Ridge-crossing type pepper picking robot

Abstract

The invention relates to the technical field of pepper picking, and discloses a ridge crossing type pepper picking robot which comprises a portal frame, a supporting plate is fixedly connected to the bottom of the portal frame, driving wheels are fixedly connected to the surface of the supporting plate, a sliding plate is fixedly connected to the top of the inner wall of the portal frame, and a motor is fixedly connected to the surface of the portal frame. The output end of the motor is fixedly connected with a threaded rod, a separating part is arranged on the surface of the threaded rod, a picking part is arranged on the surface of the separating part, and a separating part is arranged above the picking part. A motor is started to drive a threaded rod to rotate, the threaded rod pushes a sliding frame to slide on the surface of a sliding plate through a screw hole block when rotating, the screw hole block can push a positioning plate to conduct ridge crossing operation when moving, a hydraulic rod can push a moving frame to slide on the surface of the positioning plate when extending, and therefore the position of a rotating disc is adjusted through the moving frame; therefore, the turntable pushes the picking part to pick the pod peppers.

Description

Technical Field

[0001] The present invention relates to the technical field of pepper picking, and specifically to a cross-ridge type pepper picking robot. Background Technique

[0002] The erect pepper is an annual or perennial herbaceous plant of the Solanaceae family and the Capsicum genus; it is oval in shape; the flowers usually grow singly between dichotomies, the flower stalks are erect, the flowers are slightly pendulous, and the corolla is white or purple; the fruit stalks and fruits are both erect, the fruits are small, conical, and turn red or purple after maturity, with an extremely spicy taste. Because its fruit top faces upward, it is named the erect pepper, and the erect pepper is native to the tropical regions of South America. It was introduced and cultivated in China around the end of the 17th century, and is now planted everywhere; At present, when the picking robot for erect peppers picks them, it is necessary to clamp and fix the mature erect peppers through a clamping device. After the fixation is completed, the erect peppers are cut and picked. However, the mature erect peppers are relatively fragile, and the clamping device is likely to damage the erect peppers when clamping them, thus affecting the quality of the erect peppers. Summary of the Invention

[0003] The purpose of the present invention is to provide a cross-ridge type pepper picking robot to solve the problems raised in the above background technique.

[0004] To solve the above technical problems, the present invention is realized through the following technical solutions: The present invention is a cross-ridge type pepper picking robot, including a gantry. The bottom of the gantry is fixedly connected with a support plate. The surface of the support plate is fixedly connected with driving wheels. The top inner wall of the gantry is fixedly connected with a sliding plate. The surface of the gantry is fixedly connected with a motor. The output end of the motor is fixedly connected with a threaded rod. A separation component is arranged on the surface of the threaded rod. A picking component is arranged on the surface of the separation component. A detachment component is arranged above the picking component. A storage component is arranged below the gantry; The separation component includes a sliding frame. The inner wall of the sliding frame is slidably connected with the surface of the sliding plate. The bottom of the sliding frame is fixedly connected with a threaded hole block. The surface of the threaded hole block is fixedly connected with a positioning plate. A moving frame is slidably connected to the surface of the positioning plate. The upper surface of the moving frame is fixedly connected with a hydraulic rod. The end of the hydraulic rod away from the moving frame is fixedly connected with the positioning plate. The bottom of the moving frame is fixedly connected with a groove frame. The bottom of the groove frame is fixedly connected with a driving machine. The output end of the driving machine is fixedly connected with an electric push rod. The bottom of the electric push rod is fixedly connected with a turntable. The bottom of the turntable is fixedly connected with a camera. The surface of the turntable is fixedly connected with a round hole rod. The surface of the round hole rod is fixedly connected with a separation plate.

[0005] Further, one end of the threaded rod away from the motor penetrates through the gantry and extends to the outer end of the gantry. The inner wall of the threaded hole block is threadedly connected to the surface of the threaded rod. The number of the round hole rods is two, and the two round hole rods are arranged circumferentially around the turntable. The end of the round hole rod penetrates through the turntable and extends to the outer end of the turntable.

