Intelligent fruit picking robot suitable for various environments and picking method

Abstract

The invention discloses an intelligent fruit picking robot suitable for various environments and a picking method.The intelligent fruit picking robot suitable for various environments comprises a fruit storage device, a fruit tree picking mechanism and an after-raining picking mechanical mechanism, and crawler walking mechanisms are arranged on a pair of opposite end faces of the fruit storage device; a bad fruit storage box, a layering assembly, a juice fruit storage box and a sorting mechanism are arranged in the fruit storage device, and a fruit storage box, a reprocessing storage box, a juice judging and sorting mechanism, a juice adhesion primary processing mechanism and a solidified juice wiping device are arranged in the juice fruit storage box; a collecting frame is arranged on the end face, located on one side of the fruit tree picking mechanism, of the fruit storage device. Manual picking is replaced by the intelligent fruit picking robot, the intelligent fruit picking robot is suitable for various picking terrains, the picking speed is high, fruits can be stored in multiple layers, and the picking efficiency is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery harvesting technology, specifically relating to an intelligent fruit harvesting robot and harvesting method suitable for various environments. Background Technology

[0002] Figs are soft and cannot be piled together during harvesting; they must be handled gently and harvested manually. This greatly reduces harvesting efficiency and increases container and transportation costs.

[0003] Fig trees secrete a white sap containing chemicals such as proteases and phenanthrene. This sap can irritate the skin and, if it gets on the fruit peel, can corrode it, causing "burns" and affecting its appearance. The milky sap that flows when the fruit stem is broken can cause allergies and itching in some people if it gets on their skin. Therefore, pickers need to take precautions, as picking figs poses a safety threat and is inconvenient for workers. The fig harvest season is closely linked to hot and rainy weather. This climate is like a double-edged sword, promoting the ripening of the fruit but also accelerating its decay. After heavy rain, the fruit trees absorb a lot of water and transport it into the fruit, making the surface of the flesh fragile and more difficult to pick. This makes the income of growers extremely unstable, and they often watch helplessly as their hard-earned figs rot in the ground, resulting in heavy losses.

[0004] Therefore, in order to address the aforementioned technical problems, it is necessary to provide an intelligent fruit-harvesting robot and harvesting method suitable for various environments.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent fruit-picking robot and picking method suitable for various environments, which can solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the technical solutions provided by specific embodiments of the present invention are as follows: A smart fruit-picking robot suitable for various environments, including A fruit storage device is provided, with a tracked walking mechanism on each of its two opposite end faces. The interior of the fruit storage device includes a damaged fruit storage box, a layering component, a juicy fruit storage box, and a sorting mechanism. The juicy fruit storage box contains a fruit storage box, a reprocessing storage box, a juicy judgment and sorting mechanism, a juicy adhesion preliminary treatment mechanism, and a solidified juicy wiping device. A collection frame is provided on one end face of the fruit tree harvesting mechanism, with a collection trough inside. Collection platforms are provided on the bottom end faces of multiple fruit tree harvesting mechanisms, with the collection frame matching the multiple collection platforms. A sorting mechanism is provided on the bottom end face of the collection frame. A fruit tree harvesting mechanism is fixedly connected to the upper end face of a fruit storage device. The fruit tree harvesting mechanism includes a multi-axis robotic arm and an automatic guide rail mechanism. The automatic guide rail mechanism includes a fixed base and a lifting rail. Multiple fruit harvesting execution devices are slidably connected on the lifting rail. Each fruit harvesting execution device includes a harvesting execution mechanism, a cutting mechanism, and a prying mechanism. The post-rain harvesting mechanism is fixedly connected to the upper end face of the fruit storage device. The fruit storage device is movably connected to a post-rain fruit storage box on one side end face of the post-rain harvesting mechanism. The post-rain harvesting mechanism includes a multi-axis robotic arm and a second actuator. The inner side of the second actuator is respectively provided with a moisture-absorbing layer and a silicone layer.

[0008] In one or more embodiments of the present invention, the sorting mechanism includes: The sorting assembly includes a first visual identifier, a fruit fixing platform, and a second support platform. The fruit fixing platform is fixedly connected to the lower end face of the outer shell located in the collection frame. A second fixing groove is provided inside the fruit fixing platform. The first visual identifier is located between the collection frame and the fruit fixing platform. The second support platform is fixedly connected to the top end face of the juice fruit storage box. A transfer platform is fixedly connected to the upper end face of the second support platform. A matching second sliding ladder is provided on both the transfer platform and the second support platform. A first sealing mechanism is fixedly connected to the bottom end face of the fruit fixing platform. The fruit transfer mechanism includes a transfer control seat, a guide rail mechanism, and a third actuator. The guide rail mechanism is fixedly connected to the inner wall end face of the outer shell. The transfer control seat is slidably connected to the guide rail mechanism. The bottom end face of the transfer control seat is connected to a second picking actuator, which includes a second lifting mechanism and a third actuator.

[0009] In one or more embodiments of the present invention, the first sealing mechanism includes a first air pump, the first air pump includes a first telescopic rod, the first telescopic rod is fixedly connected to a sealing plate, and the projection of the sealing plate on the horizontal plane is greater than the projection of the second fixing groove on the horizontal plane. In one or more embodiments of the present invention, the harvesting mechanism includes a first actuator, an adsorption pipe, and a telescopic mechanism. The telescopic mechanism is fixedly connected to one end face of the multi-axis robotic arm, the adsorption pipe is fixedly connected to one end face of the telescopic mechanism, the first actuator is fixedly connected to one end face of the adsorption pipe, the first actuator and the adsorption pipe are connected and connected to a negative pressure machine, the negative pressure machine is disposed on one end face of the multi-axis robotic arm, and a first automatic turntable is disposed between the telescopic mechanism and the adsorption pipe. The cutting mechanism includes an automatic telescopic plate and an automatic cutting assembly. The automatic cutting assembly is fixedly connected to one end face of the automatic telescopic plate, and a third automatic telescopic rod is fixedly connected to the bottom end face of the automatic telescopic plate. The automatic telescopic plate is fixedly connected to the upper end face of the automatic telescopic plate. The automatic telescopic plate is fixedly connected to one side of the automatic telescopic plate, and an upward lifting plate is fixedly connected to the other end face of the automatic telescopic plate.

[0010] In one or more embodiments of the present invention, a storage pad is provided on the inner end face of the after-rain fruit storage box, the storage pad being made of either pearl cotton or non-woven fabric, and a plurality of springs are provided between the storage end and the bottom of the after-rain fruit storage box.

