platform, a baffle inserted into the positioning frame, and a rotating plate provided on one side of the baffle.

[0008] In a preferred embodiment of the intelligent harvesting robot of the present invention, the auxiliary component further includes a pushing component, the pushing component including a fixing block fixed to one side of the support column, a pressing plate fixed to one side of the fixing block, a pressing block fixed to the bottom of the pressing plate, and a push rod fixed to the bottom of the fixing block.

[0009] In a preferred embodiment of the intelligent harvesting robot of the present invention, the auxiliary component further includes a driving component, the driving component includes a support frame fixed to one side of the slide rail, a motor is fixed to the top of the support frame, a screw is fixed to the output shaft of the motor, and a threaded sleeve is fixed to the top of the support column.

[0010] In a preferred embodiment of the intelligent harvesting robot of the present invention, the auxiliary component further includes a rotating component, the rotating component including a connecting block fixed to the top of the support rod, a fixed column fixed to one side of the connecting block, a movable block provided on the top of the slide rail, a rotating sleeve rotatably connected inside the movable block, a fixed shaft fixed inside the rotating sleeve, and a spiral groove provided on the fixed column.

[0011] In a preferred embodiment of the intelligent harvesting robot of the present invention, a force-bearing plate is fixed on one side of the rotating sleeve, and a squeezing column is fixed on one side of the mounting plate.

[0012] In a preferred embodiment of the intelligent harvesting robot of the present invention, a guide rail is fixed to the top of the slide rail, and the movable block is movably connected to the outside of the guide rail.

[0013] In a preferred embodiment of the intelligent harvesting robot of the present invention, a stabilizing block is fixed to one end of the fixed column, a second spring is fixed to one side of the stabilizing block, and the other end of the second spring is fixed to the movable block.

[0014] As a preferred embodiment of the intelligent harvesting robot of the present invention, the auxiliary component further includes a locking component, the locking component includes a stabilizing plate fixed to one side of the movable block, a limiting post inserted into the stabilizing plate, a limiting hole opened on the rotating sleeve, a positioning block fixed to one end of the limiting post, and a third spring fixed to one side of the positioning block.

[0015] In a preferred embodiment of the intelligent harvesting robot of the present invention, a connecting frame is provided on one side of the positioning block, a rotating rod is inserted into the connecting frame, and a push column is fixed on the top of the guide rail.

[0016] The beneficial effects of this invention are as follows: when the material basket is full, the full material basket can be removed by the auxiliary component and placed stably on the ground. Then, an empty material basket can be placed in the designated position. This eliminates the need for manual replacement of the material basket, thereby improving harvesting efficiency and saving labor costs. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0018] Figure 1 This is an overall view of the intelligent harvesting robot.

[0019] Figure 2 This is a structural diagram of the auxiliary components of an intelligent harvesting robot.

[0020] Figure 3 This is a structural diagram of the positioning component for an intelligent harvesting robot.

[0021] Figure 4 This is a structural diagram of the positioning plate for an intelligent harvesting robot.

[0022] Figure 5 This is a structural diagram of the rotating parts of an intelligent harvesting robot.

[0023] Figure 6 For intelligent harvesting robots Figure 5 Enlarged view of the structure at point A in the middle.

[0024] Figure 7 This is a cross-sectional view of the rotating sleeve of an intelligent harvesting robot.

[0025] Figure 8 This is a structural diagram of the storage components for an intelligent harvesting robot.

[0026] Figure 9 This is a cross-sectional view of the positioning frame of an intelligent harvesting robot.

[0027] Figure 10 This is a structural diagram of the extrusion plate of an intelligent harvesting robot.

[0028] In the diagram: 101, Robot; 102, Support Platform; 200, Auxiliary Component; 201, Positioning Component; 2011, Slide Rail; 2012, Support Rod; 2013, Support Column; 2014, Movable Column; 2015, Positioning Plate; 2016, Mounting Plate; 2017, First Spring; 2018, Pulley; 202, Storage Component; 2021, Positioning Frame; 2022, Baffle; 2023, Rotating Plate; 203, Pushing Component; 2031, Fixing Block; 2032, Extrusion Plate; 2033, Extrusion Block; 2034, Push Rod; 204, Driving Component; 2041, Support Frame; 2042, Motor ; 2043, Screw; 2044, Threaded Sleeve; 205, Rotating Component; 2051, Connecting Block; 2052, Fixed Column; 2053, Movable Block; 2054, Rotating Sleeve; 2055, Fixed Shaft; 2056, Spiral Groove; 2057, Force Plate; 2058, Extrusion Column; 2059, Guide Rail; 20510, Stabilizing Block; 20511, Second Spring; 206, Locking Component; 2061, Stabilizing Plate; 2062, Limiting Column; 2054-1, Limiting Hole; 2063, Positioning Block; 2064, Third Spring; 2065, Connecting Frame; 2066, Rotating Rod; 2067, Push Column. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0032] Example 1