[0006] Further, the picking component includes a lifting frame. The inner wall of the lifting frame is slidably connected to the inner wall of the round hole rod. The bottom of the lifting frame is fixedly connected with a sleeve rod. The top of the sleeve rod is fixedly connected with a right-angle plate. The surface of the right-angle plate is slidably connected with a linkage frame. The bottom of the linkage frame is fixedly connected with a vertical plate. The bottom of the vertical plate is fixedly connected with a cutting knife. The surface of the vertical plate is fixedly connected with a pressing plate. One end of the pressing plate away from the vertical plate is fixedly connected with an arc cotton pad. The top of the linkage frame is fixedly connected with an elastic sheet. One end of the elastic sheet away from the linkage frame is fixedly connected with the top of the right-angle plate. One end of the right-angle plate away from the sleeve rod is fixedly connected with a bracket. The upper surface of the bracket is fixedly connected with an electric telescopic rod. One end of the electric telescopic rod away from the bracket is fixedly connected with the upper surface of the linkage frame. The surface of the sleeve rod is provided with a through hole. The top of the turntable is fixedly connected with a spring.

[0007] Further, the end of the lifting frame penetrates through the round hole rod and extends to the outer end of the round hole rod. The top of the spring is fixedly connected with the lifting frame. The top of the cutting knife contacts the bottom of the sleeve rod. One end of the pressing plate away from the vertical plate extends into the sleeve rod through the through hole. One end of the arc cotton pad close to the pressing plate contacts the inner wall of the sleeve rod.

[0008] Further, the separating component includes a rotating frame. The rotating frame is rotatably connected to the inner wall of the groove frame. The surface of the rotating frame is fixedly connected with a contact plate. The surface of the contact plate is provided with a groove. The upper surface of the lifting frame is fixedly connected with a friction frame. The inner wall of the friction frame is fixedly connected with a rubber rod.

[0009] Further, the surface of the contact plate is slidably connected to the inner wall of the friction frame. The surface of the rubber rod contacts the inner wall of the groove. The bottom of the contact plate extends to the outer end of the bottom of the friction frame.

[0010] Further, the storage component includes a support plate. The end of the support plate is fixedly connected to the surface of the threaded hole block. One end of the support plate away from the threaded hole block is fixedly connected with a bottom plate. The top of the bottom plate is fixedly connected with a storage rack. The top of the storage rack is fixedly connected with a feeding rack. The lower surface of the feeding rack is fixedly connected with an elastic rod. One end of the elastic rod away from the feeding rack is fixedly connected with a semi-circular plate.

[0011] Further, the support plate is located at one end of the screw hole block away from the positioning plate. Ventilation holes are provided on the lower surface of the storage rack. One end of the semi-circular plate away from the elastic rod contacts the surface of the separation plate.

[0012] The present invention has the following beneficial effects: When the motor of the present invention is started to drive the threaded rod to rotate, the threaded rod drives the sliding frame to slide on the surface of the sliding plate through the screw hole block when rotating. When the screw hole block moves, it can push the positioning plate to perform cross-ridge operations. When the hydraulic rod extends, it will push the moving frame to slide on the surface of the positioning plate, so as to adjust the position of the turntable through the moving frame, so that the turntable can push the picking component to pick the chili peppers. The drive motor is started to push the electric push rod to rotate. When the electric push rod rotates, it pushes the turntable to rotate slowly. The separation plate moves the chili peppers as the turntable rotates, preventing the chili peppers from piling up with each other and affecting the recognition effect of the camera.

