Intelligent agricultural fruit picking device

Abstract

The invention discloses an intelligent agricultural fruit picking device, and relates to the technical field of intelligent agriculture, the intelligent agricultural fruit picking device comprises a rotary picking assembly, the rotary picking assembly comprises an outer sleeve, and the outer sleeve is arranged on the outermost layer of the rotary picking assembly. In the using process, the rotary picking assembly is designed to be of a middle hollowed-out structure, so that the rotary picking assembly is connected with the corrugated conveying pipe, automatic falling of picked fruits is achieved, the fruits are sorted according to the size after falling, the subsequent step that the fruits of different sizes need to be manually sorted is omitted, and the working efficiency is improved. The process integration degree of picking and sorting is greatly improved, the requirement for automatic operation of picking and sorting is met, the step that picked fruits need to be placed in a fruit frame through a mechanical arm in the prior art can be omitted, the design cost is greatly reduced, the working gap of picking operation can be greatly shortened by adopting a gravity blanking mode, and the picking efficiency is improved. The picking efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agriculture, and specifically relates to a fruit picking device for intelligent agriculture. Background Art

[0002] Fruit picking is a very important link in modern agricultural production. In the traditional fruit picking process, people pick fruits by climbing trees manually or with the help of ladders and self-made tools. To improve the production and picking efficiency and for the personal safety of pickers, the existing technology develops fruit picking machines to make up for the deficiencies of manual picking.

[0003] Most of the common fruit picking machines nowadays are semi-automatic devices. Not only does the large and complex structure of the machine body result from the application of different actuators for fruit grasping and fruit stalk cutting, making the use cost high and not conducive to popularization, but also manual sorting of fruits of different sizes is still required after picking, which increases the manual burden. Summary of the Invention

[0004] The purpose of the present invention is to provide a fruit picking device for intelligent agriculture to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A fruit picking device for intelligent agriculture includes a rotary picking assembly. The rotary picking assembly includes an outer sleeve. The outer sleeve is arranged on the outermost layer of the rotary picking assembly. A limiting ring groove is opened at the bottom end inside the outer sleeve, and a side groove is penetrated through the side of the outer sleeve. A middle sleeve is embedded inside the outer sleeve. A connecting rod is fixedly connected to the outer wall of the middle sleeve, and a pin shaft is fixed to the inner wall of the middle sleeve. The top end of the middle sleeve is fixedly installed with a support rod in an array, and an end ring is fixedly installed at the top end of the support rod. An inner sleeve is embedded inside the middle sleeve. A groove is provided on the surface of the inner sleeve, and elastic clamping jaws are fixedly installed at the top end opening of the inner sleeve in an array.

[0006] Further, the limiting ring groove provided on the inner wall of the outer sleeve is rotationally matched with the bottom flange of the inner sleeve. The side groove provided on the side of the outer sleeve is in limit cooperation with the connecting rod fixedly connected to the outer wall of the middle sleeve. And through holes with coincident axes are provided in the middle of the outer sleeve, the middle sleeve and the inner sleeve.

[0007] Further, the groove on the surface of the inner sleeve consists of two sections: a vertical section at the bottom and an arc section at the top. The pin shaft fixedly connected to the inner wall of the middle sleeve axially slides in the vertical section groove of the inner sleeve, and the pin shaft fixedly connected to the inner wall of the middle sleeve makes the inner sleeve rotate by pressing the inner wall of the arc section groove of the inner sleeve.

[0008] Further, the inner wall of the end ring fixedly connected by the support rod at the top end opening of the middle sleeve is provided with a conical surface, and the end ring squeezes the elastic clamping jaws through the inner wall conical surface to make them deform and close.

[0009] Furthermore, the outer sleeve is arranged at the inner top of the pillar, and the inner side of the pillar top is clamped and fixed to the outer wall of the outer sleeve by a clamp, an ear plate is fixedly installed on the outer side of the pillar top, and a visual camera is fixed by a bolt on the top of the ear plate.

[0010] Furthermore, a bottom bracket is welded and fixed to the bottom end of the support, and an electric cylinder is fixedly installed on the inner side of the bottom bracket, and the output end of the electric cylinder is transmission-connected to the connecting rod through a fisheye joint.

