Negative pressure type apple harvesting robot

Abstract

A negative pressure type apple harvesting robot belongs to the field of agricultural machinery, and is characterized in that a pneumatic harvesting device is located at an action end of a rectangular coordinate mechanical mechanism, a visual system is located at a front end working part of the pneumatic harvesting device, the visual system is used for collecting fruit tree images in a visual range and positioning apple positions, and the visual system is connected with a control device; the control equipment comprises a harvesting control module which is used for determining a harvesting path according to the positioned apple position and the current position and sending a control instruction to the rectangular coordinate mechanical mechanism according to the harvesting path; the rectangular coordinate mechanical mechanism is used for driving the pneumatic picking device to realize picking path movement through three-axis displacement according to a control instruction of the picking control module; the pneumatic harvesting device is connected with the fan negative pressure harvesting device, an outlet of the fan negative pressure harvesting device is connected with an inlet of the conveying device, an outlet of the conveying device is located over the collecting device, and the dropped fruit buffering device is arranged on the upper portion of the collecting device. According to the invention, high efficiency, accuracy and automation of the apple harvesting process are realized.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery and relates to an apple harvesting robot. Background Art

[0002] At present, apple harvesting is still mainly done manually, which has the following significant problems: First, the work efficiency is low. During the peak harvest season of large-scale orchards, manual harvesting cannot meet production needs; second, the labor intensity is high, and long-term work can easily lead to fatigue and reduced harvest quality. In addition, although mechanized harvesting equipment has been initially applied, it still has the following shortcomings: For example, the invention patent of Chinese Patent No. 202311435833.6 adopts a single-arm structure, which achieves a lightweight design, effectively reduces the overall weight, and facilitates transportation and operation. However, in actual use, the fruit is more obviously damaged when passing through the fruit pipe, which affects the quality of the fruit to a certain extent. In addition, the single-arm design structure has limitations in fruit harvesting efficiency, and the harvesting speed is relatively slow, which is difficult to meet the needs of large-scale harvesting operations. Therefore, there is an urgent need for an apple harvesting robot that can reduce fruit damage and has higher harvesting efficiency. Summary of the Invention

[0003] In order to solve the problem of low operating efficiency of existing apple harvesting robots, the present invention proposes a negative pressure apple harvesting robot that can significantly improve operating efficiency. Through optimized structural design and intelligent control, the apple harvesting process is realized to be efficient, precise and automated, meeting the harvesting needs of large-scale orchards.

[0004] The technical solution adopted by the present invention to solve the above technical problems is: A negative pressure apple harvesting robot comprises a base plate and a rectangular coordinate mechanical mechanism mounted on the base plate, a pneumatic harvesting device, a vision system, a control device, a fan negative pressure harvesting device, a conveying device, a fruit drop buffer device, and a collection device. The pneumatic harvesting device is located at the action end of the rectangular coordinate mechanical mechanism, the vision system is located at the front working part of the pneumatic harvesting device, the vision system is used to capture images of fruit trees within a visual range and locate apple positions, the vision system is connected to the control device, the control device is used to determine a harvesting path according to the located apple positions and current positions, and a harvesting control module that issues control instructions to the rectangular coordinate mechanical mechanism according to the harvesting path. The output of the harvesting control module is connected to the controlled end of the rectangular coordinate mechanical mechanism. The rectangular coordinate mechanical mechanism is used to drive the pneumatic harvesting device to achieve picking path movement through three-axis displacement according to the control instructions of the picking control module. The pneumatic harvesting device is connected to the fan negative pressure harvesting device, the outlet of the fan negative pressure harvesting device is connected to the inlet of the conveying device, the outlet of the conveying device is located directly above the collecting device, and a fruit falling buffer device is provided on the upper part of the collecting device.

[0005] Furthermore, the rectangular coordinate mechanical mechanism includes a first linear module, a second linear module, a left and right linear module and a front and rear linear module. The first linear module and the second linear module are fixed parallel and vertically on the left and right sides of the device. The lower end of the second linear module is equipped with a driving mechanism. The output shaft of the driving mechanism is connected to one end of the connecting rod through a coupling, and the other end of the connecting rod is connected to the first linear module through a coupling to realize the driving movement in the vertical direction; the left and right linear modules are vertically fixed in front of the first linear module and the second linear module and arranged in the left and right directions. The front and rear linear modules are respectively perpendicular to the vertical linear module and the left and right linear modules, fixed above the left and right linear modules, and arranged in the front and rear directions; the vertical, left and right and front and rear linear modules are all composed of slide rails and sliders. The sliders of the left and right linear modules are connected to the sliders of the front and rear linear modules and drive the front and rear linear modules to move left and right; wherein the second vertical linear module, the left and right linear modules and the front and rear linear modules are all equipped with a driving mechanism for driving movement in the corresponding directions.