[0011] In one or more embodiments of the present invention, the juice judgment and sorting mechanism includes a multi-axis transfer robot, a housing, a fixing plate, a first support platform, and a second visual identifier. The fixing plate is fixedly connected to one side of the inner wall of the housing, and the first support platform is fixedly connected to the upper side of the fixing plate. A first fixing groove is provided on the first support platform. The second visual identifier is provided on one side of the housing located in the first fixing groove. The multi-axis transfer robot is fixedly connected to one side of the fruit storage box, and a third picking execution mechanism is provided on one side of the multi-axis transfer robot.

[0012] In one or more embodiments of the present invention, the juice adhesion preliminary treatment mechanism includes a support base and a fruit lowering platform, wherein a pair of opposite end faces of the fruit lowering platform are fixedly connected to the support base; The solidified juice wiping device includes a base and a third picking execution mechanism. The third picking execution mechanism includes a third lifting mechanism and a fourth actuator. The base is fixedly connected to one end face of the outer shell located on the side of the juice adhesion preliminary treatment mechanism. A second automatic turntable and a third fruit support platform are sequentially connected to the top end face of the base. A third fixing groove is provided on the third fruit support platform. A second automatic guide rail mechanism is fixedly connected to one end face of the outer shell located on the base. A third automatic turntable is fixedly connected to the second automatic guide rail mechanism. A second air pump and a support plate are sequentially arranged on the upper side of the third automatic turntable. A second drive mechanism is fixedly connected to the upper end face of the support plate. The second drive mechanism includes a second automatic telescopic rod. A wiping head is fixedly connected to one side of the second automatic telescopic rod. Multiple drainage holes are provided on one end face of the wiping head. The drainage holes are connected to a cleaning liquid delivery pipe. The cleaning liquid delivery pipe is connected to a cleaning liquid storage box. Cleaning cotton is adhered to the outer end face of the wiping head. In one or more embodiments of the present invention, the spoiled fruit storage box, the sorting mechanism, and the fruit storage box all include a box body, and a plurality of sliding plates are provided inside the box body. The sliding plates are inclined. The spoiled fruit storage box, the sorting mechanism, and the fruit storage box are all connected to a layering component. The layering component includes a layering frame. A plurality of mutually matching descending frames are fixedly connected between the layering frame and the plurality of sliding plates. A fourth descending groove is provided on the upper end face of the layering frame. A layering plate matching the plurality of sliding plates is provided inside the layering frame. A descending frame is provided at the bottom of the layering plate. A limiting groove is provided on one end face of the fruit lowering platform. A preliminary cleaning mechanism is fixedly connected to the fruit lowering platform within the limiting groove. The preliminary cleaning mechanism includes a pair of roller mechanisms. A cleaning cloth is wound around a pair of cleaning drive devices. The pair of opposite end faces of the roller mechanisms are fixedly connected to one end face of the fruit lowering platform. A sweeping mechanism is provided on one end face of the outer shell located on the juice adhesion preliminary treatment mechanism. The sweeping mechanism includes a cleaning drive device. A cleaning plate is fixedly connected to one end face of the cleaning drive device. Multiple L-shaped pipes and a first rotating nozzle are provided on the bottom end face of the cleaning plate. A second rotating nozzle is connected to one end face of the L-shaped pipes. A waste liquid tank is provided at the bottom of the fruit lowering platform. The multiple L-shaped pipes and the first rotating nozzle are respectively connected to a dryer, a water tank, and a cleaning liquid tank through connecting pipes. The cleaning liquid is one of edible vegetable oil, dishwashing liquid, or medical alcohol.

[0013] In one or more embodiments of the present invention, a wiping head cleaning machine is provided on one end face of the coagulated juice wiping device. The wiping head cleaning machine includes a cleaning tank, and a cleaning mechanism and a drying mechanism are provided in the cleaning tank. A limiting groove is opened on one end face of the fruit lowering platform. A replacement preliminary cleaning mechanism is fixedly connected to the fruit lowering platform in the limiting groove. The replacement preliminary cleaning mechanism includes a new cleaning cotton roll and an old cleaning cotton roll. The new cleaning cotton roll and the old cleaning cotton roll are interconnected by connecting cotton. Cleaning cotton is wound on both the new cleaning cotton roll and the old cleaning cotton roll.

[0014] The harvesting method for intelligent fruit-harvesting robots suitable for various environments includes the following steps: S1. Harvesting: The machine travels around the fig trees via a tracked walking mechanism and harvests the figs using a fruit tree harvesting mechanism. After rain, the figs are harvested using a post-rain harvesting mechanism. S2. Sorting: After harvesting, the fruit trees are placed in a collection platform by the fruit harvesting mechanism and transported to the sorting mechanism. Based on the condition of the fruit, the fruit with juice adhering to it, the high-quality fruit, and the bad fruit are separated. The fruit is then sorted into juice fruit storage box, sorting mechanism or bad fruit storage box by a multi-axis transfer robot. S3. Juice Fruit Processing: Fruits entering the juice fruit storage box are sorted by the juice judgment and sorting mechanism to separate fruits that have just been coated with juice from those that have already been coated and solidified. They are then sent to the corresponding juice adhesion preliminary treatment mechanism or solidified juice wiping device for corresponding treatment before being transported to the fruit storage box or reprocessing storage box for storage.

[0015] Compared with the prior art, the intelligent fruit picking robot and picking method of the present invention, which are applicable to various environments, have the following advantages; Intelligent fruit-picking robots replace manual harvesting, are suitable for various terrains, have a fast harvesting speed, and can store fruits in multiple layers, greatly improving harvesting efficiency.

[0016] Using machines for harvesting avoids harm to the human body during the harvesting process. After harvesting, if white sap is found adhering to the fruit, temporary treatment can be carried out to prevent the fruit from being further damaged by the white sap and reduce the losses of fruit farmers.

[0017] The fruit is harvested after rain using a gentle harvesting mechanism, stored in a single layer, and protected from damage by handling it gently. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 1 ; Figure 2 This is a schematic diagram illustrating the usage status of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 3 for Figure 2 A schematic diagram of the structure at point A; Figure 4 This is a partial cross-sectional view of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 1 ; Figure 5 for Figure 4 A schematic diagram of the structure at point B; Figure 6 for Figure 4 A schematic diagram of the structure at point C; Figure 7 This is a partial cross-sectional view of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 2 ; Figure 8 Partial cross-section of the juice fruit storage box Figure 1 ; Figure 9 for Figure 8 A schematic diagram of the structure at point D; Figure 10 This is a partial cross-sectional view of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 3 ; Figure 11 A cross-sectional view of the spoiled fruit storage box; Figure 12 Partial cross-section of the juice fruit storage box Figure 2 ; Figure 13 for Figure 12 A schematic diagram of the structure at point E; Figure 14 This is a cross-sectional view of the juice storage box in Example 2; Figure 15 for Figure 14 A schematic diagram of the structure at point F; Figure 16This is a schematic diagram of the intelligent fruit-picking robot suitable for various environments in Embodiment 1 of the present invention. Figure 2 .

