Agricultural fruit picking robot with intelligent specification identification function

Abstract

The invention discloses an agricultural fruit picking robot with an intelligent specification recognition function, and relates to the technical field of fruit picking robots. A picking mechanism is arranged at the front end of the top surface of the robot vehicle body, and the picking mechanism comprises a picking bracket; a recycling mechanism is arranged at the rear end of the top surface of the robot vehicle body, the recycling mechanism comprises a recycling guide pool, and brushing rotating rollers for treating fruits are rotationally arranged on the left side and the right side in the recycling guide pool. According to the agricultural fruit picking robot with the intelligent specification identification function, fruits conforming to specifications and colors are positioned through an identification panel and a fruit blocking partition strip in the picking support, so that a fruit discharging shifting rod rotates to separate the fruits from branches and trunks and then conveys the fruits into a recycling guide pool, and cleaning is conducted through a spraying and brushing rotating roller; and meanwhile, the fruit bearing round frame moving from bottom to top drives the fruits to be lifted, so that the fruits are conveyed into the recycling inclined frame to be collected and transferred.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit picking robots, and particularly to an agricultural fruit picking robot with intelligent specification recognition. Background Art

[0002] A fruit picking robot is an automated device specifically used in the agricultural field, mainly for identifying, positioning, and picking ripe fruits or vegetables to improve the picking efficiency and accuracy. Combining a robotic arm, sensors (such as a vision recognition system), and an intelligent control system, it realizes automated operations. By using a multi-spectral camera or a depth sensor to judge the fruit maturity and avoiding immature fruits, it is applicable to the picking of crops such as berries (such as strawberries), apples, kiwifruits, tomatoes, etc., and can pick fruits in both bilateral directions simultaneously to achieve efficient and accurate picking operations.

[0003] The invention with the publication number CN111656964A discloses a fruit picking robot. When the robotic arm picks fruits, the control unit controls the scissor mechanism to lift according to the position of the robotic arm, so that the distance between the robotic arm and the loading box is kept at the shortest distance, ensuring that when the end of the robotic arm places the fruits after harvesting, the distance from the robotic arm to the loading box is the shortest, reducing the picking cycle time.

[0004] The utility model with the publication number CN207706749U discloses an aerial fruit picking robot. By the way of folding and rising between the rotating arms, the pushing stroke of the telescopic electric cylinder can be maximally utilized, so that the lifting height of the electric rotating arm can reach several times more than the pushing stroke of the telescopic electric cylinder. Therefore, only a telescopic electric cylinder with a shorter pushing stroke needs to be selected to obtain the required lifting height, reducing the production and operation costs of the robot.

[0005] However, the above-mentioned robots for agricultural fruit picking still have the following problems in actual use: The fruit picking operation is carried out by the robotic arm arranged in front of the robot in cooperation with the recognition mechanism. However, this fruit picking method relying on the robotic arm and the recognition mechanism cannot perform contact recognition with the fruits. Due to the different growth orientations of the fruits, the recognition angles they receive will be different. Therefore, there are certain deviations in the specification recognition process. At the same time, the fruits after picking are directly recycled, and the dust and residues adhering to their surfaces cannot be effectively cleaned, affecting the subsequent processing efficiency of the fruits.

[0006] Therefore, we propose an agricultural fruit picking robot with intelligent specification recognition to solve the problems raised above. Summary of the Invention

[0007] The object of the present invention is to provide an intelligent specification recognition agricultural fruit picking robot, aiming to solve the problems that in the existing technology, a robotic arm arranged in front of the robot cooperates with a recognition mechanism to perform fruit picking operations. However, this fruit picking method relying on the robotic arm and the recognition mechanism cannot perform contact recognition with the fruit. Due to the different growth orientations of the fruits, the recognition angles they receive will be different. Therefore, there are certain deviations in the specification recognition process. At the same time, the fruits after picking are directly recycled, and the dust and residues adhering to their surfaces cannot be effectively cleaned, which affects the subsequent processing efficiency of the fruits.

