Fruit sorting and cutting device of fruit picking robot

Abstract

The utility model relates to the technical field of fruit picking, in particular to a fruit tidying and cutting device of a fruit picking robot, the main function of the fruit tidying and cutting device is to realize the operation task of integrating fruit tidying and cutting, and the fruit tidying and cutting device comprises a slide rail, a fruit tidying and separating mechanism, a comb tooth adjusting mechanism and a cutting mechanism. According to the fruit sorting and cutting device, the fruit sorting and cutting device can be adjusted according to the sizes of fruits, after the comb teeth are inserted into the positions, where the fruits are scattered, of the treetops, sorting comb teeth comb the fruits scattered and distributed on the treetops, so that the fruits are sorted and distributed on the comb tooth surfaces in order, and the continuity and symmetry of fruit distribution are improved; the arrangement of the fruits in the picking process is guaranteed, so that the cutting tool can conveniently cut the fruits on the comb tooth surface, the scattered fruits are sorted and then picked, and the picking adaptability and picking efficiency of the picking robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, in particular to a fruit sorting and cutting device of a fruit picking robot. Background Art

[0002] Since the fruits on the outer treetops are scattered and the spatial distribution of fruits at the treetops lacks regularity, the picking mode of existing fruit picking robots is basically to pick single fruits according to the fruit growth distribution. The picking robots need to frequently identify and adjust their posture, which makes the picking efficiency of the picking robots low.

[0003] In addition to changing the fruit tree cultivation model agronomically to make the fruit distribution neat and orderly, compared with the growth distribution of field crops, the fruit distribution in unstructured orchards lacks large-scale continuity and symmetry, which makes it difficult to complete fruit picking using the field agricultural machinery model.

[0004] The core reason for the low efficiency of these traditional robots is that the fruits are too scattered on the branches, and the distribution symmetry is not strong, so the picking robot arm needs to repeatedly adjust the position and posture information according to the target fruit distribution to complete the picking of the fruits, resulting in a slow picking speed. The fruits growing on the outer treetops are actually distributed more scattered, and the positions of the fruit distribution are still very variable. If the fruits distributed on the outer treetops can be sorted in an orderly manner and the fruit sorting and rearrangement can be achieved, the picking adaptability of the end effector of the picking robot will be greatly improved. When the picking robot picks the fruit, it often uses a single-action cutting tool to directly cut the fruit on the fruiting branch group, so as to complete the fruit picking process without destroying the fruit. However, due to the supply of nutrients and water, the xylem and phloem of the fruiting branches of normal fruit trees have strong toughness, resulting in the low efficiency of the single-action cutting tool on the general picking robot to cut the branches. Utility Model Content

[0005] The purpose of the utility model is to provide a fruit sorting and cutting device for a fruit picking robot to solve the problems raised in the above-mentioned background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] In order to improve the operation efficiency of the picking robot and reduce the dispersion of fruits, a fruit sorting and cutting device is proposed to change the distribution law and pattern of fruits, use mechanical structure to change the dispersion and randomness of fruit distribution, reduce the recognition and adjustment frequency of robots, and make the orderly distribution of sorted fruits and the high adaptability of the picking end effector realize multi-fruit picking. The main function of the fruit sorting and cutting device in the picking process is to gather more scattered fruits on a similar plane by combing, to sort and rearrange the scattered fruits, to ensure that the picking direction will not change before the end of picking, and to complete the task of picking multiple fruits on the comb tooth surface. Its working method is that the fruit sorting and separation mechanism is inserted into the target fruit fruiting branch group, and the fruit is separated from the fruiting branch group through the action of combing. Since the front end of the fruiting branch group is a one-way fruit feeding rotating plate, the fruit combed into the sorting comb teeth is introduced into the internal comb tooth surface, and finally the blade completes the cutting of the fruit on the fruit sorting comb tooth surface, realizing the operation requirements of fruit sorting and cutting. In order to meet the operation requirements, the fruit sorting and cutting device of the fruit picking robot includes a slide rail, a fruit sorting and separating mechanism is slidably connected inside the slide rail, and the fruit sorting and separating mechanism is equipped with an adjusting mechanism and a cutting mechanism;