[0020] Explanation of key figure labels: 1. Fruit storage device; 101. Collection frame; 102. Collection trough; 103. Collection platform; 104. Descending ladder; 105. Outer shell; 2. Tracked walking mechanism; 3. Post-rain fruit storage box; 4. Fruit tree harvesting mechanism; 401. Multi-axis robotic arm; 402. Telescopic mechanism; 403. Adsorption pipe; 4031. First automatic turntable; 404. First actuator; 405. Fixed base; 406. Lifting rail; 407. Automatic telescopic plate; 408. Automatic trimming assembly; 409. Anti-shading plate; 410. Lifting plate; 5. Post-rain harvesting mechanism; 501. Multi-axis robotic arm; 502. Second actuator; 503. Moisture-absorbing layer; 504. Silica gel layer; 7. Damaged fruit storage Box; 701, Box body; 702, Slide plate; 8, Layering assembly; 801, Second sealing mechanism; 802, Lowering frame; 803, Layering frame; 8031, Layering plate; 9, Juice fruit storage box; 901, Fruit storage box; 902, Reprocessing storage box; 903, Cleaning mechanism; 9031, Cleaning drive device; 9032, Cleaning plate; 9033, L-shaped pipe; 9034, First rotating nozzle; 9035, Second rotating nozzle; 904, Fixing plate; 905, First support platform; 906, First fixing groove; 907, Second falling groove; 908, Waste liquid box; 909, Juice adhesion preliminary treatment mechanism; 9091, Support base; 9092, Fruit lowering platform; 9093, Preliminary cleaning mechanism; 90931, Roller mechanism; 90932, Cleaning cloth; 910, Outer shell; 10, Sorting mechanism; 1001, Fruit fixing platform; 1002, Sealing plate; 1003, First air pump; 1004, First telescopic rod; 1005, Second support platform; 1006, First vision recognition device; 1007, Second fixing groove; 1008, Transfer platform; 1009, Second sliding ladder; 11, Fruit transfer mechanism; 1101, Transfer control seat; 1102, Guide rail mechanism; 1103, Second lifting mechanism; 1104, Third actuator; 12, Multi-axis transfer robot; 13, Third picking execution mechanism; 1301, Third lifting mechanism; 1302, Fourth actuator; 15, Third drop trough; 16, Solidified juice wiping device; 1601, Base; 1602, Second automatic turntable; 1603, Third fruit support platform; 1604, Third fixing trough; 1606, Second automatic telescopic rod; 1607, Second drive mechanism; 1609, Third automatic turntable; 1610, Second air pump; 1611, Second telescopic rod; 1612, Support plate; 1613, Wiping head; 1614, Second automatic guide rail mechanism; 1615, Cleaning liquid storage box; 17, Wiping head cleaning machine; 1701, Cleaning tank; 18, New cleaning cotton roll; 19, Old cleaning cotton roll; 20, Connecting cotton; 21, Fourth automatic telescopic rod. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure. Example 1

[0022] like Figure 1 As shown in the figure, an intelligent fruit picking robot and picking method suitable for various environments is provided in one embodiment of the present invention. The intelligent fruit picking robot suitable for various environments includes a fruit storage device 1, a fruit tree picking mechanism 4, and a post-rain picking mechanism 5, which realizes intelligent picking of figs and improves picking efficiency and safety.

[0023] The fruit storage device 1 is equipped with a tracked walking mechanism 2 on each of its two opposite end faces. The tracked walking mechanism 2 controls the movement of the whole in various terrains. The tracked walking mechanism 2 is adapted to various terrains, which is common knowledge in the field and will not be elaborated on here.

[0024] The fruit storage device 1 is equipped with a damaged fruit storage box 7, a layering component 8, a juicy fruit storage box 9, and a sorting mechanism 10. The juicy fruit storage box 9 is equipped with a fruit storage box 901, a reprocessing storage box 902, a juicy judgment and sorting mechanism, a juicy adhesion preliminary treatment mechanism 909, and a solidified juicy wiping device 16. The juicy fruit storage box 9 processes the fruit with white juicy residue, removes the white juicy residue from its surface, and then proceeds with subsequent processing, reducing losses caused by untimely treatment of white juicy residue.

[0025] like Figure 1 So and Figure 12 As shown, the fruit storage device 1 is provided with a collection frame 101 on one side of the fruit tree picking mechanism 4. A collection trough 102 is provided in the collection frame 101. The fruit storage device 1 is provided with a collection platform 103 on the bottom side of multiple fruit tree picking mechanisms 4. The collection frame 101 matches the multiple collection platforms 103. The fruit stored in the multiple collection platforms 103 falls into the collection frame 101 below.

[0026] A descending ladder 104 is provided on the collecting platform 103. The descending ladder 104 is set with an inclined slope. Silicone pads are adhered to the collecting frame 101, the collecting trough 102, and the descending ladder 104 to ensure that the figs are not impacted when they move down, thus protecting the delicate outer skin. Specifically, after the fruit tree picking mechanism 4 picks the figs, it gently places them on the upper end face of the collecting platform 103. The fruits then move down into the collecting frame 101 and then enter the sorting mechanism 10 from the collecting trough 102 in the collecting frame 101 for sorting.

[0027] A sorting mechanism 10 is provided on the bottom end face of the collection frame 101 in the fruit storage device 1. The sorting mechanism 10 includes a sorting component and a fruit transfer mechanism 11. The sorting component includes a first visual identifier 1006, a fruit fixing platform 1001 and a second support platform 1005. The fruit fixing platform 1001 is fixedly connected to the lower end face of the outer shell 105 located in the collection frame 101. A second fixing groove 1007 is provided in the fruit fixing platform 1001. The first visual identifier 1006 is located between the collection frame 101 and the fruit fixing platform 1001. The first visual identifier 1006 is used to judge the appearance of the fruit. The first visual identifier 1006 uploads pictures of high-quality fruit, bad fruit, fruit with freshly applied juice and fruit after the juice has solidified in advance. With the help of advanced image analysis algorithms, it can judge the condition of the fruit and classify and store it.