[0006] Furthermore, a first drive fixing plate is fixed to one side of the second vertical linear module, which is used to fix the position of the first drive mechanism of the second vertical linear module and limit its moving direction; the first drive connecting plate is L-shaped, with connecting holes at both ends, which is used to connect the first drive and the left and right linear modules, ensuring that the first drive mechanism can move synchronously with the up and down movement of the front, rear, left and right linear modules; the slide rails of the left and right linear modules are fixed to the sliders of the first linear module and the second linear module through two fixing plates. When the motor module on the second vertical linear module is working, the slider of the second vertical linear module moves up and down on the slide rail, driving the movement of the left and right linear modules, and then driving the up and down movement of the pneumatic harvesting device.

[0007] Furthermore, the lower connecting plate below the front and rear linear modules is fixed on its slider, and a slider is fixed above the connecting plate. The sliders of the front and rear linear modules and the left and right linear modules are connected by screws through the screw hole profile connecting screws on the slider, and the upper connecting plate and the lower connecting plate are welded and connected by ribs to ensure the stability of the structure; when the second driving mechanism on the left and right linear modules is working, the sliders of the left and right linear modules move left and right on the slide rails, driving the left and right movement of the front and rear linear modules, thereby realizing the lateral movement of the harvesting mechanism; the second driving mechanism of the left and right linear modules is connected to the second driving fixing plate, and the second driving mechanism and one end of the second driving fixing plate are fixed to the second driving mechanism through the second driving connecting plate and the left and right linear modules through the reserved profile threaded holes using profile screws, so that the second driving mechanism and the front and rear linear modules fixed thereto can move synchronously with the up and down and left and right movements of the left and right linear modules.

[0008] Preferably, the pneumatic harvesting device includes a harvesting pipe and a hose. The harvesting pipe is located at the action end of the rectangular coordinate mechanical mechanism. The end of the harvesting pipe is connected to the cavity. The cavity can control the falling of apples through an air valve. The end of the cavity is inserted into the hose. The other end of the hose is connected to a pneumatic device for providing power for the harvesting pipe to harvest and suck in apples.

[0009] The visual system includes a visual camera and an apple positioning module for locating the position of apples based on the fruit tree image taken by the visual camera. The visual camera is installed on the upper front end of the harvesting pipe, and the output of the visual camera is connected to the apple positioning module.

[0010] The visual camera is fixed on a camera fixing piece, and threaded holes are respectively provided at the upper and lower ends of the camera fixing piece to fix the visual camera on the harvesting pipe.

[0011] The conveying device includes a fruit falling track, a conveyor belt and a baffle, wherein one end of the fruit falling track is fixedly connected to the air outlet of the fan by a screw, and is used to push the apples to roll to the other end of the track, and the other end is connected to the conveyor belt; after the fruit falling track is connected to the conveyor belt, the conveyor belt passes through the baffles set at intervals to transport the apples to the fruit falling buffer device.

[0012] The fruit falling buffer device is provided with a buffer layer, and the opening of the buffer layer can be adjusted at an angle to effectively slow down the falling speed of the fruit, reduce the impact, and reduce the damage to the fruit. The buffer layer of the buffer device is connected to the fruit collecting device.

[0013] The collecting device includes a collecting frame and a lifting platform. The lifting platform is used to adjust the falling height of the fruit. The inner wall of the collecting frame is wrapped with soft material, thereby minimizing damage to the fruit caused by impact.

[0014] In the present invention, the pneumatic harvesting device is arranged at the end of the rectangular coordinate mechanical mechanism, and is specifically used to efficiently realize the automatic harvesting operation of apples; the visual system is fixedly installed at the front end of the working part of the pneumatic harvesting device, and can collect fruit tree images in real time and accurately locate the position of apples. The visual system is connected to the control equipment through signals, thereby realizing intelligent recognition and control.