[0008] To achieve the above object, the present invention provides the following technical solutions: An intelligent specification recognition agricultural fruit picking robot, including a robot body, and a driving wheel set rotatably installed at the bottom of the robot body for traveling, and linkage rotating shafts are fixedly arranged at the shaft ends of the front and rear driving wheel sets; it also includes: A picking mechanism is arranged at the front end of the top surface of the robot body, and the picking mechanism includes a picking support. Both the front and rear sides inside the picking support are provided with recognition panels, and distance adjustment sliding rods are fixedly installed at the outer ends of the recognition panels. A recycling mechanism is arranged at the rear end of the top surface of the robot body, and the recycling mechanism includes a recycling guiding pool. Both the left and right sides inside the recycling guiding pool are rotatably provided with cleaning rotating rollers for processing the fruits.

[0009] Preferably, the picking mechanism includes lifting columns fixedly installed on the left and right sides of the top surface of the robot body. A lifting screw rod is rotatably arranged inside the lifting column through a bearing. The inner part of the lifting column is slidably connected to the inner end of the picking support, and the inner end of the picking support is threadedly connected to the lifting screw rod inside the lifting column.

[0010] Preferably, the inner ends of the distance adjustment sliding rods included in the picking mechanism slidably penetrate through the upper and lower sides of the picking support. A bidirectional screw rod is rotatably arranged above the inner side of the picking support. The front and rear ends of the bidirectional screw rod are threadedly connected to the inner ends of the upper distance adjustment sliding rods. Blocking fruit partitions are slidably arranged inside the front and rear distance adjustment sliding rods below. At the same time, the upper and lower distance adjustment sliding rods are linked through the recognition panel to adapt to the recognition of the fruit diameter and color under different picking specification requirements.

[0011] Preferably, the picking mechanism includes a fruit dropping rotating shaft rotatably arranged at the outer end of the lower part of the picking support. A fruit dropping lever is fixedly installed on the outer wall of the middle part of the fruit dropping rotating shaft. The front and rear outer walls of the fruit dropping rotating shaft are meshed and connected to the bottom end of a driving rotating shaft through a main bevel gear set. At the same time, a sliding engagement connection is achieved through the semi-circular groove on the outer wall of the fruit dropping rotating shaft and the semi-circular protrusion inside the main bevel gear set. Retaining frames are arranged on the outside of both sides of the main bevel gear set.

[0012] Preferably, the upper end of the driving rotating shaft included in the picking mechanism is rotatably arranged on the top surface of the distance-adjusting slide rod, and an incomplete gear is fixedly installed at the top end of the driving rotating shaft. Moreover, the incomplete gear meshes with the transmission gear with a torsion spring installed on the top surface of the distance-adjusting slide rod. And the inner side of the transmission gear is meshed and connected with the transmission rack. At the same time, the transmission rack is fixedly installed on the top surface of the fruit-blocking partition strip. After the fruit-blocking partition strip and the fruit-dropping lever cooperate to separate the fruits that meet the specifications from the branches, they are put into the recycling mechanism.

[0013] Preferably, the recycling mechanism includes a corrugated recycling pipe fixedly installed at the front end inside the robot vehicle body. And a turning recycling disk connected to a motor is fixedly installed at the top end of the corrugated recycling pipe. Moreover, the turning recycling disk is rotatably installed on the bottom surface of the picking bracket to receive and guide the fruits that meet the specifications. And the bottom end of the corrugated recycling pipe extends to the front end inside the recycling guiding pool.

[0014] Preferably, the recycling guiding pool is fixedly installed in the middle of the bottom surface of the robot vehicle body. And driving gears that mesh with each other are fixedly installed at the front ends of the cleaning rotating rollers inside the recycling guiding pool. Moreover, the left driving gear and the transmission rotating shaft rotatably supported by a bearing on the bottom surface of the recycling guiding pool are connected to each other through a pulley assembly. At the same time, the transmission rotating shaft and the linkage rotating shaft are meshed with each other through a secondary bevel gear set.

[0015] Preferably, the recycling mechanism includes a spray water tank fixedly installed in the middle of the top surface of the robot vehicle body. And the spray water tank is connected to the inside of the recycling guiding pool in a penetrating manner. Moreover, recycling rotating shafts are rotatably arranged through bearings on the top surface of the spray water tank and the outside of the bottom surface of the recycling guiding pool. And the upper and lower recycling rotating shafts are connected to each other through a recycling track.

[0016] Preferably, the recycling mechanism includes fruit-bearing circular frames fixedly installed on the outer wall of the recycling track at equal angles. And the fruit-bearing circular frames arranged at equal angles are structured to be able to carry fruits in both positive and negative directions. Moreover, the recycling track drives the outer fruit-bearing circular frames to penetrate through the recycling guiding pool and the robot vehicle body from bottom to top to recycle the cleaned fruits.