[0033] Reference Figures 1-4This is the first embodiment of the present invention. This embodiment provides an intelligent harvesting robot, which includes a robot 101. The robot 101 can move autonomously in the orchard and is equipped with a sensing system, a control system, and a robotic arm. It can intelligently complete the harvesting work. This is prior art, and this solution will not be described in detail. Moreover, those skilled in the art can clearly understand the working principle. A support platform 102 is fixed on the robot 101. The support platform 102 is used to place the fruit storage basket. The basket is a conventional plastic basket with a protruding rolled edge fixed on the top outer side, which makes it easy for the user to lift the basket upward.

[0034] An auxiliary component 200 is disposed on a support platform 102 and includes a positioning component 201. The positioning component 201 includes a slide rail 2011 fixed to the top of the support platform 102. There are two slide rails 2011, which are fixed to the top two sides of the support platform 102 respectively. A support rod 2012 is disposed on one side of the slide rail 2011. There are two support rods 2012, which are located on the two sides above the support platform 102 respectively. A support column 2013 is inserted into the support rod 2012. The support column 2013 is movably connected to the support rod 2012, and there are two of them, which are horizontally inserted into the two ends of the support rod 2012 respectively.

[0035] Movable columns 2014 are inserted into the support rod 2012. Two movable columns 2014 are inserted into one support rod 2012. The movable columns 2014 are used to support the positioning plate 2015. The positioning plate 2015 is fixed to the bottom of the movable column 2014. The bottom side of the positioning plate 2015 is U-shaped, which can be locked into the bottom of the rolled edge of the material frame. There are two positioning plates 2015, located at the bottom of the two support rods 2012 respectively. The material frame is supported and positioned by the cooperation of the two positioning plates 2015, which can prevent the material frame from moving during the robot 101's movement.

[0036] A mounting plate 2016 is fixed to the top of the movable column 2014. A first spring 2017 is sleeved on the outside of the movable column 2014. The two ends of the first spring 2017 are fixed to the mounting plate 2016 and the support rod 2012 respectively. Both ends of the support column 2013 are rotatably connected to pulleys 2018 through bearings. The pulleys 2018 slide in the slide rail 2011. The pulleys 2018 can reduce the friction when the support column 2013 moves.

[0037] The robot 101 is equipped with a weight detection mechanism (not shown in the diagram), which is existing technology. This mechanism detects the weight of the material frame. When the frame is detected to be full, the support column 2013 moves the support rod 2012 towards the tail of the robot 101. The support rod 2012 then moves the positioning plate 2015 and the material frame, separating the material frame from the support platform 102. The material frame then moves downwards under its own weight. When the material frame contacts the ground, the support rod 2012 moves the positioning plate 2015. 5. When separated from the material frame, the first spring 2017 applies an upward pushing force to the mounting plate 2016, and the mounting plate 2016 drives the movable column 2014 and the positioning plate 2015 to move upward, so that the positioning plate 2015 returns to its original position. At this time, the support column 2013 will drive the support rod 2012 and the positioning plate 2015 to move to the top of the support platform 102. When the positioning plate 2015 returns to its original position, the support rod 2012 will drive the positioning plate 2015 to move towards the center, and the positioning plate 2015 will clamp the material frame again.

[0038] Example 2

[0039] Reference Figures 5-10 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0040] Specifically, the auxiliary component 200 also includes a storage component 202, which includes a positioning frame 2021 fixed to the top of the support platform 102. Multiple material frames are stored inside the positioning frame 2021 by stacking. A baffle 2022 is inserted into the positioning frame 2021. There are four baffles 2022, which are located on both sides of the positioning frame 2021 in pairs. The two baffles 2022 on one side are arranged vertically, and the ends of the baffles 2022 are inclined. A rotating plate 2023 is provided on one side of the baffle 2022. The top and bottom of the rotating plate 2023 are provided with sliding grooves. The two baffles 2022 are provided with grooves on one side. A sliding shaft is fixed inside the groove and slides in the groove. The groove is not completely open. A stabilizing rod is fixed on one side of the positioning frame 2021. The center of the rotating plate 2023 is rotatably connected to the stabilizing rod through a rotating shaft.