[0015] The conveying device is designed with a conveyor belt structure to quickly transport the harvested fruits to the designated location; the fruit drop buffer device combines special materials and structural design to effectively reduce the falling speed of the fruits by increasing friction, while also playing the role of orderly discharging the fruits, thereby effectively reducing the damage to the fruits caused by collisions; the collection device is arranged below the fruit drop buffer device to centrally collect the harvested fruits and improve the efficiency of subsequent processing.

[0016] The main body of the machine features two or more identical, parallel-arranged harvesting modules, working in tandem to achieve high-precision harvesting while significantly improving overall harvesting efficiency. Compared to existing technologies, this invention significantly improves harvesting efficiency and fruit protection by integrating visual positioning, pneumatic harvesting, and fruit drop buffering technology, meeting the demands of modern fruit harvesting.

[0017] Compared with the existing technology, the beneficial effects of the present invention are mainly manifested in: the present invention realizes the precise harvesting and efficient processing of fruits through the coordinated operation of visual positioning and pneumatic harvesting. At the same time, through the optimized design of the buffer and collection device, the damage of the fruit during the harvesting and transportation process is effectively reduced, and the fruit harvesting quality and the overall operating efficiency of the equipment are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the apple harvesting robot.

[0019] Figure 2 It is a schematic diagram of the overall structure of the present invention, showing the connection relationship between the conveying device, the fruit falling track, the buffer device and the fruit collecting device.

[0020] Figure 3 Schematic diagram of the detailed connection method of the structure of the present invention.

[0021] Figure 4 This is a separate schematic diagram of the fruit falling track.

[0022] Figure 5 This is a schematic diagram of the fruit falling buffer device. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Reference Figure 1 and Figure 2 A negative pressure apple harvesting robot comprises a base plate and a rectangular coordinate mechanical mechanism mounted on the base plate, a pneumatic harvesting device, a visual system, a control device, a fan negative pressure harvesting device, a conveying device, a fruit drop buffer device and a collection device, wherein the pneumatic harvesting device is located at the action end of the rectangular coordinate mechanical mechanism, the visual system is located at the front working part of the pneumatic harvesting device, the visual system is used to capture images of fruit trees within a visual range and locate the position of apples, the visual system is connected to the control device, the control device is used to determine a harvesting path according to the located apple position and the current position and to send a control instruction to the rectangular coordinate mechanical mechanism according to the harvesting path. The output of the harvesting control module is connected to the controlled end of the rectangular coordinate mechanical mechanism, and the rectangular coordinate mechanical mechanism is used to drive the pneumatic harvesting device to realize the picking path movement through three-axis displacement according to the control instruction of the picking control module; The pneumatic harvesting device is connected to the fan negative pressure harvesting device, the outlet of the fan negative pressure harvesting device is connected to the inlet of the conveying device, the outlet of the conveying device is located directly above the collecting device, and a fruit falling buffer device is provided on the upper part of the collecting device.

[0025] Furthermore, the rectangular coordinate mechanical mechanism includes a vertical linear module (a first linear module 17 and a second linear module 3 ), a left and right linear module 15 and a front and rear linear module 4 . The first linear module 17 and the second linear module 3 are fixed parallely and vertically on the left and right sides of the device. The lower end of the second linear module 3 is equipped with a driving mechanism (linear motor). The output shaft of the driving mechanism is connected to one end of the connecting rod 8 through a coupling, and the other end of the connecting rod 8 is connected to the first linear module 17 through a coupling to realize the driving movement in the vertical direction; the left and right linear modules 15 are vertically fixed in front of the first linear module 17 and the second linear module 3, and are arranged in the left and right directions. The front and rear linear modules 4 are respectively perpendicular to the vertical linear module 17 and the left and right linear modules 15, and are fixed above the left and right linear modules 15, and are arranged in the front and rear directions; the vertical, left and right and front and rear linear modules are all composed of slide rails and sliders. The sliders of the left and right linear modules 15 are connected to the sliders 18 of the front and rear linear modules 4 and drive the front and rear linear modules to move left and right; among them, the second vertical linear module 3, the left and right linear modules 15 and the front and rear linear modules 4 are all equipped with driving mechanisms for driving movements in corresponding directions.