[0017] Preferably, the recycling mechanism includes a recycling inclined frame fixedly installed at the rear end of the bottom of the recycling guiding pool. And the recycling inclined frame corresponds to the fruit-bearing circular frames distributed outside the bottom surface of the recycling guiding pool. And when the fruit-bearing circular frame passes through the upper recycling rotating shaft, it is inverted to put the fruits on the top of the lower fruit-bearing circular frame. And when it passes through the lower recycling rotating shaft, it rotates again to put the fruits inside into the recycling inclined frame for collection and guidance.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The intelligent specification-identifying agricultural fruit picking robot locates fruits that meet the specifications and colors through the identification panel and fruit-blocking partition strips inside the picking support, so that the fruit-dropping lever rotates to separate the fruits from the branches and then conveys them into the recycling guiding pool. The fruits are cleaned through spraying and the cleaning rotating roller. At the same time, the fruit-carrying circular frame moving from bottom to top drives the fruits to be lifted, so as to be conveyed into the recycling inclined rack for collection and transfer. The specific content is as follows: 1. The robot vehicle body moves by the driving wheel set. The lifting screw rod inside the lifting column drives the picking support to move at different heights, so as to adapt to fruits at different heights for identification. The bidirectional lead screw drives the distance-adjusting slide rod and the identification panel to move, and then limits according to the specifications of the fruits to be picked.

[0019] After the picking support rises, the fruits are placed inside. Then, the fruits are positioned through the spacing of the identification panel and the fruit-blocking partition strips. Fruits that do not meet the specifications are separated by the lowering of the picking support, avoiding operating on immature fruits. Fruits that meet the specifications drive the fruit-dropping lever to rotate through the fruit-dropping rotating shaft, so as to drive the fruits inside the picking frame to move downward and separate from the branches.

[0020] The rotating fruit-dropping rotating shaft drives the driving rotating shaft to rotate through the main bevel gear set, so as to drive the transmission gear and the engaged transmission rack to move through the incomplete gear, so that the transmission rack drives the fruit-blocking partition strip to move outward and then releases the previously limited fruits, so that the fruits enter the flipping recycling tray and are recycled and guided through the corrugated recycling pipe.

[0021] 2. The recycling guiding pool is used to recycle and guide the fruits. The rotating linkage rotating shaft drives the transmission rotating shaft to rotate through the secondary bevel gear set, and the belt pulley assembly drives the engaged driving gear and the cleaning rotating roller to rotate inside the recycling guiding pool. At the same time, it cooperates with the spray water tank connected through to spray and clean the moving fruits.

[0022] The recycling rotating shaft drives the recycling track and the fruit-carrying circular frame to move from bottom to top. When the fruit-carrying circular frame passes through the inside of the recycling guiding pool, the cleaned fruits are lifted and carried by the fruit-carrying circular frame. After passing through the upper recycling rotating shaft, it rotates and drops the fruits into the inside of the lower fruit-carrying circular frame. After passing through the lower recycling rotating shaft, it rotates again, so as to drop the fruits into the recycling inclined rack for convenient collection and transfer. Description of the Drawings

[0023] Figure 1 It is a schematic three-dimensional structure diagram of the whole of the present invention; Figure 2 It is a schematic installation structure diagram of the corrugated recycling pipe of the present invention; Figure 3Schematic diagram of the three-dimensional structure of the picking bracket of the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the identification panel of the present invention; Figure 5 For the present invention Figure 4 Enlarged structure diagram at position A in; Figure 6 Schematic diagram of the installation structure of the bidirectional lead screw of the present invention; Figure 7 Schematic diagram of the three-dimensional structure of the fruit-bearing round frame of the present invention; Figure 8 For the present invention Figure 7 Enlarged structure diagram at position B in; Figure 9 Schematic diagram of the three-dimensional structure of the recovery inclined frame of the present invention; Figure 10 Schematic diagram of the structure of the fruit-bearing round frame moving inside the recovery guiding pool of the present invention.