[0011] Furthermore, a guide ring is fixedly installed on the outer side of the base, and the guide ring is axially slidably matched with the outer wall of the cylinder body of the lifting module, and the output end of the lifting module is transmission-connected with the ear plate.

[0012] Furthermore, the bottom of the lifting module is bolted to the "L"-shaped structure mounting plate, and the mounting plate is fixedly connected to the output end of the rotating module. The rotating module is fixedly installed on the top plane of the sliding seat, and the sliding seat is slidably installed on the translation module.

[0013] Furthermore, the translation module is fixedly installed in the middle part of the picking cart, and a sorting component is fixedly installed on the side end of the picking cart, the sorting component includes a side frame and a sorting double rod, the side frame is bolted to the side end of the picking cart, and the inner wall of the side frame has a sorting double rod horizontally arranged along the length direction, and the double rod spacing of the sorting double rod gradually increases from front to back.

[0014] Furthermore, the sorting component also includes a bracket, a corrugated conveying pipe, a connecting thread, a guide rail and a sorting frame. The bracket is fixed to an opening on one side of the side frame, and a corrugated conveying pipe is connected between the bracket and the outer sleeve, and the two ends of the corrugated conveying pipe are respectively threadedly fixed to the bottom opening of the outer sleeve and the inner wall opening of the bracket through the connecting thread. Guide rails are correspondingly arranged on both sides of the openings of several through holes set from front to back at the bottom of the side frame, and a sorting frame is slid between adjacent guide rails. Beneficial Effects

[0015] In this application, the picking action of the rotary picking component is divided into two consecutive operation stages: the elastic jaws closing in the first stage and the inner sleeve rotating in the second stage. Through the movement of the pin shaft on the inner wall of the middle sleeve driven by the electric cylinder in the groove on the surface of the inner sleeve, during the movement of the pin shaft in the straight groove section of the inner sleeve in the first stage, the end ring squeezes the elastic jaws through the inner wall conical surface to deform and close them, realizing the flexible clamping of the fruit. During the movement of the pin shaft in the arc groove section of the inner sleeve in the second stage, the pin shaft fixedly connected to the inner wall of the middle sleeve squeezes the inner wall of the arc groove section of the inner sleeve, causing the inner sleeve to rotate. Furthermore, the rotation of the inner sleeve drives the fruit clamped by the elastic jaws to twist, so that the fruit stalk part of the fruit is broken off to complete the picking operation. By integrating the two operation processes of fruit clamping and rotary twisting picking in the rotary picking component of this application and continuously executing the two operation procedures in stages, the independent power sources required for the two procedures are streamlined, making the linkage of each structure in the device closer and the applicability stronger.

[0016] In this application, by designing the rotary picking component as a structure with a hollow middle part, it is convenient to connect with the corrugated conveying pipe to realize the automatic blanking of the picked fruits. After blanking, through the size sorting of the fruits, the subsequent steps of manually sorting fruits of different sizes are omitted, greatly improving the integration degree of the picking and sorting processes, meeting the automatic operation requirements of picking and sorting. Moreover, the steps of using a robotic arm to place the picked fruits in the fruit basket in the traditional technology can be omitted, greatly streamlining the design cost. And adopting the method of gravity blanking can greatly shorten the working interval of the picking operation and further improve the picking efficiency. Brief Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the device of the present invention; Figure 2 is a schematic diagram of the structure of the sorting component of the present invention; Figure 3 is a schematic diagram of a partial structure of the device of the present invention; Figure 4 is a schematic diagram of a partial structure of the device of the present invention; Figure 5 is a schematic diagram of the split structure of the rotary picking component of the present invention; Figure 6 is a schematic diagram of the overall sectional structure of the rotary picking component of the present invention; Figure 7 is a schematic diagram of a partial sectional structure of the rotary picking component of the present invention.