[0041] When the lower baffle 2022 is inserted into the positioning frame 2021, it will be inserted into the bottom of the rolled edge of the material frame and support the material frame to prevent it from falling downwards. When the upper baffle 2022 moves into the positioning frame 2021, it will be inserted between the rolled edges of the two material frames and support all material frames except the bottom one. At this time, the lower baffle 2022 will move outwards and release the support of the material frame, so that the material frame can fall to the top of the support platform 102 and the unloading of the material frame is completed.

[0042] When the falling material frame moves to one side of the positioning plate 2015, the lower baffle 2022 will move inward to the positioning frame 2021, and the upper baffle 2022 will move outward to the positioning frame 2021, so that the material frame can be supported by the lower baffle 2022.

[0043] Specifically, the auxiliary component 200 also includes a pusher 203, which includes a fixing block 2031 fixed to one side of the support column 2013. There are two fixing blocks 2031, which are fixed to both ends of the support column 2013 respectively. A pressing plate 2032 is fixed to one side of the fixing block 2031. One side of the pressing plate 2032 is inclined and its inclined surface contacts the lower baffle 2022. A pressing block 2033 is fixed to the bottom of the pressing plate 2032. One side of the pressing block 2033 is inclined and its inclined surface contacts the lower baffle 2022. A push rod 2034 is fixed to the bottom of the fixing block 2031. The push rod 2034 is U-shaped.

[0044] When the support column 2013 moves toward the tail of the robot 101, it will drive the extrusion plate 2032 to move through the fixing block 2031. At this time, the inclined surface of the extrusion plate 2032 will press against the upper baffle 2022, and the extrusion plate 2032 will separate from the lower baffle 2022. This allows the upper baffle 2022 to move into the positioning frame 2021 and the bottom material frame to fall down. At the same time, the push rod 2034 will contact the falling material frame and push the material frame to move. This allows the material frame to move to the side of the initial position of the positioning plate 2015. When the positioning plate 2015 resets, it can just clamp and position the material frame.

[0045] When the support column 2013 moves in the reverse direction to reset, it will drive the extrusion plate 2032 to move in the reverse direction, causing the extrusion plate 2032 to separate from the upper baffle 2022. At this time, the inclined surface of the extrusion block 2033 will contact the lower baffle 2022 and push the lower baffle 2022 to move into the positioning frame 2021.

[0046] Specifically, the auxiliary component 200 also includes a drive component 204. The drive component 204 includes a support frame 2041 fixed to one side of the slide rail 2011. A motor 2042 is fixed to the top of the support frame 2041, and the support frame 2041 is used to support the motor 2042. A screw 2043 is fixed to the output shaft of the motor 2042. A threaded sleeve 2044 is fixed to the top of the support column 2013. The screw 2043 and the threaded sleeve 2044 are internally threadedly connected. When the weight detection mechanism detects that the material frame is full, it will start the motor 2042 to drive the screw 2043 to rotate, so that the screw 2043 drives the threaded sleeve 2044 to move. In this way, the threaded sleeve 2044 can drive the support column 2013 to move towards the tail of the robot 101. When the material frame is placed on the ground, the motor 2042 will drive the screw 2043 to rotate in the opposite direction and reset the support column 2013.

[0047] Specifically, the auxiliary component 200 also includes a rotating component 205. There are two sets of rotating components 205, which correspond to the two support rods 2012 respectively. The rotating component 205 includes a connecting block 2051 fixed to the top of the support rod 2012. A fixing post 2052 is fixed to one side of the connecting block 2051. A movable block 2053 is provided on the top of the slide rail 2011. The movable block 2053 is movably connected to the top of the slide rail 2011. A rotating sleeve 2054 is rotatably connected inside the movable block 2053. The rotating sleeve 2054 is rotatably connected to the movable block 2053 through a bearing. The fixing post 2052 is inserted into the rotating sleeve 2054. A fixing shaft 2055 is fixed inside the rotating sleeve 2054. A spiral groove 2056 is opened on the fixing post 2052. The fixing shaft 2055 slides in the spiral groove 2056.

[0048] Specifically, a force-bearing plate 2057 is fixed on one side of the rotating sleeve 2054. The force-bearing plate 2057 is inclined and extends to the outside of the rotating sleeve 2054 on one side. The connecting block 2051 will not contact the force-bearing plate 2057. An extrusion column 2058 is fixed on one side of the mounting plate 2016. The extrusion column 2058 is L-shaped.

[0049] When the positioning plate 2015 moves downward, it will drive the mounting plate 2016 and the extrusion column 2058 to move downward. When the extrusion column 2058 contacts the force plate 2057, it will push the force plate 2057 to rotate and drive the rotating sleeve 2054 to rotate. At this time, the fixed shaft 2055 slides in the spiral groove 2056. Through the cooperation of the two, the fixed column 2052 is driven to move, so that the fixed column 2052 drives the connecting block 2051 and the support rod 2012 to move. In this way, the positioning plate 2015 can be separated from the material frame and the material frame can be placed on the ground.