[0024] In the figure: 1, robot vehicle body; 2, driving wheel set; 3, linkage rotating shaft; 4, picking bracket; 5, identification panel; 6, distance-adjusting sliding rod; 7, recovery guiding pool; 8, cleaning rotating roller; 9, lifting column; 10, lifting screw; 11, bidirectional lead screw; 12, fruit-blocking partition; 13, fruit-dropping rotating shaft; 14, fruit-dropping lever; 15, driving rotating shaft; 16, incomplete gear; 17, transmission gear; 18, transmission rack; 19, corrugated recovery pipe; 20, flipping recovery disc; 21, driving gear; 22, pulley assembly; 23, cage; 24, transmission rotating shaft; 25, secondary bevel gear set; 26, spraying water tank; 27, recovery rotating shaft; 28, recovery crawler; 29, fruit-bearing round frame; 30, recovery inclined frame; 31, main bevel gear set. Specific embodiments

[0025] 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.

[0026] Please refer to Figures 1 - 10 , the present invention provides the following technical solutions: Embodiment 1: To solve the problems existing in the use of existing agricultural fruit-picking robots, this embodiment provides a technical solution for an intelligent specification-identifying agricultural fruit-picking robot, which includes a robot body 1, and a driving wheel set 2 rotatably installed at the bottom of the robot body 1 for traveling, and linkage rotating shafts 3 are fixedly arranged at the shaft ends of the driving wheel sets 2 on the front and rear sides; a picking mechanism is arranged at the front end of the top surface of the robot body 1, and the picking mechanism includes a picking support 4, and identification panels 5 are arranged on the front and rear sides inside the picking support 4, and distance-adjusting sliding rods 6 are fixedly installed at the outer ends of the identification panels 5; the picking mechanism includes lifting columns 9 fixedly installed on the left and right sides of the top surface of the robot body 1, and a lifting screw rod 10 is rotatably arranged inside the lifting column 9 through a bearing, and the inside of the lifting column 9 is slidably connected to the inner end of the picking support 4, and the inner end of the picking support 4 is threadedly connected to the lifting screw rod 10 inside the lifting column 9.

[0027] The inner ends of the distance-adjusting sliding rods 6 included in the picking mechanism slidably penetrate through the upper and lower sides of the picking support 4, and a bidirectional lead screw 11 is rotatably arranged above the inside of the picking support 4, and the front and rear ends of the bidirectional lead screw 11 are threadedly connected to the inner ends of the upper distance-adjusting sliding rods 6, and blocking fruit partitions 12 are slidably arranged inside the front and rear distance-adjusting sliding rods 6 below, and at the same time, the upper and lower distance-adjusting sliding rods 6 are linked through the identification panels 5 to adapt to the identification of the fruit diameter and color under different picking specification requirements.

[0028] The picking mechanism includes a fruit-dropping rotating shaft 13 rotatably arranged through a bearing at the outer end below the picking support 4, and a fruit-dropping lever 14 is fixedly installed on the outer wall of the middle part of the fruit-dropping rotating shaft 13, and the outer walls of the front and rear sides of the fruit-dropping rotating shaft 13 are meshed and connected to the bottom end of a driving rotating shaft 15 through a main bevel gear set 31, and a slidable clamping connection is realized through the semi-circular groove on the outer wall of the fruit-dropping rotating shaft 13 and the semi-circular protrusion inside the main bevel gear set 31, and at the same time, a cage 23 is arranged on the outside of both sides of the main bevel gear set 31.

[0029] The upper end of the driving rotating shaft 15 included in the picking mechanism is rotatably arranged on the top surface of the distance-adjusting sliding rod 6, and an incomplete gear 16 is fixedly installed at the top end of the driving rotating shaft 15, and the incomplete gear 16 meshes with a transmission gear 17 whose torsion spring is installed on the top surface of the distance-adjusting sliding rod 6, and the inside of the transmission gear 17 meshes with a transmission rack 18, and at the same time, the transmission rack 18 is fixedly installed on the top surface of the blocking fruit partition 12, and the blocking fruit partition 12 and the fruit-dropping lever 14 cooperate to separate the fruits that meet the specifications from the branches and then put them into the recycling mechanism.

[0030] Such as Figures 2 - 3As shown in the figure, the robot body 1 moves forward by means of a driving wheel set 2 with electric driving force at the bottom. During the recognition operation, the lifting columns 9 installed on the left and right sides of the top of the robot body 1 drive the lifting screw rods 10 to rotate through motors at the top, so that the lifting screw rods 10 drive the picking brackets 4 connected by threads to move to different heights, and then adapt to fruits in different orientations for recognition.