[0018] In the figure: 1. Rotating picking component; 101. Outer sleeve; 102. Limiting ring groove; 103. Side groove; 104. Middle sleeve; 105. Connecting rod; 106. Pin shaft; 107. Support rod; 108. End ring; 109. Inner sleeve; 110. Groove; 111. Elastic clamping jaw; 2. Support pillar; 3. Clamp; 4. Ear plate; 5. Vision camera; 6. Bottom support; 7. Electric cylinder; 8. Guide ring; 9. Lifting module; 10. Mounting plate; 11. Rotating module; 12. Sliding seat; 13. Translation module; 14. Picking trolley; 15. Sorting component; 1501. Side frame; 1502. Sorting double rod; 1503. Support; 1504. Corrugated conveying pipe; 1505. Connecting thread port; 1506. Guide rail; 1507. Sorting frame. Detailed implementation manners

[0019] The following further describes in detail the implementation manners of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention. Please refer to Figures 5 to 7 , the intelligent agricultural fruit picking device provided by the present invention includes a rotating picking component 1. The rotating picking component 1 includes an outer sleeve 101. The outer sleeve 101 is arranged on the outermost layer of the rotating picking component 1, and a limiting ring groove 102 is opened at the bottom end inside the outer sleeve 101. And a side groove 103 is penetrated through the side of the outer sleeve 101. An inner sleeve 104 is embedded inside the outer sleeve 101. And a connecting rod 105 is fixedly connected to the outer wall of the middle sleeve 104. And a pin shaft 106 is fixed to the inner wall of the middle sleeve 104. Support rods 107 are fixedly arranged in an array at the top opening of the middle sleeve 104. And an end ring 108 is fixedly installed at the top of the support rod 107. An inner sleeve 109 is embedded inside the middle sleeve 104. And a groove 110 is provided on the surface of the inner sleeve 109. And elastic clamping jaws 111 are fixedly arranged in an array at the top opening of the inner sleeve 109. The limiting ring groove 102 provided on the inner wall of the outer sleeve 101 is rotationally matched with the bottom flange of the inner sleeve 109. And the side groove 103 provided on the side of the outer sleeve 101 is in limit cooperation with the connecting rod 105 fixedly connected to the outer wall of the middle sleeve 104. And through holes with coincident axes are provided in the middle of the outer sleeve 101, the middle sleeve 104 and the inner sleeve 109. The groove 110 on the surface of the inner sleeve 109 is composed of two sections: a vertical section at the bottom and an arc section at the top. And the pin shaft 106 fixedly connected to the inner wall of the middle sleeve 104 axially slides in the vertical section groove 110 of the inner sleeve 109. And the pin shaft 106 fixedly connected to the inner wall of the middle sleeve 104 makes the inner sleeve 109 rotate by pressing the inner wall of the arc section groove 110 of the inner sleeve 109. A conical surface is provided on the inner wall of the end ring 108 fixedly connected to the top opening of the middle sleeve 104 through the support rod 107. And the end ring 108 squeezes the elastic clamping jaws 111 through the inner wall conical surface to make them deform and close.

[0020] The specific operation is as follows. The connecting rod 105 fixedly connected to the outer wall of the middle sleeve 104 protrudes from the side groove 103 provided on the side of the outer sleeve 101 and is pushed upward by the ball eye joint at the output end of the electric cylinder 7. In the first stage when the middle sleeve 104 axially displaces along the upper side of the flange of the inner sleeve 109, the pin shaft 106 on the inner wall of the middle sleeve 104 moves within the straight groove 110 at the bottom of the inner sleeve 109. The middle sleeve 104 drives the end ring 108 through the support rod 107 to contact and squeeze the elastic jaws 111 distributed in an array at the top opening of the inner sleeve 109. Under the extrusion of the conical surface on the inner wall of the end ring 108, the openings of the elastic jaws 111 deform and close, realizing the flexible clamping of the fruit to prevent damage. In the second stage, the pin shaft 106 on the inner wall of the middle sleeve 104 moves within the arc groove 110 at the top of the inner sleeve 109. The pin shaft 106 causes the inner sleeve 109 to rotate by squeezing the inner wall of the arc section groove 110 of the inner sleeve 109, and then realizes the rotation limit through the cooperation between the flange of the inner sleeve 109 and the limit ring groove 102 provided on the inner wall of the outer sleeve 101. The rotation of the inner sleeve 109 and the clamping of the fruit by the elastic jaws 111 at its top opening can realize the rotation and twisting operation of the fruit.