[0028] The second support platform 1005 is fixedly connected to the top end face of the juice fruit storage box 9. A transfer platform 1008 is fixedly connected to the upper end face of the second support platform 1005. The transfer platform 1008 and the second support platform 1005 are both provided with matching second sliding ladders 1009. After the fruit is judged by the first visual recognition device 1006, it is opened by the first sealing mechanism, falls onto the transfer platform 1008, and slides into the first air pump 1003 of the second support platform 1005 for storage. Then, it is transferred to the corresponding storage position by the fruit transfer mechanism 11.

[0029] like Figures 1-5 As shown, a first sealing mechanism is fixedly connected to the bottom end face of the fruit fixing platform 1001. The first sealing mechanism includes a first air pump 1003, which includes a first telescopic rod 1004. A sealing plate 1002 is fixedly connected to the first telescopic rod 1004. The projection of the sealing plate 1002 on the horizontal plane is greater than the projection of the second fixing groove 1007 on the horizontal plane. Specifically, after the fruit has been sorted and the sorting type has been determined, the first sealing mechanism is activated, controlling the first telescopic rod 1004 to extend and retract until the sealing plate 1002 leaves the second fixing groove 1007. The fruit then falls from the second fixing groove 1007 into the transfer platform 1008 for transfer.

[0030] Furthermore, the fruit transfer mechanism 11 includes a transfer control seat 1101, a guide rail mechanism 1102, and a third actuator 1104. The guide rail mechanism 1102 is fixedly connected to the inner wall end face of the outer shell 105. The transfer control seat 1101 is slidably connected to the guide rail mechanism 1102. The bottom end face of the transfer control seat 1101 is connected to a second picking execution mechanism. The second picking execution mechanism includes a second lifting mechanism 1103 and a third actuator 1104.

[0031] It should be noted that the specific structure and operating principle of the transfer control seat 1101 and the guide rail mechanism 1102 can be found in the patent application number CN202021290084.4, entitled "Inspection Robot for Inspection of Construction Tunnel and Walking Device in Inspection System" which is suspended on the guide rail at the top of the tunnel and can move along the guide rail.

[0032] like Figures 1-6 As shown, the fruit picking mechanism 4 is fixedly connected to the upper end face of the fruit storage device 1. The fruit picking mechanism 4 includes a multi-axis robotic arm 401 and an automatic guide rail mechanism. The automatic guide rail mechanism includes a fixed base 405 and a lifting rail 406. The fixed base 405 is fixedly connected to one end face of the multi-axis robotic arm 401, and the lifting rail 406 is slidably connected to the fixed base 405. The multi-axis robotic arm 401 can freely extend, rotate, and bend in three-dimensional space to drive the fruit picking execution device to pick fruit at any position.

[0033] Multiple fruit-picking actuators are slidably connected on the lifting track 406. The fruit-picking actuators include a picking mechanism, a cutting mechanism, and a separating mechanism. Figs are picked by the fruit-picking actuators.

[0034] The harvesting mechanism includes a first actuator 404, an adsorption pipe 403, and a telescopic mechanism 402. The telescopic mechanism 402 is fixedly connected to one end face of the multi-axis robotic arm 401. The adsorption pipe 403 is fixedly connected to one end face of the telescopic mechanism 402. The adsorption pipe 403 is raised and lowered by the telescopic mechanism 402. The first actuator 404 is fixedly connected to one end face of the adsorption pipe 403. The first actuator 404 and the adsorption pipe 403 are connected and connected to a negative pressure machine. The negative pressure machine is located on one end face of the multi-axis robotic arm 401. The negative pressure machine is connected to a ventilation pipe. The ventilation pipe is connected to the adsorption pipe 403 and delivers negative pressure to the inside. The adsorption of the fruit is output through the first actuator 404.

[0035] Furthermore, a first automatic turntable 4031 is provided between the telescopic mechanism 402 and the adsorption pipe 403. The first automatic turntable 4031 then drives the adsorption pipe 403 and the first actuator 404 to rotate. During harvesting, after the first actuator 404 adsorbs the fruit, the first automatic turntable 4031 then drives the adsorption pipe 403 and the first actuator 404 to rotate, harvesting the figs by a rotating method. A fourth automatic telescopic rod 21 is fixedly connected between the fruit tree harvesting mechanism 4 and the fruit storage device 1. A lifting rail 406 is fixedly connected to the upper end face of the fourth automatic telescopic rod 21 to control the lifting and lowering of the first actuator 404, adapting to the harvesting of fruits at different heights. The harvesting execution mechanism, the second harvesting execution mechanism, and the third harvesting execution mechanism have the same structural principle. The fruit is placed in the corresponding position by the sliding movement of the fruit transfer mechanism 11 and the control of the second harvesting execution mechanism.

[0036] The trimming mechanism includes an automatic telescopic plate 407 and an automatic trimming component 408. The automatic telescopic plate 407 is fixedly connected to one end face of the automatic trimming component 408. The automatic telescopic plate 407 can drive the automatic trimming component 408 to move in the back and forth direction to trim obstructing leaves or fruits. When the harvesting mechanism encounters difficulties in harvesting fruits, the trimming mechanism can be activated to move to the root of the fruit and trim it to help remove the fruit quickly.

[0037] Preferably, a third automatic telescopic rod is fixedly connected to the bottom end face of the automatic telescopic plate 407. One end face of the third automatic telescopic rod is fixedly connected to one end face of the multi-axis robotic arm 401. The third automatic telescopic rod drives the automatic telescopic plate 407 to move up and down to adapt to the position of cutting leaves and fruits, making the cutting more precise.

[0038] An automatic telescopic plate 407 is fixedly connected to a prying mechanism on its upper end face. The prying mechanism includes an anti-obstruction plate 409. The automatic telescopic plate 407 is fixedly connected to one side of the anti-obstruction plate 409, and an upper lifting plate 410 is fixedly connected to the other end face of the anti-obstruction plate 409. The anti-obstruction plate 409 is a toothed plate. A vision recognition system is set on one end face of the multi-axis robotic arm 401 to accurately distinguish the ripeness, shape, size, and position information of each fruit and confirm the picking position. However, during recognition, because figs are in bunches, some leaves may obstruct them, making them easy to miss or misjudge. Therefore, through the prying mechanism, the automatic telescopic plate 407 and the third automatic telescopic rod drive the anti-obstruction plate 409 and the upper lifting plate 410 connected above to move upward or backward, thereby clearing away the leaves on each bunch of figs that are obstructing them, making it easier to identify the ripeness later.