[0031] As Figures 4 - 6 shown in the figure, the bidirectional lead screw 11 installed behind the picking bracket 4 is driven to rotate by a motor, so that the distance-adjusting slide rods 6 connected by threads on the left and right sides drive the recognition panel 5 to adjust the distance, and then adjust according to the required picking specifications. Then, by moving the picking bracket 4 upward, the fruit is moved between the recognition panels 5 on the left and right sides. The recognition panel 5 recognizes the maturity and specifications of the fruit according to the color and distance range of the fruit. The fruit that meets the specifications cannot fall through the fruit-blocking partition 12, and the fruit that does not meet the specifications is separated by the lowering of the picking bracket 4 to avoid operating on immature fruits.

[0032] Furthermore, the fruit that meets the specifications is limited between the recognition panels 5 on both sides and the fruit-blocking partition 12. Then, the fruit-lowering rotating shaft 13 installed under the picking bracket 4 drives the fruit-lowering lever 14 to rotate. The fruit-lowering lever 14 moves downward by contacting the fruit inside the picking bracket 4 with the rod head at the outer end. The fruit-lowering rotating shaft 13 also drives the driving rotating shaft 15 and the incomplete gear 16 connected to the main bevel gear set 31 to rotate. When meshing, the transmission gear 17 drives the transmission rack 18 to move outward, so that after the connected fruit-blocking partition 12 moves away from the fruit, the fruit-lowering lever 14 touches the fruit and descends to separate from the branch, and then the fruit-picking operation is completed and collected by the recycling mechanism.

[0033] Embodiment 2: In order to solve the problems existing in the existing agricultural fruit-picking robots during use, therefore, in this embodiment, through the following technical solutions, a recycling mechanism is arranged at the rear end of the top surface of the robot body 1, and the recycling mechanism includes a recycling guiding pool 7, and cleaning rotating rollers 8 for processing fruits are rotatably arranged on both left and right sides inside the recycling guiding pool 7; the recycling mechanism includes a corrugated recycling pipe 19 fixedly installed at the front end inside the robot body 1, and a flipping recycling tray 20 connected to a motor is fixedly installed at the top end of the corrugated recycling pipe 19. The flipping recycling tray 20 is rotatably installed on the bottom surface of the picking bracket 4 for receiving and guiding the fruits that meet the specifications, and the bottom end of the corrugated recycling pipe 19 extends to the front end inside the recycling guiding pool 7.

[0034] The recycling guiding pool 7 is fixedly installed in the middle of the bottom surface of the robot body 1. At the front ends of the cleaning rotating rollers 8 inside the recycling guiding pool 7, driving gears 21 that mesh with each other are fixedly installed. Moreover, the left driving gear 21 and the transmission rotating shaft 24 that rotates with a bearing on the bottom surface of the recycling guiding pool 7 are connected to each other through a pulley assembly 22. At the same time, the transmission rotating shaft 24 and the linkage rotating shaft 3 are meshed with each other through a pair of bevel gears 25. The recycling mechanism includes a spray water tank 26 fixedly installed in the middle of the top surface of the robot body 1. The spray water tank 26 is connected through to the inside of the recycling guiding pool 7. Moreover, on the top surface of the spray water tank 26 and outside the bottom surface of the recycling guiding pool 7, recycling rotating shafts 27 are rotatably arranged through bearings. Moreover, the upper and lower recycling rotating shafts 27 are connected to each other through a recycling track 28.

[0035] The recycling mechanism includes fruit-bearing circular frames 29 fixedly installed on the outer wall of the recycling track 28 at equal angles. The fruit-bearing circular frames 29 arranged at equal angles are structured to be able to bear fruits in both forward and reverse directions. Moreover, the recycling track 28 drives the outer fruit-bearing circular frames 29 to pass through the recycling guiding pool 7 and the robot body 1 from bottom to top to recycle the fruits after cleaning. The recycling mechanism includes a recycling inclined frame 30 fixedly installed at the rear end of the bottom of the recycling guiding pool 7. The recycling inclined frame 30 corresponds to the fruit-bearing circular frames 29 outside the bottom surface of the recycling guiding pool 7. Moreover, when the fruit-bearing circular frame 29 passes through the upper recycling rotating shaft 27, it is inverted to drop the fruits onto the top of the lower fruit-bearing circular frame 29, and rotates again when passing through the lower recycling rotating shaft 27 to put the fruits inside into the recycling inclined frame 30 for collection and guiding.