[0008] The fruit sorting and separation mechanism includes a plurality of sorting comb teeth, which need to separate the fruits from the fruiting branch groups to complete the fruit sorting, and the top ends of the plurality of sorting comb teeth are slidably connected to the inside of the slide rail, and a rectangular groove is provided at the bottom of one side of the plurality of sorting comb teeth, and a one-way fruit-feeding turn plate is provided inside the plurality of rectangular grooves, and the one-way fruit-feeding turn plate needs to allow the fruits to enter from the front end of the sorting comb teeth in one direction to ensure that the fruits can be concentrated on the comb tooth surface after the one-way entry, and one end of the plurality of one-way fruit-feeding turn plates are rotatably connected to the inside of adjacent rectangular grooves, and one end of the plurality of one-way fruit-feeding turn plates are provided with a torsion spring, one end of the plurality of torsion springs are fixedly connected to one side of the adjacent one-way fruit-feeding turn plate, and the other end is fixedly connected to an inner wall of an adjacent rectangular groove, and the bottom of the other side of the plurality of sorting comb teeth is fixedly connected to a comb tooth front end branch plate, and the comb tooth front end branch plate needs to guide the fruits on the fruiting branch group into the inside of two adjacent sorting comb teeth.

[0009] Furthermore, the branch plate at the front end of the comb teeth is triangular.

[0010] Furthermore, the adjustment mechanism includes two electric push rods, both of which are fixedly connected to the top of the slide rail, and the movable ends of the two electric push rods are respectively fixedly connected to the top ends of two arranging comb teeth located at both ends, a scissor-type bracket is arranged inside the slide rail, a plurality of the arranging comb teeth are provided with rectangular through holes on one side of the top ends, and the scissor-type bracket is located inside the plurality of rectangular through holes, the arranging comb teeth are rotatably connected to the scissor-type bracket, the scissor-type bracket includes a plurality of inner support rods and a plurality of outer support rods, and a rotating shaft is rotatably connected between the plurality of inner support rods and the adjacent outer support rods, the plurality of rotating shafts correspond one-to-one to the plurality of rectangular through holes, and the plurality of rotating shafts are fixedly connected between the two opposite inner walls of the corresponding rectangular through holes.

[0011] Further, the cutting mechanism includes a movable plate, and a plurality of circular through holes are opened on one side of the movable plate, two blades are arranged on one side of the movable plate, and a plurality of notches are opened on one side of the two blades, the plurality of notches on the same blade correspond one to one with the plurality of circular through holes on the movable plate, a plurality of the sorting comb teeth are opened on one side with sliding through holes, and the movable plate and the two blades are located between the plurality of sliding through holes, connecting plates are fixedly connected at both ends of the slide rail, and a guide rail is fixedly connected on one side of the two connecting plates, sliders are slidably clamped on the outer side walls of the two guide rails, and one side of the movable plate is fixedly connected to the two sliders.

[0012] Furthermore, one end of the movable plate is fixedly connected to a shell, and a rotating rod is rotatably connected inside the shell, two eccentric wheels are arranged on the outer wall of the rotating rod, and the outer wall of the rotating rod is fixedly sleeved with the inner walls of the two eccentric wheels, the outer walls of the two eccentric wheels are rotatably sleeved with cranks, and one end of the two cranks is rotatably connected to one end of the two blades respectively.

[0013] Furthermore, a DC motor is arranged inside the shell, and a transmission gear is fixedly sleeved on the motor shaft of the DC motor, and a driven gear is fixedly sleeved on the outer side wall of the rotating rod, and the driven gear is meshed with the transmission gear.