[0039] The juice judgment and sorting mechanism includes a multi-axis transfer robot 12, an outer shell 910, a fixing plate 904, a first support platform 905, and a second vision recognition device. The fixing plate 904 is fixedly connected to one side of the inner wall of the outer shell 910, and the first support platform 905 is fixedly connected to the upper side of the fixing plate 904. A first fixing groove 906 is provided on the first support platform 905. A second drop groove 907 is provided on the upper side of the fruit storage box 901 located in the first fixing groove 906. The second vision recognition device is provided on one side of the outer shell 910 located in the first fixing groove 906. The fruit transfer mechanism 11 transfers the fruit with white sap adhering to its surface to the upper side of the second drop trough 907 and drops it into the first fixed groove 906 of the first support platform 905. The second vision recognition device determines whether the current fruit is a fruit that has just been coated with sap or a fruit whose sap has solidified. If it is a fruit that has just been coated with sap, it is transported to the sap adhesion preliminary treatment mechanism 909 for cleaning. If it is a fruit whose sap has solidified, it is transferred by the multi-axis transfer robot 12 to the solidified sap wiping device 16 for cleaning.

[0040] like Figure 7 As shown, the multi-axis transfer robot 12 is fixedly connected to one side end face of the fruit storage box 901. A third picking execution mechanism is provided on one side end face of the multi-axis transfer robot 12. The fruit storage box 901 can rotate at multiple angles and the third picking execution mechanism can adsorb the fruit and transfer it to the juice adhesion preliminary treatment mechanism 909, the solidified juice wiping device 16, or the reprocessing storage box 902.

[0041] like Figures 1-9 As shown, the juice adhesion preliminary treatment mechanism 909 includes a support base 9091 and a fruit lowering platform 9092. The support base 9091 is fixedly connected to a pair of opposite end faces of the fruit lowering platform 9092. The fruit lowering platform 9092 is designed as a slope, and a silicone pad is adhered to its surface. When the multi-axis transfer robot 12 places the fruit on the fruit lowering platform 9092, the fruit can slide down the slope into the fruit storage box 901 for storage. Both the fruit storage box 901 and the reprocessing storage box 902 are provided with a third drop groove 15.

[0042] Furthermore, a limiting groove is formed on one end face of the fruit lowering platform 9092. A preliminary cleaning mechanism 9093 is fixedly connected to the fruit lowering platform 9092 within the limiting groove. The preliminary cleaning mechanism 9093 includes a pair of roller mechanisms 90931, which are respectively fixedly connected to both sides of the fruit lowering platform 9092 located in the limiting groove. A cleaning cloth 90932 is wound around a pair of cleaning drive devices 9031. The cleaning cloth 90932 matches the size of the limiting groove and can fit the end face of the limiting groove, so that the fruit can roll on the fruit lowering platform 9092 and the cleaning cloth 90932, and then roll into the third dropping trough 15. Specifically, when the fruit passes through the cleaning cloth 90932, the juice that has just adhered to the fruit can be removed by the rolling friction and the fruit can be stored in the fruit storage box 901.

[0043] The roller mechanism 90931 includes a roller, roller shafts, and a motor. Roller shafts are connected to both sides of the roller, and the motor drives the roller to rotate, which in turn rotates the cleaning cloth 90932 wound around it. Specifically, when there is a lot of juice adhering to the roller mechanism 90931 and it needs to be replaced, the roller can be rotated to move the upper roller mechanism 90931 to the lower side, allowing the unused roller mechanism 90931 to continue cleaning the juice from the fruit.

[0044] The pair of opposite end faces of the roller mechanism 90931 are fixedly connected to one side end face of the fruit lowering platform 9092. The outer shell 910 is provided with a cleaning mechanism 903 on one side end face of the juice adhesion preliminary treatment mechanism 909. The cleaning mechanism 903 cleans the roller mechanism 90931 that has a lot of juice adhering and has been turned to the bottom of the fruit lowering platform 9092, so as to facilitate its recycling.

[0045] The cleaning mechanism 903 includes a cleaning drive device 9031. A cleaning plate 9032 is fixedly connected to one side of the cleaning drive device 9031. The bottom end of the cleaning plate 9032 is provided with multiple L-shaped pipes 9033 and a first rotating nozzle 9034. The shape of the first rotating nozzle 9034 matches and extends into one side of the cleaning cloth 90932, enabling precise cleaning through a second rotating nozzle 9035. The second rotating nozzle 9035 is connected to one side of the L-shaped pipes 9033. A waste liquid tank 908 is provided at the bottom of the fruit lowering platform 9092. The multiple L-shaped pipes 9033 and the first rotating nozzle 9034 are respectively connected to a dryer, a water tank, and a cleaning liquid tank through connecting pipes. The dryer, water tank, and cleaning liquid tank are located inside the cleaning drive device 9031.

[0046] Multiple L-shaped pipes 9033 are respectively cleaning pipes, drying pipes, and water pipes. Specifically, when the cleaning cloth 90932 needs to be cleaned, the cleaning pipe is activated to deliver cleaning fluid through the cleaning liquid tank to clean the surface of the cleaning cloth 90932. High-pressure rotary spraying is used. After spraying, clean water is sprayed through the water pipe to rinse the cleaning fluid off the surface of the cleaning cloth 90932. After cleaning for 3-6 minutes, the drying pipe is activated to deliver hot air through the dryer to dry the surface of the cleaning cloth 90932 and keep it clean. The wastewater generated during cleaning enters the interior for storage through multiple water tanks in the waste liquid tank 908.

[0047] The cleaning solution is one of edible vegetable oil, dishwashing liquid, or medical alcohol, with olive oil or peanut oil being preferred. The cleaning solution stored in the cleaning drive device 9031 is... The cleaning cloth 90932 is preferably made of lint-free cloth or cotton cloth.

[0048] like Figures 6-13 As shown, the solidified juice wiping device 16 includes a base 1601 and a third harvesting execution mechanism 13. The third harvesting execution mechanism 13 includes a third lifting mechanism 1301 and a fourth actuator 1302. The third lifting mechanism 1301 is fixedly connected to the upper end face of the outer shell 910 located on the third fruit support platform 1603. The third lifting mechanism 1301 controls the lifting and lowering of the fourth actuator 1302 to fit the fruit. When wiping with the cleaning cotton on the wiping head 1613 is required, the fruit is fixed in place for easy wiping.

[0049] The base 1601 is fixedly connected to one end face of the outer shell 910 located on the juice adhesion preliminary treatment mechanism 909. The top end face of the base 1601 is sequentially connected to the second automatic turntable 1602 and the third fruit support platform 1603. The second automatic turntable 1602 drives the third fruit support platform 1603 to rotate. The third fruit support platform 1603 is provided with a third fixing groove 1604 for storing the fruit transferred by the multi-axis transfer robot 12.