[0050] Example 3

[0051] Reference Figures 1-10 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0052] Specifically, a guide rail 2059 is fixed to the top of the slide rail 2011, and the movable block 2053 is movably connected to the outside of the guide rail 2059. The guide rail 2059 is used to position the movable block 2053 to prevent the movable block 2053 from shifting when it moves.

[0053] Specifically, a stabilizing block 20510 is fixed to one end of the fixed column 2052, and a second spring 20511 is fixed to one side of the stabilizing block 20510. The other end of the second spring 20511 is fixed to the movable block 2053. When the fixed column 2052 moves, it will stretch the second spring 20511 through the stabilizing block 20510. When the rotating sleeve 2054 is locked and cannot rotate, the second spring 20511 cannot pull the stabilizing block 20510 and the fixed column 2052 to move. When the rotating sleeve 2054 is unlocked, the second spring 20511 can drive the stabilizing block 20510 and the fixed column 2052 to move and reset.

[0054] Specifically, the auxiliary component 200 also includes a locking component 206, which includes a stabilizing plate 2061 fixed to one side of the movable block 2053. A limiting post 2062 is inserted into the stabilizing plate 2061, and the limiting post 2062 is movably connected to the stabilizing plate 2061. A limiting hole 2054-1 is opened on the rotating sleeve 2054. A positioning block 2063 is fixed to one end of the limiting post 2062. A third spring 2064 is fixed to one side of the positioning block 2063, and the other end of the third spring 2064 is fixed to the stabilizing plate 2061.

[0055] When the rotating sleeve 2054 rotates, and the fixed column 2052 and the support rod 2012 move, the limiting column 2062 will coincide with the limiting hole 2054-1. At this time, the third spring 2064 pulls the positioning block 2063 and the limiting column 2062 to move, so that the limiting column 2062 engages with the limiting hole 2054-1. The two work together to lock the rotating sleeve 2054, preventing the rotating sleeve 2054 from rotating. This avoids the support rod 2012 and the positioning plate 2015 from moving to the middle too early, which would cause the positioning plate 2015 to be unable to clamp the material frame in the middle when it moves to the initial position.

[0056] Specifically, a connecting frame 2065 is provided on one side of the positioning block 2063. The connecting frame 2065 is hinged to the positioning block 2063 through a hinge plate. A rotating rod 2066 is inserted into the connecting frame 2065. A positioning rod is fixed on one side of the movable block 2053. The center of the rotating rod 2066 is rotatably connected to the positioning rod through a rotating shaft. A push column 2067 is fixed on the top of the guide rail 2059. When the support rod 2012 and the positioning plate 2015 move to the top of the support platform 102 and reset, one end of the rotating rod 2066 will contact the push column 2067 and push the rotating rod 2066 to rotate through the push column 2067. At this time, the other end of the rotating rod 2066 will drive the positioning block 2063 and the limiting column 2062 to move through the connecting frame 2065. This allows the limiting column 2062 to separate from the limiting hole 2054-1 and release the restriction on the rotating sleeve 2054.

[0057] During operation, when the weight detection mechanism detects that the material frame is full, it will start the motor 2042 to drive the screw 2043 to rotate. The screw 2043 then moves the threaded sleeve 2044, which in turn moves the support column 2013 towards the tail of the robot 101. This movement, via the support rod 2012, moves the positioning plate 2015 and the material frame, causing the material frame to separate from the support platform 102. At this point, the material frame moves downwards under its own weight. When the material frame contacts the ground, the extrusion column 2058 contacts the force plate 2057, and... The force plate 2057 is pushed to rotate, causing the rotating sleeve 2054 to rotate. At this time, the fixed shaft 2055 slides in the spiral groove 2056. Through the cooperation of the two, the fixed column 2052 is moved, which in turn causes the connecting block 2051 and the support rod 2012 to move. This allows the positioning plate 2015 to separate from the material frame and place the material frame on the ground. At the same time, the limiting column 2062 will engage with the limiting hole 2054-1. Through the cooperation of the two, the rotating sleeve 2054 is locked, preventing the rotating sleeve 2054 from rotating.

[0058] At the same time, the support column 2013 will drive the extrusion plate 2032 to move through the fixing block 2031. At this time, the inclined surface of the extrusion plate 2032 will press against the upper baffle 2022, and the extrusion plate 2032 will separate from the lower baffle 2022. This allows the upper baffle 2022 to move into the positioning frame 2021 and the bottom material frame to fall down. At the same time, the push rod 2034 will contact the falling material frame and push the material frame to move, thereby moving the material frame to the side of the initial position of the positioning plate 2015.