[0013] When picking mature chili peppers, the present invention starts the electric push rod to push the turntable to move downward. When the turntable moves downward, it drives the sleeve rod to move downward through the connection of the spring and the lifting frame. When the sleeve rod moves downward, it will enclose the chili peppers inside. At this time, the electric telescopic rod is started to push the linkage frame to slide on the surface of the right-angle plate. When the linkage frame moves, it pushes the cutting knife to cut the chili peppers through the vertical plate, thus completing the picking operation of the chili peppers. When the vertical plate moves, it pushes the arc cotton pad to contact the surface of the chili peppers through the pressing plate, fixing the chili peppers inside the sleeve rod to complete the picking and transportation.

[0014] After the sleeve rod rotates behind the feeding rack, the electric push rod is started to push the turntable to move up and down. When the turntable moves, it drives the friction rack to slide on the surface of the contact plate through the lifting frame. The friction rack pushes the rubber rod to move inside the groove and generates vibration through friction. At this time, the electric telescopic rod pushes the cutting knife to separate from the bottom of the sleeve rod, and the chili peppers inside the sleeve rod can fall into the feeding rack through vibration, preventing the chili peppers from getting stuck inside the sleeve rod and affecting the next picking. The separation plate contacts the surface of the semi-circular plate when rotating, and the semi-circular plate also generates vibration through contact. The feeding rack vibrates to shake the chili peppers into the storage rack for storage, improving the convenience of picking chili peppers.

[0015] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the structure of the present invention; Figure 3 is a schematic diagram of the overall structure of the separating component of the present invention; Figure 4 is a schematic diagram of the overall structure of the picking component of the present invention; Figure 5 is another schematic diagram of the picking component of the present invention; Figure 6 is a schematic diagram of the overall structure of the separating component of the present invention; Figure 7 For the present invention Figure 6 is an enlarged schematic diagram of part A in; Figure 8 is a schematic diagram of the overall structure of the storage component of the present invention.

[0018] In the attached drawings, the list of components represented by each reference numeral is as follows: In the figure: 1, gantry; 2, slide plate; 3, threaded rod; 4, support plate; 5, driving wheel; 6, motor; 7, separating component; 8, picking component; 9, separating component; 10, storage component; 20, sliding frame; 21, screw hole block; 22, hydraulic rod; 23, moving frame; 24, groove frame; 25, positioning plate; 26, round hole rod; 27, camera; 28, separating plate; 29, turntable; 30, electric push rod; 31, driving machine; 40, lifting frame; 41, elastic sheet; 42, sleeve rod; 43, vertical plate; 44, right-angled plate; 45, spring; 46, linkage frame; 47, cutting knife; 48, extrusion plate; 49, electric telescopic rod; 50, bracket; 51, through hole; 52, arc cotton pad; 60, rotating frame; 61, contact plate; 62, groove; 63, friction frame; 64, rubber rod; 70, support plate; 71, storage rack; 72, bottom plate; 73, feeding rack; 74, elastic rod; 75, semi-circular plate. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Please refer to Figures 1-8As shown, the present invention is a cross-ridge type pepper picking robot, comprising a gantry 1, a support plate 4 is fixedly connected to the bottom of the gantry 1, a driving wheel 5 is fixedly connected to the surface of the support plate 4, a slide plate 2 is fixedly connected to the top of the inner wall of the gantry 1, a motor 6 is fixedly connected to the surface of the gantry 1, a threaded rod 3 is fixedly connected to the output end of the motor 6, a separation component 7 is arranged on the surface of the threaded rod 3, a picking component 8 is arranged on the surface of the separation component 7, a separation component 9 is arranged above the picking component 8, and a storage component 10 is arranged below the gantry 1; The separation component 7 includes a slide 20, the inner wall of the slide 20 is slidably connected to the surface of the slide plate 2, the bottom of the slide 20 is fixedly connected with a screw hole block 21, the surface of the screw hole block 21 is fixedly connected with a positioning plate 25, the surface of the positioning plate 25 is slidably connected with a moving frame 23, the upper surface of the moving frame 23 is fixedly connected with a hydraulic rod 22, the end of the hydraulic rod 22 away from the moving frame 23 is fixedly connected to the positioning plate 25, the bottom of the moving frame 23 is fixedly connected with a groove frame 24, the bottom of the groove frame 24 is fixedly connected with a driving machine 31, the output end of the driving machine 31 is fixedly connected with an electric push rod 30, the bottom of the electric push rod 30 is fixedly connected with a turntable 29, the bottom of the turntable 29 is fixedly connected with a camera 27, the surface of the turntable 29 is fixedly connected with a round hole rod 26, and the surface of the round hole rod 26 is fixedly connected with a separation plate 28.