[0014] Furthermore, the top end of the arranging comb teeth located in the middle is fixedly connected to a driving motor, and the motor shaft of the driving motor is fixedly connected to a screw rod, a screw nut is screwed on the outer side wall of the screw rod, and one side of the screw nut is fixedly connected to the top surface of the moving plate.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. By setting up a fruit sorting and cutting device, it can be adjusted to adapt to the size of the fruit. After multiple comb teeth are inserted into the scattered fruits on the treetops, the sorting comb teeth are used to sort the fruits scattered on the treetops, so that the fruits are sorted and distributed in an orderly manner on the comb tooth surface, increasing the continuity and symmetry of the fruit distribution, and ensuring that the fruits maintain this arrangement during the picking process, so that it is convenient for the cutting tool to cut multiple fruits on the comb tooth surface. The scattered fruits are sorted before picking, thereby improving the picking adaptability and picking efficiency of the picking robot.

[0017] 2. By setting a one-way fruit feeding rotating plate and a torsion spring, the one-way fruit feeding rotating plate is used to ensure that the fruit can only enter from the front end of the comb teeth in one direction, and is used in conjunction with the sorting comb teeth as a single-door structure that only allows entry but not exit, further increasing the continuity and symmetry of the fruit after combing, which is convenient for subsequent picking operations.

[0018] 3. Start the driving motor to drive the screw nut and the moving plate to move synchronously, so that the two blades cut the branches between the two sorting comb teeth, and start the DC motor when the moving plate moves, so that the transmission gear drives the rotating rod and the two eccentric wheels to rotate synchronously through the driven gear, and the two eccentric wheels drive one end of the two cranks to rotate synchronously, so that when one crank approaches the moving plate, the other crank is away from the moving plate, so that the two blades move synchronously in different directions, and the double-moving knife performs reciprocating cutting on the fruits on the fruiting branch group. Compared with other cutting methods, this double-moving knife reciprocating cutting can quickly complete the cutting task, reduce cutting time, and improve cutting efficiency.

[0019] 4. The fruit sorting comb teeth can rearrange the scattered fruits on the treetops, making the relationship between the fruit distribution and the end effector of the picking robot closer to field crops and assembly lines, reducing the asymmetry, discontinuity and non-planarity of the fruit distribution relative to the configuration of the end effector of the picking robot. Finally, the cutting mechanism cuts multiple fruits on the sorting comb tooth surface to achieve the integrated operation requirements of fruit sorting and cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the fruit sorting and separation mechanism in the utility model;

[0022] Figure 3 It is a schematic diagram of the comb teeth arrangement structure in the utility model;

[0023] Figure 4 It is a schematic diagram of the position relationship between the slide rail and the guide rail in the utility model;

[0024] Figure 5 It is a schematic diagram of the cutting mechanism structure in the utility model;

[0025] Figure 6 It is an exploded view of the cutting mechanism structure in the utility model.

[0026] In the figure: 100, slide rail; 110, connecting plate; 120, guide rail; 121, slider; 200, fruit sorting and separation mechanism; 210, sorting comb teeth; 211, rectangular groove; 212, rectangular through hole; 213, sliding through hole; 220, one-way fruit feeding rotating plate; 221, torsion spring; 230, front end branch plate of comb teeth; 300, adjustment mechanism; 310, electric push rod; 320, scissor-type bracket; 400, cutting mechanism; 410, moving plate; 420, blade; 421, notch; 430, housing; 440, rotating rod; 441, eccentric wheel; 442, crank; 443, driven gear; 444, transmission gear; 450, driving motor; 451, screw rod; 452, screw nut. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figures 1 to 6 In the embodiment of the utility model, the fruit picking robot has a fruit sorting and cutting device, the main function of which is to sort and rearrange the scattered fruits in a combing manner, and finally realize the integrated task of fruit sorting and cutting, including a slide rail 100, a fruit sorting and separating mechanism 200 is slidably connected inside the slide rail 100, and the fruit sorting and separating mechanism 200 is equipped with an adjusting mechanism 300 and a cutting mechanism 400.