[0026] A first drive fixing plate 1 is fixed to one side of the second vertical linear module 3 by screws, which is used to fix the position of the first drive mechanism 2 of the second vertical linear module 3 and limit its moving direction; the first drive connecting plate 6 is L-shaped, with connecting holes at both ends, which is used to connect the first drive 2 and the left and right linear modules 15, ensuring that the first drive mechanism 2 can move synchronously with the up and down movement of the front, rear, left and right linear modules 15; the slide rails of the left and right linear modules 15 are fixed to the sliders of the first linear module 17 and the second linear module 3 through two fixing plates 5. When the motor module on the second vertical linear module 3 is working, the slider of the second vertical linear module 3 moves up and down on the slide rail, driving the movement of the left and right linear modules 15, and then driving the up and down movement of the pneumatic harvesting device.

[0027] The lower connecting plate 12 below the front and rear linear modules 4 is fixed to the slider 18 thereof by bolts, and a slider 18 is fixed above the connecting plate 12. Figure 3As shown, the sliders 7 of the front and rear linear modules 4 and the left and right linear modules 15 are connected by screws through the screw hole profile on the slider 18, and the upper connecting plate 9 and the lower connecting plate 12 are welded together by the ribs 16 to ensure the stability of the structure; when the second driving mechanism on the left and right linear modules 15 is working, the sliders of the left and right linear modules 15 move left and right on the slide rails, driving the left and right movement of the front and rear linear modules 4, thereby realizing the lateral movement of the harvesting mechanism; the second driving mechanism 13 of the left and right linear modules 15 is connected to the second driving fixing plate 14, and the second driving mechanism 13 and one end of the second driving fixing plate 14 are fixed to the second driving mechanism 13 through the reserved profile threaded holes through the second driving 13 connecting plate 10 and the left and right linear modules 15 using profile screws, so that the second driving mechanism 13 and the front and rear linear modules 4 fixed thereto can move synchronously with the up and down and left and right movements of the left and right linear modules 15, ensuring that the air pipe and cable are always kept at the rear end of the three-coordinate robot arm without being pulled or entangled during the multi-directional movement.

[0028] Through the above structural design, the rectangular coordinate mechanical mechanism can realize the full range of movement of the harvesting mechanism in the vertical, horizontal and front and back directions, meeting the multi-dimensional movement requirements of the pneumatic harvesting device in a complex operating environment.

[0029] Furthermore, the pneumatic harvesting device includes a harvesting pipe 21 and a hose 25. The harvesting pipe 21 is located at the action end of the rectangular coordinate mechanical mechanism. The end of the harvesting pipe 21 is connected to the cavity 23. The cavity can control the falling of apples through the air valve 26. The end of the cavity is inserted into the hose 25. The other end of the hose 25 is connected to a pneumatic device for providing power for the harvesting pipe to harvest and suck in apples.

[0030] The visual system includes a visual camera 19 and an apple positioning module for locating apples based on images of fruit trees captured by the camera. The visual camera 19 is mounted on the front upper portion of the harvesting tube 21, and the output of the visual camera 19 is connected to the apple positioning module. In this solution, the apple positioning method is implemented using common methods in the prior art.

[0031] Preferably, the visual camera 19 is fixed on a camera fixing member 20 , and threaded holes are respectively provided at the upper and lower ends of the camera fixing member 20 to fix the visual camera 19 on the harvesting pipe 21 .

[0032] The conveying device includes a fruit falling track, a conveyor belt and a baffle, wherein one end of the fruit falling track is fixedly connected to the air outlet of the fan by a screw, and is used to push the apples to roll to the other end of the track, and the other end is connected to the conveyor belt. After the fruit falling track is connected to the conveyor belt, the conveyor belt passes through the baffles set at intervals to transport the apples to the fruit falling buffer device.

[0033] The fruit drop buffer device is provided with a buffer layer. The dotted line 36 at the opening of the buffer layer 35 can be adjusted in angle by cutting to varying degrees, which can effectively slow the falling speed of the fruit, reduce impact, and reduce fruit damage. In the present invention, the opening structure is shown with a dotted line 36 below the crossbar. This opening structure is also applicable below other crossbars. To make the diagram neat, dotted lines are not drawn below other bars, but it should be understood that they have the same potential openings. The buffer layer 35 is connected to the crossbar 34 above, and all crossbars have the same buffer layer below. The buffer device is connected to the fruit collection device.