[0021] It should be noted that the above-mentioned flexible clamping combined with rotation and twisting realizes non-destructive picking, and the damage rate is much lower than that of manual operation and the picking efficiency is improved.

[0022] In this application, the picking action of the rotating picking component 1 is divided into two consecutive operation stages: the closing of the elastic jaws 111 in the first stage and the rotation of the inner sleeve 109 in the second stage. Through the movement of the pin shaft 106 on the inner wall of the middle sleeve 104 within the surface groove 110 of the inner sleeve 109 driven by the electric cylinder 7, during the process of the pin shaft 106 moving within the straight section groove 110 of the inner sleeve 109 in the first stage, the end ring 108 squeezes the elastic jaws 111 through the conical surface on its inner wall to make it deform and close, realizing the flexible clamping of the fruit. During the process of the pin shaft 106 moving within the arc section groove 110 of the inner sleeve 109 in the second stage, the pin shaft 106 fixedly connected to the inner wall of the middle sleeve 104 causes the inner sleeve 109 to rotate by squeezing the inner wall of the arc section groove 110 of the inner sleeve 109, and then drives the fruit clamped by the elastic jaws 111 to twist through the rotation of the inner sleeve 109, so that the fruit stalk part of the fruit is twisted off to complete the picking operation. In this application, by integrating the two operation processes of fruit clamping and rotation and twisting into the rotating picking component 1 of this application and continuously executing the two operation procedures in stages, the independent power sources required for the two procedures are streamlined, making the linkage of each structure in the device closer and the applicability stronger.

[0023] Please refer to Figures 3 to 4The outer sleeve 101 is arranged at the top inner side of the pillar 2, and the inner side of the top inner side of the pillar 2 is clamped and fixed with the outer wall of the outer sleeve 101 by a clamp 3, an ear plate 4 is fixedly installed on the outer side of the top of the pillar 2, and a visual camera 5 is bolted to the top of the ear plate 4, a bottom bracket 6 is welded and fixed to the bottom end of the pillar 2, and an electric cylinder 7 is fixedly installed on the inner side of the bottom bracket 6, and the output end of the electric cylinder 7 is transmission connected with the connecting rod 105 through a fisheye joint, a guide ring 8 is fixedly installed on the outer side of the bottom bracket 6, and the guide ring 8 is axially slidably matched with the outer wall of the cylinder body of the lifting module 9, and the output end of the lifting module 9 is transmission connected with the ear plate 4, the bottom of the lifting module 9 is bolted to the "L"-shaped structure mounting plate 10, and the mounting plate 10 is fixedly connected to the output end of the rotating module 11, the rotating module 11 is fixedly installed on the top plane of the sliding seat 12, and the sliding seat 12 is slidably installed on the translation module 13.

[0024] The specific operation is as follows: the rotary picking component 1 uses the picking cart 14 as a carrier to move in the plantation orchard, and uses the visual camera 5, laser radar and other sensors carried by it to identify the color, shape, maturity and position of the fruit through a deep learning algorithm, and accurately locate the pickable target. First, the movement of the sliding seat 12 on the translation module 13 improves the efficiency of concentrated picking in a small range of the rotary picking component 1. Secondly, the rotary module 11 drives the mounting plate 10 to rotate and adjust the picking angle of the rotary picking component 1. Finally, the lifting module 9 drives the bracket 1503 to lift and lower the picking height of the rotary picking component 1, thereby improving the applicability of the rotary picking component 1 and realizing automatic recognition and picking.

[0025] See also Figures 1 to 2 The translation module 13 is fixedly installed in the middle of the picking trolley 14, and the side end of the picking trolley 14 is fixedly installed with a sorting component 15.