[0050] The outer casing 910 is fixedly connected to a second automatic guide rail mechanism 1614 on one side of the base 1601. A third automatic turntable 1609 is fixedly connected to the second automatic guide rail mechanism 1614. A second air pump 1610 and a support plate 1612 are arranged sequentially on the upper side of the third automatic turntable 1609. The second air pump 1610 includes a second telescopic rod 1611. The support plate 1612 is fixedly connected to the upper end of the second telescopic rod 1611. The lifting and lowering of the support plate 1612 is controlled by the second telescopic rod 1611. A second drive mechanism 1607 is fixedly connected to the upper end face of the support plate 1612. The second drive mechanism 1607 includes a second automatic telescopic rod 1606. A wiping head 1613 is fixedly connected to one side of the second automatic telescopic rod 1606. A plurality of drainage holes are opened on one side end face of the wiping head 1613. The drainage holes are connected to a cleaning liquid delivery pipe. The cleaning liquid delivery pipe is connected to a cleaning liquid storage box 1615. The cleaning liquid storage box 1615 is fixedly connected to the support plate 1612 on one side end face of the second drive mechanism 1607. The cleaning liquid delivery pipe is located on the inner end face of the cleaning liquid storage box 1615 and the second automatic telescopic rod 1606. The cleaning liquid is delivered and flows out through the drainage holes. Cleaning cotton is adhered to the outer end face of the wiping head 1613.

[0051] Preferably, both the automatic guide rail mechanism and the second automatic guide rail mechanism 1614 include a rail, a slider, and a drive device. The rail is a guide element fixed on the frame, the slider is mounted on the rail, and the moving part is mounted on the slider and runs along the rail. This is common knowledge in the art and will not be described in detail here.

[0052] Specifically, when the juice on the third fruit support platform 1603 has solidified and the fruit needs to be cleaned, the second air pump 1610 is first operated to raise and lower the fruit until the wiping head 1613 is parallel to the fruit. Then, the second drive mechanism 1607 controls the wiping head 1613 to adhere to the outer end face of the fruit. Next, the second automatic turntable 1602 is controlled to drive the third fruit support platform 1603 to rotate until it adheres to the surface to be cleaned. The cleaning solution flows out through the drain hole and adheres to the area to be cleaned. The second drive mechanism 1607 then... 7. Control the wiping head 1613 to reset. After waiting 3-7 minutes for the cleaning solution to dissolve the juice, the second drive mechanism 1607 controls the wiping head 1613 to adhere to the surface of the fruit. The fourth actuator 1302 adheres to and fixes the fruit. After the wiping head 1613 wipes one side, the fourth actuator 1302 resets. The second automatic turntable 1602 controls the fruit to rotate, and the fourth actuator 1302 adheres to and fixes the fruit again. After the wiping head 1613 performs a light wiping of the cleaning solution, the second automatic telescopic rod 1606 resets. This process is repeated to thoroughly clean impurities from the fruit surface.

[0053] It should be noted that the cleaning solution stored in the cleaning solution storage box 1615 is either edible vegetable oil or medical alcohol, with olive oil or peanut oil being preferred.

[0054] Furthermore, a third vision recognizer is provided on one end face of the third fruit carrier 1603 to identify the removal status of fruits with solidified juice. Fruits that have not been completely removed are transferred to the reprocessing storage box 902 for storage by the multi-axis transfer robot 12.

[0055] like Figure 11 As shown, the spoiled fruit storage box 7, the sorting mechanism 10, and the fruit storage box 901 all include a box body 701. Multiple sliding plates 702 are installed inside the box body 701. The sliding plates 702 are inclined. The spoiled fruit storage box 7, the sorting mechanism 10, and the fruit storage box 901 are all connected to a layering component 8. The layering component 8 includes a layering frame 803. Multiple matching descending frames 802 are fixedly connected between the layering frame 803 and the multiple sliding plates 702. A fourth descending groove is provided on the upper end face of the layering frame 803. When fruit enters the fruit storage box 901, the spoiled fruit storage box 7, or the sorting mechanism 10, it preferentially enters the layering frame 803 through the fourth descending groove, passes through the first descending frame 802, and enters the first sliding plate 702. When the first layer is full, the second sealing mechanism 801 opens, and the fruit enters the second layer from the fifth descending groove, and so on, storing the fruit. The surfaces of the layered frame 803, the descending frame 802, and the second sealing mechanism 801 are all inclined and have silicone pads on them to ensure the stability of the fruit during descent and protect the fruit's fragile skin.

[0056] The layered frame 803 contains a layered plate 8031 ​​that matches multiple sliding plates 702. A descending frame 802 is provided at the bottom of the layered plate 8031, and a fifth drop groove is provided on the layered plate 8031. The structure of the second sealing mechanism 801 is the same as that of the first sealing mechanism.

[0057] like Figure 16 As shown, the post-rain harvesting mechanism 5 is fixedly connected to the upper end face of the fruit storage device 1. The fruit storage device 1 is movably connected to a post-rain fruit storage box 3 on one side end face of the post-rain harvesting mechanism 5. The post-rain harvesting mechanism 5 includes a multi-axis robotic arm 501 and a second actuator 502. The second actuator 502 is located on one side of the multi-axis robotic arm 501. The inner side of the second actuator 502 is respectively provided with a moisture-absorbing layer 503 and a silica gel layer 504. The moisture-absorbing layer 503 is used to absorb the moisture on the surface of the fruit after harvesting, reducing the damage of moisture to the fruit. The silica gel layer 504 is used to adhere to the fruit and protect the more fragile skin during the absorption process. After harvesting, the fruit is transported to the post-rain fruit storage box 3 for storage by the post-rain harvesting mechanism 5.

[0058] The inner end face of the fruit storage box 3 is provided with a storage pad, which is made of either pearl cotton or non-woven fabric. Multiple springs are provided between the storage end and the bottom of the fruit storage box 3. The springs reduce the impact of the fruit being placed in the fruit storage box 3 by the harvesting mechanism 5, reduce the damage caused by the force, and protect the integrity of the fruit.