[0036] As Figures 7 - 8 shown, the corrugated recycling pipe 19 installed outside the lifting column 9 is connected through the flipping recycling disk 20. When the fruits fall from inside the picking bracket 4 after separation, the flipping recycling disk 20 drives the corrugated recycling pipe 19 to rotate to conduct recycling and guiding for the fruits, so that the fruits drop into the recycling guiding pool 7 inside the corrugated recycling pipe 19, thereby realizing the cleaning of surface dust and residues.

[0037] Furthermore, when the robot body 1 moves through the rotating drive wheel set 2, the linkage rotating shaft 3 drives the meshed transmission rotating shaft 24 to rotate through the pair of bevel gears 25, so that the transmission rotating shaft 24 drives the meshed driving gear 21 and the cleaning rotating roller 8 to rotate inside the recycling guiding pool 7 through the pulley assembly 22, and cooperates with the spray water tank 26 above the robot body 1 to supply water, so that when the fruits move inside the recycling guiding pool 7, dust removal and cleaning are realized through the cleaning rotating roller 8 and the spray.

[0038] As Figures 9 - 10As shown, the recovery shaft 27 installed above the spray water tank 26 is driven to rotate by a motor, so that the meshing recovery crawler 28 drives the fruit-bearing circular frame 29 on the outer wall to move from bottom to top, and in the process of penetrating the interior of the recovery guide pool 7, the cleaned fruits are lifted and carried by the fruit-bearing circular frame 29 so as to be separated from the recovery guide pool 7 to avoid accumulation.

[0039] Furthermore, the fruit-bearing circular frame 29 drives the fruit to move upward, and flips over when passing through the upper recovery shaft 27, so that the fruit inside can be delivered to the top surface of the fruit-bearing circular frame 29 on the other side for carrying. After passing through the lower recovery shaft 27, the fruit-bearing circular frame 29 flips over again, so that the upper fruit can be delivered to the inside of the recovery inclined frame 30, thereby facilitating subsequent transfer.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An agricultural fruit picking robot with intelligent specification recognition, comprising a robot body (1), and a driving wheel set (2) rotatably mounted on the bottom of the robot body (1) for traveling, and a linkage rotating shaft (3) is fixedly arranged at the shaft ends of the driving wheel sets (2) on both sides; It is characterized in that Also includes: A picking mechanism is provided at the front end of the top face of the robot body (1), and the picking mechanism includes a picking bracket (4), and identification panels (5) are provided on both the front and rear sides of the inside of the picking bracket (4), and a distance adjustment slide rod (6) is fixedly mounted on the outer end of the identification panel (5); A recycling mechanism is provided at the rear end of the top surface of the robot body (1), and the recycling mechanism includes a recycling guide pool (7), and cleaning rollers (8) for processing fruits are rotatably provided on both left and right sides of the interior of the recycling guide pool (7).

2. The intelligent specification recognition agricultural fruit picking robot according to claim 1, characterized in that: The picking mechanism comprises lifting columns (9) fixedly mounted on the left and right sides of the top surface of the robot body (1), and a lifting screw (10) is rotatably arranged inside the lifting column (9) via a bearing, and the inside of the lifting column (9) is slidably connected to the inner end of the picking bracket (4), and the inner end of the picking bracket (4) is threadedly connected to the lifting screw (10) inside the lifting column (9).

3. The intelligent specification recognition agricultural fruit picking robot according to claim 2 is characterized in that: The picking mechanism comprises an adjustable distance slide bar (6) whose inner end slides through the upper and lower sides of the picking bracket (4), and a bidirectional screw rod (11) is rotatably arranged on the upper side of the inner side of the picking bracket (4), and the front and rear ends of the bidirectional screw rod (11) are both threadedly connected to the inner end of the upper adjustable distance slide bar (6), and the interior of the lower front and rear adjustable distance slide bars (6) are both slidably arranged with fruit blocking strips (12), and the upper and lower adjustable distance slide bars (6) are linked by an identification panel (5) to identify the diameter and color of fruits under different picking specification requirements.