[0026] In some embodiments, the sorting assembly 15 includes a side frame 1501 and a sorting double rod 1502. The side frame 1501 is bolted to the side end of the picking trolley 14, and the inner wall of the side frame 1501 is horizontally arranged with the sorting double rod 1502 along the length direction, and the distance between the sorting double rods 1502 increases gradually from front to back. The sorting assembly 15 also includes a bracket 1503, a corrugated conveying pipe 1504, a connecting thread 1505, a guide rail 1506 and a sorting frame 1507. The side frame 1501 is fixed to the side end of the picking trolley 14 with bolts, and the inner wall of the side frame 1501 is horizontally arranged with the sorting double rod 1502 along the length direction, and the distance between the sorting double rods 1502 increases gradually from front to back. A bracket 1503 is fixed to an opening on one side of 501, and a corrugated conveying tube 1504 is connected between the bracket 1503 and the outer sleeve 101, and both ends of the corrugated conveying tube 1504 are threadedly fixed to the bottom opening of the outer sleeve 101 and the inner wall opening of the bracket 1503 through connecting thread mouths 1505 respectively, and guide rails 1506 are correspondingly arranged on both sides of the openings of several through holes set from front to back at the bottom of the side frame 1501, and a sorting frame 1507 is slidable between adjacent guide rails 1506.

[0027] The specific operation is as follows. The fruits picked by rotation and twisting fall into the corrugated conveying pipe 1504 threadedly connected to the bottom of the outer sleeve 101 through the through holes where the central axes of the outer sleeve 101, the middle sleeve 104, and the inner sleeve 109 coincide. Under the action of its own gravity, the fruits fall from the corrugated conveying pipe 1504 into the bottom bracket 1503 and roll down between the sorting double rods 1502 that are inclined from front to back in the side frame 1501. In this application, the distance between the two rods of the sorting double rods 1502 gradually increases from front to back. In this way, automatic sorting of fruits of different sizes can be realized during the rolling and falling process of the fruits. The fallen fruits enter the corresponding sorting frames 1507 through the through holes at the bottom of the side frame 1501. The user can sort and collect fruits of different sizes by pulling the sorting frames 1507. The reason why the rotary picking assembly 1 of this application is designed with a hollow structure in the middle is to be connected to the corrugated conveying pipe 1504 to realize the automatic feeding of the picked fruits. After the feeding, through the size sorting of the fruits, the subsequent steps of manually sorting fruits of different sizes are omitted, greatly improving the integration degree of the picking and sorting processes, meeting the automation operation requirements of picking and sorting. Moreover, the step of using a robotic arm to place the picked fruits into the fruit box in the traditional technology can be omitted, greatly reducing the design cost. And adopting the gravity feeding method can greatly shorten the working interval of the picking operation and further improve the picking efficiency.