[0021] The end of the threaded rod 3 away from the motor 6 passes through the gantry 1 and extends to the outer end of the gantry 1. The inner wall of the screw hole block 21 is threadedly connected to the surface of the threaded rod 3. There are two round hole rods 26, and the two round hole rods 26 are arranged with the turntable 29 as the center circumference. The present invention starts the motor 6 to drive the threaded rod 3 to rotate. When the threaded rod 3 rotates, it pushes the slide 20 to slide on the surface of the slide 2 through the screw hole block 21. When the screw hole block 21 moves, it can push the positioning plate 25 to perform cross-ridge operations. The hydraulic rod 22 will push the moving plate 25 when it extends. The movable frame 23 slides on the surface of the positioning plate 25, thereby adjusting the position of the turntable 29 through the movable frame 23, so that the turntable 29 pushes the picking component 8 to pick the chili peppers, and the driving machine 31 is started to push the electric push rod 30 to rotate. The electric push rod 30 pushes the turntable 29 to rotate slowly during rotation. The separation plate 28 moves the chili peppers as the turntable 29 rotates to prevent the chili peppers from piling up and affecting the recognition effect of the camera 27. The end of the round hole rod 26 passes through the turntable 29 and extends to the outer end of the turntable 29.

[0022] The picking component 8 includes a lifting frame 40. The inner wall of the lifting frame 40 is slidably connected to the inner wall of the round hole rod 26. The bottom of the lifting frame 40 is fixedly connected to a sleeve rod 42. The top of the sleeve rod 42 is fixedly connected to a right-angle plate 44. A linkage frame 46 is slidably connected to the surface of the right-angle plate 44. The bottom of the linkage frame 46 is fixedly connected to a vertical plate 43. The bottom of the vertical plate 43 is fixedly connected to a cutter 47. An extrusion plate 48 is fixedly connected to the surface of the vertical plate 43. One end of the extrusion plate 48 away from the vertical plate 43 is fixedly connected to an arc cotton pad 52. The top of the linkage frame 46 is fixedly connected to a spring piece 41. One end of the spring piece 41 away from the linkage frame 46 is fixedly connected to the top of the right-angle plate 44. One end of the right-angle plate 44 away from the sleeve rod 42 is fixedly connected to a support 50. An electric telescopic rod 49 is fixedly connected to the upper surface of the support 50. One end of the electric telescopic rod 49 away from the support 50 is fixedly connected to the upper surface of the linkage frame 46. A through hole 51 is formed in the surface of the sleeve rod 42. A spring 45 is fixedly connected to the top of the turntable 29.