4. The intelligent specification recognition agricultural fruit picking robot according to claim 1, characterized in that: The picking mechanism comprises a lower fruit rotating shaft (13) rotatably arranged at the lower outer end of the picking bracket (4) via a bearing, a lower fruit shifting lever (14) being fixedly mounted on the middle outer wall of the lower fruit rotating shaft (13), and both the front and rear outer walls of the lower fruit rotating shaft (13) being meshedly connected to the bottom end of the driving rotating shaft (15) via a main bevel gear set (31), and a slidable engagement connection is achieved by cooperating with a semicircular groove on the outer wall of the lower fruit rotating shaft (13) and a semicircular protrusion inside the main bevel gear set (31), and at the same time, retaining frames (23) are fitted on the outside of the main bevel gear sets (31) on both sides.

5. The intelligent specification recognition agricultural fruit picking robot according to claim 4, characterized in that: The picking mechanism comprises a driving shaft (15) whose upper end is rotatably arranged on the top surface of the distance-adjusting slide bar (6), and an incomplete gear (16) is fixedly installed on the top of the driving shaft (15), and the inner side of the incomplete gear (16) and a transmission gear (17) whose torsion spring is installed on the top surface of the distance-adjusting slide bar (6) are meshed with each other, and the inner side of the transmission gear (17) is meshed and connected with a transmission rack (18), and the transmission rack (18) is fixedly installed on the top surface of the fruit blocking spacer (12), and the fruit blocking spacer (12) cooperates with the lower fruit shifting rod (14) to separate fruits that meet the specifications from the branches and then put them into the recovery mechanism.

6. The intelligent specification recognition agricultural fruit picking robot according to claim 1, characterized in that: The recovery mechanism comprises a corrugated recovery pipe (19) fixedly mounted on the front end of the robot body (1), and a flip recovery plate (20) connected to a motor is fixedly mounted on the top of the corrugated recovery pipe (19), and the flip recovery plate (20) is rotatably mounted on the bottom surface of the picking bracket (4) for receiving and guiding fruits that meet the specifications, and the bottom end of the corrugated recovery pipe (19) extends to the front end of the recovery guide pool (7).

7. The intelligent specification recognition agricultural fruit picking robot according to claim 6, characterized in that: The recovery guide pool (7) is fixedly mounted on the middle part of the bottom surface of the robot body (1), and the front ends of the cleaning rollers (8) inside the recovery guide pool (7) are fixedly mounted with mutually meshing driving gears (21), and the left driving gear (21) and the transmission shaft (24) rotating on the bearing on the bottom surface of the recovery guide pool (7) are connected to each other through a pulley assembly (22), and the transmission shaft (24) and the linkage shaft (3) are meshed with each other through a secondary bevel gear assembly (25).

8. The intelligent specification recognition agricultural fruit picking robot according to claim 1, characterized in that: The recovery mechanism comprises a spray water tank (26) fixedly mounted on the middle of the top surface of the robot body (1), and the spray water tank (26) is connected to the inside of the recovery guide pool (7), and the top surface of the spray water tank (26) and the outside of the bottom surface of the recovery guide pool (7) are both rotatably provided with a recovery shaft (27) through a bearing, and the recovery shafts (27) on the upper and lower sides are connected to each other through a recovery crawler (28).

9. The intelligent specification recognition agricultural fruit picking robot according to claim 8, characterized in that: The recovery mechanism comprises a fruit-bearing circular frame (29) fixedly mounted at equal angles on the outer wall of the recovery crawler (28), and the fruit-bearing circular frame (29) arranged at equal angles is a structural arrangement capable of bearing fruits in both positive and negative directions, and the recovery crawler (28) drives the external fruit-bearing circular frame (29) to penetrate the recovery guide pool (7) and the robot body (1) from bottom to top to recover the cleaned fruits.

10. The intelligent specification recognition agricultural fruit picking robot according to claim 9, characterized in that: The recovery mechanism comprises a recovery inclined frame (30) fixedly mounted at the rear end of the bottom of the recovery guide pool (7), and the recovery inclined frame (30) corresponds to the fruit receiving circular frame (29) distributed outside the bottom surface of the recovery guide pool (7), and the fruit receiving circular frame (29) is inverted when passing the upper recovery rotating shaft (27) to drop the fruit onto the top of the lower fruit receiving circular frame (29), and rotates again when passing the lower recovery rotating shaft (27) to drop the fruit inside into the recovery inclined frame (30) for collection and guidance.

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