[0028] When using this intelligent agricultural fruit picking device, first, the rotary picking assembly 1 uses the picking trolley 14 as a carrier to move in the plantation orchard. Through the sensors such as the visual camera 5 and lidar carried, the color, shape, maturity, and position of the fruits are identified through deep learning algorithms to accurately locate the pickable targets. First, the sliding seat 12 is used to move on the translation module 13 to improve the efficiency of small-range concentrated picking of the rotary picking assembly 1. Secondly, the rotation module 11 is used to rotate and drive the mounting plate 10 to adjust the picking angle of the rotary picking assembly 1. Finally, the lifting module 9 is used to lift and drive the bracket 1503 to adjust the picking height of the rotary picking assembly 1, improving the applicability of the rotary picking assembly 1 to realize automatic identification and picking. Secondly, the connecting rod 105 fixedly connected to the outer wall of the middle sleeve 104 protrudes from the side groove 103 provided on the side of the outer sleeve 101 and is pushed upward by the fish-eye joint at the output end of the electric cylinder 7. In the first stage when the middle sleeve 104 axially displaces above the flange of the inner sleeve 109, the pin shaft 106 on the inner wall of the middle sleeve 104 moves in the straight groove 110 at the bottom of the inner sleeve 109. The middle sleeve 104 drives the end ring 108 through the support rod 107 to contact and squeeze the elastic jaws 111 arranged in an array at the top of the opening of the inner sleeve 109. Under the extrusion of the inner wall conical surface of the end ring 108, the openings of the elastic jaws 111 deform and close to realize the flexible clamping of the fruits to prevent damage. In the second stage, the pin shaft 106 on the inner wall of the middle sleeve 104 moves within the arc-shaped groove 110 at the top of the inner sleeve 109. The pin shaft 106 causes the inner sleeve 109 to rotate by pressing the inner wall of the arc-shaped section groove 110 of the inner sleeve 109. Furthermore, rotational limitation is achieved through the cooperation between the flange of the inner sleeve 109 and the limiting ring groove 102 provided on the inner wall of the outer sleeve 101. The rotation of the inner sleeve 109, in cooperation with the elastic clamping jaws 111 at the top opening thereof for grasping the fruit, enables the rotational twisting and picking operation of the fruit. The flexible clamping, combined with the rotational twisting and picking, realizes non-destructive picking. The breakage rate is much lower than that of manual operation and the picking efficiency is improved. In this application, the picking action of the rotary picking assembly 1 is divided into two consecutive operation stages: the closing of the elastic clamping jaws 111 in the first stage and the rotation of the inner sleeve 109 in the second stage. Through the movement of the pin shaft 106 on the inner wall of the middle sleeve 104 within the surface groove 110 of the inner sleeve 109 driven by the electric cylinder 7, during the movement of the pin shaft 106 within the straight-section groove 110 of the inner sleeve 109 in the first stage, the end ring 108 presses the elastic clamping jaws 111 through the inner wall conical surface to cause their deformation and closing, thereby realizing the flexible clamping of the fruit; During the movement of the pin shaft 106 within the arc-shaped section groove 110 of the inner sleeve 109 in the second stage, the pin shaft 106 fixedly connected to the inner wall of the middle sleeve 104 causes the inner sleeve 109 to rotate by pressing the inner wall of the arc-shaped section groove 110 of the inner sleeve 109. Furthermore, the fruit held by the elastic clamping jaws 111 is twisted driven by the rotation of the inner sleeve 109, so that the fruit stalk part of the fruit is broken off to complete the picking operation. In this application, by integrating the two operation processes of fruit clamping and rotational twisting and picking into the rotary picking assembly 1 of this application and continuously performing the two operation procedures in stages, the independent power sources required for the two procedures are streamlined, making the linkage of each structure within the device closer and the applicability stronger; Finally, the fruit subjected to rotational twisting and picking falls into the corrugated conveying pipe 1504 threadedly connected to the bottom of the outer sleeve 101 through the through hole where the central axes of the outer sleeve 101, the middle sleeve 104, and the inner sleeve 109 coincide. The fruit falls into the bottom bracket 1503 under its own gravity and rolls down between the sorting double rods 1502 that are inclined from front to back within the side frame 1501. In this application, the distance between the two rods of the sorting double rods 1502 gradually increases from front to back. In this way, automatic sorting of fruits of different sizes can be realized during the rolling and falling process of the fruits.

[0029] It should be noted that the fallen fruits enter the corresponding sorting box 1507 through the through holes at the bottom of the side frame 1501. The user can sort and collect fruits of different sizes by pulling the sorting box 1507. The reason why the rotary picking assembly 1 of the present application is designed with a hollow structure in the middle is to connect with the corrugated conveying pipe 1504 to realize the automatic feeding of the picked fruits. After the feeding, through the size sorting of the fruits, the subsequent steps of manually sorting fruits of different sizes are omitted, greatly improving the integration degree of the picking and sorting processes, meeting the automation operation requirements of picking and sorting, and also omitting the step of using a robotic arm to place the picked fruits in the fruit box in the traditional technology, greatly reducing the design cost. Moreover, the use of gravity feeding can greatly shorten the working interval of the picking operation and further improve the picking efficiency.

[0030] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0031] In this article, specific examples are used to elaborate on the principles and implementation manners of the present invention. The description of the above examples is only used to help understand the method of the present invention and its core idea. The above is only the preferred implementation manner of the present invention. It should be noted that due to the limited nature of written expression and the objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, should all be regarded as the protection scope of the present invention.