[0034] The collecting device includes a collecting frame and a lifting platform. The lifting platform is used to adjust the falling height of the fruit. The inner wall of the collecting frame is wrapped with soft material, thereby minimizing damage to the fruit caused by impact.

[0035] Preferably, the inner surfaces of the fruit falling track, conveyor belt, baffle and collection device are all made of soft materials or wrapped with soft materials, so as to further optimize the protection effect of the fruit during the transmission and collection process.

[0036] In this embodiment, a visual camera 19 is provided at the upper front end of the harvesting tube 21, and threaded holes are provided at the upper and lower ends of the camera fixing part 20, so that the visual camera 19 can be fixed on the harvesting tube 21. The visual camera 19 is used to identify the position of the fruit. The pneumatic harvesting device is designed and installed based on the rectangular coordinate mechanical structure. The rectangular coordinate structure in each direction is controlled by a motor to move in each direction, so that the rectangular coordinate mechanical mechanism moves to control the harvesting tube 21 to the correct position, harvests and sucks the apple, and then stays in the cavity 23. The baffle is controlled by the air valve 26 to lower the apple to the fruit drop track. The fruit drop track consists of two sections. Figure 4 As shown, the first section 27 of the fruit falling track is connected to the fruit falling position and the end is located directly above the second section 22 of the fruit falling track and moves with the cavity 23. The first section of the fruit falling track 27 is bound and moved with the second driving mechanism 13 through the support 24. The end of the second section is connected directly above the conveyor belt 28, and then enters the fruit falling buffer device 29 after being transported by the conveyor belt 28. The fruit falling buffer device 29 is fixed above the collection frame 31. The adjustable component, that is, the flexible buffer cloth, is used to adjust the angle and opening to play different buffering roles, and to evenly distribute the fruits in the collection frame 31. The collection frame is used to achieve efficient and accurate harvesting.

[0037] The machine's industrial computer module 32 provides unified control of the machine, ensuring coordinated operation of all modules. The display 30 displays the functional status and fault information of each module, facilitating operation and maintenance. The entire machine is secured to a chassis 33, which may include, but is not limited to, a self-propelled chassis, a towed chassis, or a fixed chassis.

[0038] The embodiments of this specification are merely examples of implementations of the invention and are provided for illustrative purposes only. The scope of protection of the present invention should not be considered limited to the specific embodiments described in these embodiments. The scope of protection of the present invention also extends to equivalent technical means that can be conceived by a person of ordinary skill in the art based on the invention.

Claims

1. A negative pressure apple harvesting robot, characterized in that: It includes a base plate and a rectangular coordinate mechanical mechanism installed on the base plate, a pneumatic harvesting device, a visual system, a control device, a fan negative pressure harvesting device, a conveying device, a fruit drop buffer device and a collection device. The pneumatic harvesting device is located at the action end of the rectangular coordinate mechanical mechanism, and the visual system is located at the front working part of the pneumatic harvesting device. The visual system is used to collect images of fruit trees within the visual range and locate the position of apples. The visual system is connected to the control device. The control device is used to determine the harvesting path according to the located apple position and the current position and send a control instruction to the rectangular coordinate mechanical mechanism according to the harvesting path. The output of the harvesting control module is connected to the controlled end of the rectangular coordinate mechanical mechanism. The rectangular coordinate mechanical mechanism is used to drive the pneumatic harvesting device to realize the picking path movement through three-axis displacement according to the control instruction of the picking control module. The pneumatic harvesting device is connected to the fan negative pressure harvesting device, the outlet of the fan negative pressure harvesting device is connected to the inlet of the conveying device, the outlet of the conveying device is located directly above the collecting device, and a fruit falling buffer device is provided on the upper part of the collecting device.

2. The negative pressure apple harvesting robot according to claim 1, characterized in that: The rectangular coordinate mechanical mechanism includes a first linear module, a second linear module, a left and right linear module and a front and rear linear module. The first linear module and the second linear module are fixed parallel and vertically on the left and right sides of the device. The lower end of the second linear module is equipped with a driving mechanism. The output shaft of the driving mechanism is connected to one end of the connecting rod through a coupling, and the other end of the connecting rod is connected to the first linear module through a coupling to realize the driving movement in the vertical direction; the left and right linear modules are vertically fixed in front of the first linear module and the second linear module and arranged in the left and right directions. The front and rear linear modules are respectively perpendicular to the vertical linear module and the left and right linear modules, fixed above the left and right linear modules, and arranged in the front and rear directions; the vertical, left and right and front and rear linear modules are all composed of slide rails and sliders. The sliders of the left and right linear modules are connected to the sliders of the front and rear linear modules and drive the front and rear linear modules to move left and right; wherein the second vertical linear module, the left and right linear modules and the front and rear linear modules are all equipped with a driving mechanism for driving movement in the corresponding directions.