[0059] The harvesting method for intelligent fruit-harvesting robots suitable for various environments includes the following steps: S1. Harvesting: The machine walks around the fig tree via the track walking mechanism 2 and harvests the fruit through the fruit tree harvesting mechanism 4. During harvesting, multiple fruit harvesting execution devices can be used to harvest the fruit, which is efficient. After harvesting, the fruit is placed in the fruit storage device 1 for storage. After rain, the fruit is harvested through the rain harvesting mechanism 5 and placed in the rain fruit storage box 3 for storage. S2. Sorting: After harvesting, the fruit is placed in the collection platform 103 by the fruit picking mechanism 4 and transported to the sorting mechanism 10. Based on the condition of the fruit, the fruit with juice adhering, high-quality fruit, and bad fruit are separated. The fruit is then sequentially packed into the juice fruit storage box 9, the sorting mechanism 10, or the bad fruit storage box 7 by the multi-axis transfer robot 12. S3. Juice Fruit Processing: Fruits entering the juice fruit storage box 9 are sorted by a juice judgment and sorting mechanism to separate fruits that have just been coated with juice from those that have already been coated and solidified. These are then sequentially sent to the corresponding juice adhesion preliminary treatment mechanism 909 or solidified juice wiping device 16. After being cleaned by the preliminary cleaning mechanism 9093 of the juice adhesion preliminary treatment mechanism 909, the fruit enters the fruit storage box 901 for storage. The solidified juice wiping device 16 first emulsifies and removes the juice with a cleaning solution, then wipes it off with a wiping head 1613 before transferring it to the juice fruit storage box 9 via a multi-axis transfer robot 12. Fruits that fail to be wiped off are placed in the reprocessing storage box 902 via the multi-axis transfer robot 12. Example 2

[0060] like Figures 14-15 As shown, a wiping head cleaning machine 17 is provided on one end face of the solidified juice wiping device 16. The wiping head cleaning machine 17 includes a cleaning tank 1701, which is equipped with a cleaning mechanism and a drying mechanism. When it is necessary to clean the third fruit support platform 1603 of the solidified juice wiping device 16, it is moved to the wiping head cleaning machine 17 by the second automatic guide rail mechanism 1614, and the wiping head 1613 is controlled to enter the cleaning tank 1701 for cleaning and reuse.

[0061] A limiting groove is provided on one end face of the fruit lowering platform 9092. A replacement preliminary cleaning mechanism is fixedly connected to the fruit lowering platform 9092 within the limiting groove. The replacement preliminary cleaning mechanism includes a new cleaning cotton roll 18 and an old cleaning cotton roll 19, which are interconnected by a connecting cotton 20. Cleaning cotton is wound on both the new and old cleaning cotton rolls 18 and 19. The new and old cleaning cotton rolls 18 and 19 are matched with the limiting groove, and the fruit can roll down from the fruit lowering platform 9092, the new cleaning cotton roll 18, the old cleaning cotton roll 19, and the cleaning cotton into the fruit storage box 901 for storage. In this embodiment, the new cleaning cotton roll 18 has multiple layers of new cleaning surface wound on it, and the old cleaning cotton roll 19 is used to wind the cleaning cotton used between the new cleaning cotton roll 18 and the old cleaning cotton roll 19. When the cleaning cotton being used is dirty, the new cleaning cotton roll 18 and the old cleaning cotton roll 19 can be controlled to rotate to replace the cleaning cotton being used. The new cleaning cotton roll 18 and the old cleaning cotton roll 19 can be replaced with new rolls and cleaning cotton in the later stage. They can be used multiple times and are easy to operate. Unlike the cleaning cloth 90932 in Embodiment 1, which can be reused and cleaned multiple times, Embodiment 2 does not require cleaning. When the cleaning cotton is dirty, it can be replaced with new cleaning cotton.

[0062] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0063] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent fruit-harvesting robot suitable for various environments, characterized in that, include A fruit storage device is provided, with a tracked walking mechanism on each of its two opposite end faces. The interior of the fruit storage device includes a damaged fruit storage box, a layering component, a juicy fruit storage box, and a sorting mechanism. The juicy fruit storage box contains a fruit storage box, a reprocessing storage box, a juicy judgment and sorting mechanism, a juicy adhesion preliminary treatment mechanism, and a solidified juicy wiping device. A collection frame is provided on one end face of the fruit tree harvesting mechanism, with a collection trough inside. Collection platforms are provided on the bottom end faces of multiple fruit tree harvesting mechanisms, with the collection frame matching the multiple collection platforms. A sorting mechanism is provided on the bottom end face of the collection frame. A fruit tree harvesting mechanism is fixedly connected to the upper end face of a fruit storage device. The fruit tree harvesting mechanism includes a multi-axis robotic arm and an automatic guide rail mechanism. The automatic guide rail mechanism includes a fixed base and a lifting rail. Multiple fruit harvesting execution devices are slidably connected on the lifting rail. Each fruit harvesting execution device includes a harvesting execution mechanism, a cutting mechanism, and a prying mechanism. The post-rain harvesting mechanism is fixedly connected to the upper end face of the fruit storage device. The fruit storage device is movably connected to a post-rain fruit storage box on one side end face of the post-rain harvesting mechanism. The post-rain harvesting mechanism includes a multi-axis robotic arm and a second actuator. The inner side of the second actuator is respectively provided with a moisture-absorbing layer and a silicone layer.

2. The intelligent fruit-harvesting robot suitable for various environments according to claim 1, characterized in that, The sorting mechanism includes: The sorting assembly includes a first visual identifier, a fruit fixing platform, and a second support platform. The fruit fixing platform is fixedly connected to the lower end face of the outer shell located in the collection frame. A second fixing groove is provided inside the fruit fixing platform. The first visual identifier is located between the collection frame and the fruit fixing platform. The second support platform is fixedly connected to the top end face of the juice fruit storage box. A transfer platform is fixedly connected to the upper end face of the second support platform. A matching second sliding ladder is provided on both the transfer platform and the second support platform. A first sealing mechanism is fixedly connected to the bottom end face of the fruit fixing platform. The fruit transfer mechanism includes a transfer control seat, a guide rail mechanism, and a third actuator. The guide rail mechanism is fixedly connected to the inner wall end face of the outer shell. The transfer control seat is slidably connected to the guide rail mechanism. The bottom end face of the transfer control seat is connected to a second picking actuator, which includes a second lifting mechanism and a third actuator.

3. The intelligent fruit-harvesting robot suitable for various environments according to claim 2, characterized in that, The first sealing mechanism includes a first air pump, the first air pump includes a first telescopic rod, the first telescopic rod is fixedly connected to a sealing plate, and the projection of the sealing plate on the horizontal plane is greater than the projection of the second fixing groove on the horizontal plane.