Claims

1. A fruit picking device for intelligent agriculture, comprising a rotating picking assembly, characterized in that: The rotary picking assembly includes an outer sleeve, which is arranged at the outermost layer of the rotary picking assembly, and a limiting ring groove is provided at the bottom end of the inner part of the outer sleeve, and a side groove is provided through the side of the outer sleeve, a middle sleeve is embedded in the inner part of the outer sleeve, and a connecting rod is fixedly connected to the outer wall of the middle sleeve, and a pin is fixed to the inner wall of the middle sleeve, a support rod is fixed to the top opening array of the middle sleeve, and an end ring is fixedly installed on the top of the support rod, an inner sleeve is embedded in the middle sleeve, and a groove is provided on the surface of the inner sleeve, and an elastic clamp is fixed to the top opening array of the inner sleeve.

2. The intelligent agricultural fruit picking device according to claim 1, characterized in that: The limiting ring groove on the inner wall of the outer sleeve is rotatably matched with the bottom flange of the inner sleeve, and the side groove on the side of the outer sleeve is limitedly matched with the connecting rod fixed to the outer wall of the middle sleeve, and the middle parts of the outer sleeve, the middle sleeve and the inner sleeve are provided with through holes with overlapping axes.

3. The intelligent agricultural fruit picking device according to claim 2, characterized in that: The groove on the surface of the inner sleeve consists of two sections: a bottom vertical groove and a top arc-shaped groove. The pin shaft fixed to the inner wall of the middle sleeve is located in the vertical groove of the inner sleeve and slides axially. The pin shaft fixed to the inner wall of the middle sleeve squeezes the inner wall of the arc-shaped groove of the inner sleeve to cause the inner sleeve to rotate.

4. The intelligent agricultural fruit picking device according to claim 3, characterized in that: The inner wall of the end ring to which the top opening of the middle sleeve is fixedly connected through the support rod is provided with a conical surface, and the end ring squeezes the elastic clamping claws through the conical surface of the inner wall to deform and close them.

5. The intelligent agricultural fruit picking device according to claim 4, characterized in that: The outer sleeve is arranged at the inner top of the pillar, and the inner side of the pillar top is clamped and fixed with the outer wall of the outer sleeve by a clamp, an ear plate is fixedly installed on the outer side of the pillar top, and a visual camera is fixed by bolts on the top of the ear plate.

6. The intelligent agricultural fruit picking device according to claim 5, characterized in that: A bottom bracket is welded and fixed at the bottom end of the support, an electric cylinder is fixedly installed on the inner side of the bottom bracket, and an output end of the electric cylinder is transmission-connected to a connecting rod through a fisheye joint.

7. The intelligent agricultural fruit picking device according to claim 6, characterized in that: A guide ring is fixedly installed on the outside of the bottom bracket, and the guide ring is axially slidably matched with the outer wall of the cylinder body of the lifting module, and the output end of the lifting module is transmission-connected with the ear plate.

8. The intelligent agricultural fruit picking device according to claim 7, characterized in that: The bottom of the lifting module is fixed with bolts to the "L"-shaped structure mounting plate, and the mounting plate is fixedly connected to the output end of the rotating module. The rotating module is fixedly installed on the top plane of the sliding seat, and the sliding seat is slidably installed on the translation module.

9. The intelligent agricultural fruit picking device according to claim 8, characterized in that: The translation module is fixedly installed in the middle part of the picking cart, and a sorting component is fixedly installed on the side end of the picking cart, the sorting component includes a side frame and a sorting double rod, the side frame is bolted to the side end of the picking cart, and the inner wall of the side frame is horizontally arranged with a sorting double rod along the length direction, and the double rod spacing of the sorting double rod gradually increases from front to back.

10. The intelligent agricultural fruit picking device according to claim 9, characterized in that: The sorting component also includes a bracket, a corrugated conveying pipe, a connecting thread, a guide rail and a sorting frame. The bracket is fixed to an opening on one side of the side frame, and a corrugated conveying pipe is connected between the bracket and the outer sleeve, and the two ends of the corrugated conveying pipe are respectively fixed by threads to the bottom opening of the outer sleeve and the inner wall opening of the bracket through the connecting thread. Guide rails are correspondingly arranged on both sides of the openings of several through holes set from front to back at the bottom of the side frame, and a sorting frame is slid between adjacent guide rails.

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