[0023] The end of the lifting frame 40 penetrates through the round hole rod 26 and extends to the outer end of the round hole rod 26. The top of the spring 45 is fixedly connected to the lifting frame 40. The top of the cutter 47 contacts the bottom of the sleeve rod 42. When the present invention picks ripe chili peppers, the electric push rod 30 is started to push the turntable 29 downward. When the turntable 29 moves downward, the sleeve rod 42 is pushed downward through the connection between the spring 45 and the lifting frame 40. When the sleeve rod 42 moves downward, the chili peppers will be sleeved inside. At this time, the electric telescopic rod 49 is started to push the linkage frame 46 to slide on the surface of the right-angle plate 44. When the linkage frame 46 moves, the cutter 47 is pushed by the vertical plate 43 to cut the chili peppers, thus completing the picking operation of the chili peppers. When the vertical plate 43 moves, the arc cotton pad 52 is pushed by the extrusion plate 48 to contact the surface of the chili peppers, fixing the chili peppers inside the sleeve rod 42 to complete the picking and transportation. One end of the extrusion plate 48 away from the vertical plate 43 extends into the sleeve rod 42 through the through hole 51. One end of the arc cotton pad 52 close to the extrusion plate 48 contacts the inner wall of the sleeve rod 42.

[0024] The separating component 9 includes a rotating frame 60. The rotating frame 60 is rotatably connected to the inner wall of the groove frame 24. A contact plate 61 is fixedly connected to the surface of the rotating frame 60. A groove 62 is formed in the surface of the contact plate 61. A friction frame 63 is fixedly connected to the upper surface of the lifting frame 40. A rubber rod 64 is fixedly connected to the inner wall of the friction frame 63.

[0025] The surface of the contact plate 61 is slidably connected to the inner wall of the friction frame 63. The surface of the rubber rod 64 contacts the inner wall of the groove 62. The bottom of the contact plate 61 extends to the outer end of the bottom of the friction frame 63.

[0026] The storage component 10 includes a support plate 70. The end of the support plate 70 is fixedly connected to the surface of the screw hole block 21. One end of the support plate 70 away from the screw hole block 21 is fixedly connected to a bottom plate 72. The top of the bottom plate 72 is fixedly connected to a storage rack 71. The top of the storage rack 71 is fixedly connected to a feeding rack 73. The lower surface of the feeding rack 73 is fixedly connected to an elastic rod 74. One end of the elastic rod 74 away from the feeding rack 73 is fixedly connected to a semi-circular plate 75.

[0027] The support plate 70 is located at one end of the screw hole block 21 away from the positioning plate 25. After the sleeve rod 42 of the present invention rotates above the feeding rack 73, the electric push rod 30 is started to push the turntable 29 to move up and down. When the turntable 29 moves, the lifting frame 40 is used to push the friction frame 63 to slide on the surface of the contact plate 61. The friction frame 63 pushes the rubber rod 64 to move inside the groove 62 and generates vibration through friction. At this time, the electric telescopic rod 49 pushes the cutter to separate from the bottom of the sleeve rod 42. The chili peppers inside the sleeve rod 42 can fall into the inside of the feeding rack 73 through vibration, avoiding the chili peppers being stuck inside the sleeve rod 42 and affecting the next picking. When the separation plate 28 rotates, it will contact the surface of the semi-circular plate 75, and the semi-circular plate 75 will also generate vibration through the contact. The feeding rack 73 vibrates to shake the chili peppers into the inside of the storage rack 71 for storage, improving the convenience of picking chili peppers. The lower surface of the storage rack 71 is provided with ventilation holes. One end of the semi-circular plate 75 away from the elastic rod 74 contacts the surface of the separation plate 28.