4. The intelligent fruit-harvesting robot suitable for various environments according to claim 3, characterized in that, The harvesting mechanism includes a first actuator, an adsorption pipe, and a telescopic mechanism. The telescopic mechanism is fixedly connected to one end face of the multi-axis robotic arm, the adsorption pipe is fixedly connected to one end face of the telescopic mechanism, the first actuator is fixedly connected to one end face of the adsorption pipe, the first actuator and the adsorption pipe are connected and connected to a negative pressure machine, the negative pressure machine is set on one end face of the multi-axis robotic arm, and a first automatic turntable is set between the telescopic mechanism and the adsorption pipe. The cutting mechanism includes an automatic telescopic plate and an automatic cutting assembly. The automatic cutting assembly is fixedly connected to one end face of the automatic telescopic plate, and a third automatic telescopic rod is fixedly connected to the bottom end face of the automatic telescopic plate. The automatic telescopic plate is fixedly connected to the upper end face of the automatic telescopic plate. The automatic telescopic plate is fixedly connected to one side of the automatic telescopic plate, and an upper lifting plate is fixedly connected to the other end face of the automatic telescopic plate.

5. The intelligent fruit-harvesting robot suitable for various environments according to claim 4, characterized in that, The inner end face of the fruit storage box is provided with a storage pad, which is made of either pearl cotton or non-woven fabric. Multiple springs are provided between the storage end and the bottom of the fruit storage box.

6. The intelligent fruit-harvesting robot suitable for various environments according to claim 5, characterized in that, The juice judgment and sorting mechanism includes a multi-axis transfer robot, an outer shell, a fixed plate, a first support platform, and a second vision recognition device. The fixed plate is fixedly connected to one end face of the inner wall of the outer shell, and the first support platform is fixedly connected to the upper end face of the fixed plate. A first fixing groove is provided on the first support platform. The second vision recognition device is provided on one end face of the outer shell located in the first fixing groove. The multi-axis transfer robot is fixedly connected to one end face of the fruit storage box, and a third picking execution mechanism is provided on one end face of the multi-axis transfer robot.

7. The intelligent fruit-harvesting robot suitable for various environments according to claim 6, characterized in that, The juice adhesion preliminary treatment mechanism includes a support base and a fruit lowering platform, and the support base is fixedly connected to a pair of opposite end faces of the fruit lowering platform. The solidified juice wiping device includes a base and a third harvesting mechanism. The third harvesting mechanism includes a third lifting mechanism and a fourth actuator. The base is fixedly connected to one end face of the outer shell located on the side of the juice adhesion preliminary treatment mechanism. A second automatic turntable and a third fruit support platform are sequentially connected to the top end face of the base. A third fixing groove is provided on the third fruit support platform. A second automatic guide rail mechanism is fixedly connected to one end face of the outer shell located on the base. A third automatic turntable is fixedly connected to the second automatic guide rail mechanism. A second air pump and a support plate are sequentially arranged on the upper side of the third automatic turntable. A second drive mechanism is fixedly connected to the upper end face of the support plate. The second drive mechanism includes a second automatic telescopic rod. A wiping head is fixedly connected to one side of the second automatic telescopic rod. Multiple drainage holes are provided on one end face of the wiping head. The drainage holes are connected to a cleaning liquid delivery pipe. The cleaning liquid delivery pipe is connected to a cleaning liquid storage box. Cleaning cotton is adhered to the outer end face of the wiping head.

8. The intelligent fruit-harvesting robot suitable for various environments according to claim 7, characterized in that, The rotten fruit storage box, sorting mechanism, and fruit storage box all include a box body. Multiple sliding plates are installed inside the box body. The sliding plates are inclined. The rotten fruit storage box, sorting mechanism, and fruit storage box are all connected to a layering component. The layering component includes a layering frame. Multiple matching descending frames are fixedly connected between the layering frame and the multiple sliding plates. A fourth descending groove is opened on the upper end face of the layering frame. A layering plate matching the multiple sliding plates is installed inside the layering frame. A descending frame is provided at the bottom of the layering plate. A limiting groove is provided on one end face of the fruit lowering platform. A preliminary cleaning mechanism is fixedly connected to the fruit lowering platform within the limiting groove. The preliminary cleaning mechanism includes a pair of roller mechanisms. A cleaning cloth is wound around a pair of cleaning drive devices. The pair of opposite end faces of the roller mechanisms are fixedly connected to one end face of the fruit lowering platform. A sweeping mechanism is provided on one end face of the outer shell located on the juice adhesion preliminary treatment mechanism. The sweeping mechanism includes a cleaning drive device. A cleaning plate is fixedly connected to one end face of the cleaning drive device. Multiple L-shaped pipes and a first rotating nozzle are provided on the bottom end face of the cleaning plate. A second rotating nozzle is connected to one end face of the L-shaped pipes. A waste liquid tank is provided at the bottom of the fruit lowering platform. The multiple L-shaped pipes and the first rotating nozzle are respectively connected to a dryer, a water tank, and a cleaning liquid tank through connecting pipes. The cleaning liquid is one of edible vegetable oil, dishwashing liquid, or medical alcohol.

9. The intelligent fruit-harvesting robot suitable for various environments according to claim 7, characterized in that, The solidified juice wiping device is equipped with a wiping head cleaning machine on one end face. The wiping head cleaning machine includes a cleaning tank, in which a cleaning mechanism and a drying mechanism are provided. A limiting groove is opened on one end face of the fruit lowering platform. The fruit lowering platform is fixedly connected to a replacement preliminary cleaning mechanism in the limiting groove. The replacement preliminary cleaning mechanism includes a new cleaning cotton roll and an old cleaning cotton roll. The new cleaning cotton roll and the old cleaning cotton roll are interconnected by connecting cotton. Cleaning cotton is wound on both the new cleaning cotton roll and the old cleaning cotton roll.

10. A harvesting method for an intelligent fruit-harvesting robot suitable for various environments as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Harvesting: The machine travels around the fig trees via a tracked walking mechanism and harvests the figs using a fruit tree harvesting mechanism. After rain, the figs are harvested using a post-rain harvesting mechanism. S2. Sorting: After harvesting, the fruit trees are placed in a collection platform by the fruit harvesting mechanism and transported to the sorting mechanism. Based on the condition of the fruit, the fruit with juice adhering to it, the high-quality fruit, and the bad fruit are separated. The fruit is then sorted into juice fruit storage box, sorting mechanism or bad fruit storage box by a multi-axis transfer robot. S3. Juice Fruit Processing: Fruits entering the juice fruit storage box are sorted by the juice judgment and sorting mechanism to separate fruits that have just been coated with juice from those that have already been coated and solidified. They are then sent to the corresponding juice adhesion preliminary treatment mechanism or solidified juice wiping device for corresponding treatment before being transported to the fruit storage box or reprocessing storage box for storage.

Images