[0059] Meanwhile, the first spring 2017 pushes the mounting plate 2016 upward, causing it to move the movable column 2014 and the positioning plate 2015 to a height above the support platform 102. At this time, the motor 2042 will drive the screw 2043 to rotate in the opposite direction, and the support column 2013 will be reset. At this time, one end of the rotating rod 2066 will contact the push column 2067, and the push column 2067 will push the rotating rod 2066 to rotate. At this time, the other end of the rotating rod 2066 will drive the positioning block 2063 and the limiting column 2062 to move through the connecting frame 2065. This allows the limiting column 2062 to separate from the limiting hole 2054-1 and release the restriction on the rotating sleeve 2054. At this time, the second spring 20511 drives the stabilizing block 20510 and the fixed column 2052 to move and reset, and the positioning plate 2015 clamps and positions the moving empty material frame, thereby completing the replacement of the material frame, which can improve the harvesting efficiency and save labor.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent harvesting robot, comprising a robot (101), wherein a support platform (102) is fixed on the robot (101), characterized in that: It also includes, An auxiliary component (200), disposed on the support platform (102), includes a positioning component (201), a storage component (202), a driving component (204), and a rotating component (205). The positioning component (201) includes a slide rail (2011) fixed to the top of the support platform (102). A support rod (2012) is provided on one side of the slide rail (2011). A support column (2013) is inserted into the support rod (2012). A movable column (2014) is inserted into the support rod (2012). (2014) A positioning plate (2015) is fixed at the bottom end, and an mounting plate (2016) is fixed at the top end of the movable column (2014). A first spring (2017) is sleeved on the outside of the movable column (2014). A pulley (2018) is rotatably connected to the end of the support column (2013), and the pulley (2018) slides in the slide rail (2011). The storage component (202) includes a positioning frame (2021) fixed to the top of the support platform (102), and a baffle is inserted into the positioning frame (2021). (2022), a rotating plate (2023) is provided on one side of the baffle (2022); the driving component (204) includes a support frame (2041) fixed to one side of the slide rail (2011), a motor (2042) is fixed to the top of the support frame (2041), a screw (2043) is fixed to the output shaft of the motor (2042), and a threaded sleeve (2044) is fixed to the top of the support column (2013); the rotating component (205) includes a connecting block (205) fixed to the top of the support rod (2012). 1) A fixed column (2052) is fixed on one side of the connecting block (2051), a movable block (2053) is provided on the top of the slide rail (2011), a rotating sleeve (2054) is rotatably connected inside the movable block (2053), a fixed shaft (2055) is fixed inside the rotating sleeve (2054), a spiral groove (2056) is provided on the fixed column (2052), a force plate (2057) is fixed on one side of the rotating sleeve (2054), and a pressing column (2058) is fixed on one side of the mounting plate (2016).

2. The intelligent harvesting robot as described in claim 1, characterized in that: The auxiliary component (200) also includes a pusher (203), which includes a fixing block (2031) fixed to one side of the support column (2013), a pressing plate (2032) fixed to one side of the fixing block (2031), a pressing block (2033) fixed to the bottom of the pressing plate (2032), and a push rod (2034) fixed to the bottom of the fixing block (2031).

3. The intelligent harvesting robot as described in claim 1 or 2, characterized in that: The top of the slide rail (2011) is fixed with a guide rail (2059), and the movable block (2053) is movably connected to the outside of the guide rail (2059).

4. The intelligent harvesting robot as described in claim 3, characterized in that: One end of the fixed column (2052) is fixed with a stabilizing block (20510), and a second spring (20511) is fixed on one side of the stabilizing block (20510). The other end of the second spring (20511) is fixed to the movable block (2053).

5. The intelligent harvesting robot as described in claim 4, characterized in that: The auxiliary component (200) also includes a locking member (206), which includes a stabilizing plate (2061) fixed to one side of the movable block (2053). A limiting post (2062) is inserted into the stabilizing plate (2061). A limiting hole (2054-1) is opened on the rotating sleeve (2054). A positioning block (2063) is fixed to one end of the limiting post (2062). A third spring (2064) is fixed to one side of the positioning block (2063).

6. The intelligent harvesting robot as described in claim 5, characterized in that: A connecting frame (2065) is provided on one side of the positioning block (2063), a rotating rod (2066) is inserted into the connecting frame (2065), and a push column (2067) is fixed on the top of the guide rail (2059).

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