3. The negative pressure apple harvesting robot according to claim 2, characterized in that: A first drive fixing plate is fixed to one side of the second vertical linear module, which is used to fix the position of the first drive mechanism of the second vertical linear module and limit its moving direction; the first drive connecting plate is L-shaped, with connecting holes on both ends, which is used to connect the first drive and the left and right linear modules, ensuring that the first drive mechanism can move synchronously with the up and down movement of the front, rear, left and right linear modules; the slide rails of the left and right linear modules are fixed to the sliders of the first linear module and the second linear module through two fixing plates. When the motor module on the second vertical linear module is working, the slider of the second vertical linear module moves up and down on the slide rail, driving the movement of the left and right linear modules, and then driving the up and down movement of the pneumatic harvesting device.

4. The negative pressure apple harvesting robot according to claim 2, characterized in that: The lower connecting plate below the front and rear linear modules is fixed on its slider, and a slider is fixed above the connecting plate. The sliders of the front and rear linear modules and the left and right linear modules are connected by screws through the screw hole profile connecting screws on the slider. The upper connecting plate and the lower connecting plate are welded and connected by ribs to ensure the stability of the structure; when the second driving mechanism on the left and right linear modules is working, the sliders of the left and right linear modules move left and right on the slide rails, driving the left and right movement of the front and rear linear modules, thereby realizing the lateral movement of the harvesting mechanism; the second driving mechanism of the left and right linear modules is connected to the second driving fixing plate, and one end of the second driving mechanism and the second driving fixing plate are fixed to the second driving mechanism through the second driving connecting plate and the left and right linear modules through the reserved profile threaded holes using profile screws, so that the second driving mechanism and the front and rear linear modules fixed thereto can move synchronously with the up and down and left and right movements of the left and right linear modules.

5. The negative pressure apple harvesting robot according to any one of claims 1 to 4, characterized in that: The pneumatic harvesting device includes a harvesting pipe and a hose. The harvesting pipe is located at the action end of the rectangular coordinate mechanical mechanism. The end of the harvesting pipe is connected to the cavity. The cavity can control the falling of apples through an air valve. The end of the cavity is inserted into the hose. The other end of the hose is connected to a pneumatic device for providing power for the harvesting pipe to harvest and suck in apples.

6. The negative pressure apple harvesting robot according to any one of claims 1 to 4, characterized in that: The visual system includes a visual camera and an apple positioning module for locating the position of apples based on the fruit tree image taken by the visual camera. The visual camera is installed on the upper front end of the harvesting pipe, and the output of the visual camera is connected to the apple positioning module.

7. The negative pressure apple harvesting robot according to claim 6, characterized in that: The visual camera is fixed on a camera fixing piece, and threaded holes are respectively provided at the upper and lower ends of the camera fixing piece to fix the visual camera on the harvesting pipe.

8. The negative pressure apple harvesting robot according to any one of claims 1 to 4, characterized in that: The conveying device includes a fruit falling track, a conveyor belt and a baffle, wherein one end of the fruit falling track is fixedly connected to the air outlet of the fan to push the apples to roll to the other end of the track, and the other end is connected to the conveyor belt. After the fruit falling track is connected to the conveyor belt, the conveyor belt passes through the baffles set at intervals to transport the apples to the fruit falling buffer device.

9. The negative pressure apple harvesting robot according to any one of claims 1 to 4, characterized in that: The fruit falling buffer device is provided with a buffer layer, an opening of the buffer layer is adjusted by angle, and the buffer layer of the buffer device is connected to the collecting device.

10. The negative pressure apple harvesting robot according to any one of claims 1 to 4, characterized in that: The collecting device comprises a collecting frame and a lifting platform, the lifting platform is used to adjust the falling height of the fruits, and the inner wall of the collecting frame is wrapped with soft material.

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