[0028] During use, start the motor 6 to drive the threaded rod 3 to rotate. When the threaded rod 3 rotates, it pushes the carriage 20 to slide on the surface of the slide plate 2 through the threaded hole block 21. When the threaded hole block 21 moves, it can push the positioning plate 25 to perform cross-ridge operations. When the hydraulic rod 22 extends, it will push the moving frame 23 to slide on the surface of the positioning plate 25, so as to adjust the position of the turntable 29 through the moving frame 23, so that the turntable 29 can push the picking component 8 to pick the chili peppers. Start the drive motor 31 to drive the electric push rod 30 to rotate. When the electric push rod 30 rotates, it pushes the turntable 29 to rotate slowly. The separation plate 28 moves the chili peppers as it rotates with the turntable 29, preventing the chili peppers from piling up with each other and affecting the recognition effect of the camera 27. When picking the ripe chili peppers, start the electric push rod 30 to push the turntable 29 to move downward. When the turntable 29 moves downward, it pushes the sleeve rod 42 to move downward through the connection of the spring 45 and the lifting frame 40. When the sleeve rod 42 moves downward, it will enclose the chili peppers inside. At this time, start the electric telescopic rod 49 to push the linkage frame 46 to slide on the surface of the right-angle plate 44. When the linkage frame 46 moves, it pushes the cutting knife 47 to cut the chili peppers through the vertical plate 43, thus completing the picking operation of the chili peppers. When the vertical plate 43 moves, it pushes the arc cotton pad 52 to contact the surface of the chili peppers through the pressing plate 48, fixing the chili peppers inside the sleeve rod 42 to complete the picking and transportation. When the sleeve rod 42 rotates above the feeding frame 73, start the electric push rod 30 to push the turntable 29 to move up and down. When the turntable 29 moves, it pushes the friction frame 63 to slide on the surface of the contact plate 61 through the lifting frame 40. The friction frame 63 pushes the rubber rod 64 to move inside the groove 62 and generates vibration through friction. At this time, the electric telescopic rod 49 pushes the cutting knife to separate from the bottom of the sleeve rod 42, and the chili peppers inside the sleeve rod 42 can fall into the feeding frame 73 through vibration, preventing the chili peppers from getting stuck inside the sleeve rod 42 and affecting the next picking. When the separation plate 28 rotates, it will contact the surface of the semi-circular plate 75, and the semi-circular plate 75 will also generate vibration through contact. The feeding frame 73 vibrates the chili peppers and drops them into the storage frame 71 for storage, improving the convenience of picking chili peppers.

[0029] 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 embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the relevant technical fields can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A cross-ridge pepper picking robot, comprising a gantry (1), characterized in that: The bottom of the gantry (1) is fixedly connected to a support plate (4), the surface of the support plate (4) is fixedly connected to a driving wheel (5), the top of the inner wall of the gantry (1) is fixedly connected to a slide plate (2), the surface of the gantry (1) is fixedly connected to a motor (6), the output end of the motor (6) is fixedly connected to a threaded rod (3), the surface of the threaded rod (3) is provided with a separation component (7), the surface of the separation component (7) is provided with a picking component (8), the upper part of the picking component (8) is provided with a separation component (9), and the lower part of the gantry (1) is provided with a storage component (10); The separation component (7) comprises a slide (20), the inner wall of the slide (20) is slidably connected to the surface of the slide plate (2), the bottom of the slide (20) is fixedly connected to a screw hole block (21), the surface of the screw hole block (21) is fixedly connected to a positioning plate (25), the surface of the positioning plate (25) is slidably connected to a moving frame (23), the upper surface of the moving frame (23) is fixedly connected to a hydraulic rod (22), and one end of the hydraulic rod (22) away from the moving frame (23) is fixedly connected to the positioning plate (25). The bottom of the movable frame (23) is fixedly connected to a groove frame (24), the bottom of the groove frame (24) is fixedly connected to a driving machine (31), the output end of the driving machine (31) is fixedly connected to an electric push rod (30), the bottom of the electric push rod (30) is fixedly connected to a rotating disk (29), the bottom of the rotating disk (29) is fixedly connected to a camera (27), the surface of the rotating disk (29) is fixedly connected to a round hole rod (26), and the surface of the round hole rod (26) is fixedly connected to a separation plate (28).

2. The cross-ridge pepper picking robot according to claim 1, characterized in that: One end of the threaded rod (3) away from the motor (6) passes through the gantry (1) and extends to the outer end of the gantry (1); the inner wall of the screw hole block (21) is threadedly connected to the surface of the threaded rod (3); two round hole rods (26) are provided; the two round hole rods (26) are arranged around the rotating disk (29) as the center circumference; the ends of the round hole rods (26) pass through the rotating disk (29) and extend to the outer end of the rotating disk (29).

3. The cross-ridge pepper picking robot according to claim 2, characterized in that: The picking component (8) comprises a lifting frame (40), the inner wall of the lifting frame (40) is slidably connected to the inner wall of the round hole rod (26), the bottom of the lifting frame (40) is fixedly connected to a sleeve rod (42), the top of the sleeve rod (42) is fixedly connected to a right-angle plate (44), the surface of the right-angle plate (44) is slidably connected to a linkage frame (46), the bottom of the linkage frame (46) is fixedly connected to a vertical plate (43), the bottom of the vertical plate (43) is fixedly connected to a cutter (47), the surface of the vertical plate (43) is fixedly connected to an extrusion plate (48), and the end of the extrusion plate (48) away from the vertical plate (43) is fixedly connected to the vertical plate (43). A circular arc cotton pad (52) is connected, the top of the linkage frame (46) is fixedly connected to a spring sheet (41), one end of the spring sheet (41) away from the linkage frame (46) is fixedly connected to the top of the right-angle plate (44), one end of the right-angle plate (44) away from the sleeve rod (42) is fixedly connected to a bracket (50), the upper surface of the bracket (50) is fixedly connected to an electric telescopic rod (49), one end of the electric telescopic rod (49) away from the bracket (50) is fixedly connected to the upper surface of the linkage frame (46), a through hole (51) is opened on the surface of the sleeve rod (42), and the top of the rotating disk (29) is fixedly connected to a spring (45).

4. The cross-ridge pepper picking robot according to claim 3, characterized in that: The end of the lifting frame (40) passes through the round hole rod (26) and extends to the outer end of the round hole rod (26), the top of the spring (45) is fixedly connected to the lifting frame (40), the top of the cutter (47) contacts the bottom of the sleeve rod (42), the end of the extrusion plate (48) away from the vertical plate (43) extends to the inside of the sleeve rod (42) through the through hole (51), and the end of the arc cotton pad (52) close to the extrusion plate (48) contacts the inner wall of the sleeve rod (42).

5. The cross-ridge pepper picking robot according to claim 4, characterized in that: The disengagement component (9) comprises a rotating frame (60), the rotating frame (60) being rotatably connected to the inner wall of the groove frame (24), a contact plate (61) being fixedly connected to the surface of the rotating frame (60), a groove (62) being provided on the surface of the contact plate (61), a friction frame (63) being fixedly connected to the upper surface of the lifting frame (40), and a rubber rod (64) being fixedly connected to the inner wall of the friction frame (63).

6. The cross-ridge pepper picking robot according to claim 5, characterized in that: The surface of the contact plate (61) is slidably connected to the inner wall of the friction frame (63), the surface of the rubber rod (64) is in contact with the inner wall of the groove (62), and the bottom of the contact plate (61) extends to the bottom outer end of the friction frame (63).

7. The cross-ridge pepper picking robot according to claim 6, characterized in that: The storage component (10) comprises a support plate (70), an end of the support plate (70) being fixedly connected to the surface of the screw hole block (21), one end of the support plate (70) away from the screw hole block (21) being fixedly connected to a bottom plate (72), the top of the bottom plate (72) being fixedly connected to a storage rack (71), the top of the storage rack (71) being fixedly connected to a feed rack (73), the lower surface of the feed rack (73) being fixedly connected to an elastic rod (74), and one end of the elastic rod (74) away from the feed rack (73) being fixedly connected to a semicircular plate (75).

8. The cross-ridge pepper picking robot according to claim 7, characterized in that: The support plate (70) is located at one end of the screw hole block (21) away from the positioning plate (25), a ventilation hole is provided on the lower surface of the storage rack (71), and one end of the semicircular plate (75) away from the elastic rod (74) contacts the surface of the separation plate (28).

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