[0029] The fruit sorting and separation mechanism 200 includes a plurality of sorting comb teeth 210, which can effectively separate the fruit from the fruiting branch group through the combing action, so as to sort and rearrange the scattered fruits on the treetops, and the top ends of the plurality of sorting comb teeth 210 are slidably connected to the inside of the slide rail 100, and the bottom of one side of the plurality of sorting comb teeth 210 is provided with a rectangular groove 211, and the inside of the plurality of rectangular grooves 211 is provided with a one-way fruit feeding rotating plate 220, and one end of the plurality of one-way fruit feeding rotating plates 220 is rotatably connected to the inside of the adjacent rectangular groove 211, and one end of the plurality of one-way fruit feeding rotating plates 220 is provided with a torsion spring 221, and one end of the plurality of torsion springs 221 is fixedly connected to one side of the adjacent one-way fruit feeding rotating plates 220, and the one-way fruit feeding rotating plates realize the one-way entry of the fruit from the front end of the comb teeth, ensuring that the fruit can be concentrated on the comb tooth surface after the one-way entry, and the other end is fixedly connected to an inner wall of the adjacent rectangular groove 211, and the bottom of the other side of the plurality of sorting comb teeth 210 is fixedly connected to the front end branching plate 230 of the comb teeth.

[0030] Specifically, the fruit sorting and cutting device is connected to the mechanical arm of the picking robot through the connection interface, and the mechanical arm is controlled to adjust its position so that the mechanical arm drives the slide rail 100 and the multiple sorting comb teeth 210 thereon to move. At this time, except for the sorting comb teeth 210 located at both ends, a one-way fruit feeding rotation plate 220 on any sorting comb tooth 210 is leaned against the comb tooth front end branch plate 230 on the adjacent sorting comb tooth 210. Then, the user can adjust the distance between every two adjacent sorting comb teeth 210 through the adjustment mechanism 300 to increase the distance between the two adjacent sorting comb teeth 210, but the one-way fruit feeding rotation plate 220 will never separate from the leaning comb tooth front end branch plate 230. Then, the mechanical arm can drive the slide rail 100 to move when the multiple sorting comb teeth 210 are moved to above the treetop, and the multiple sorting comb teeth 210 are inserted into the treetop through the movement of the mechanical arm, so that the treetop squeezes the sorting comb teeth. The one-way fruit feeding rotating plate 220 on 210 enters between any two adjacent sorting comb teeth 210, and then the one-way fruit feeding rotating plate 220 is reset due to the adjacent torsion spring 221 and rests on the front end branch plate 230 of the adjacent comb teeth again, so that the treetop is limited between the two adjacent sorting comb teeth 210, and then the adjustment mechanism 300 is used to reduce the distance between the two adjacent sorting comb teeth 210 and make it smaller than the size of the fruit, and then cooperate with the movement of the robotic arm to make multiple sorting comb teeth 210 comb the dispersed fruits along the treetop, so that the fruits and the treetops connected to the fruits are concentrated in the same plane, that is, the fruits are concentrated on one side of the multiple sorting comb teeth 210, thereby increasing the continuity and symmetry of the fruit distribution, ensuring that the fruits maintain this arrangement during the picking process, and then start the cutting mechanism 400 to cut multiple fruits on the treetops between the multiple sorting comb teeth 210, thereby improving the picking efficiency of the picking robot.

[0031] In the present invention, the branch plate 230 at the front end of the comb teeth is triangular, so that the fruits on the fruiting branch group can automatically slide into between two adjacent sorting comb teeth 210 along the inclined surface of the branch plate 230 at the front end of the comb teeth.

[0032] Embodiment 1

[0033] like Figure 1-2 As shown, in this embodiment, the adjustment mechanism 300 includes two electric push rods 310, and the two electric push rods 310 are fixedly connected to the top of the slide rail 100, and the movable ends of the two electric push rods 310 are respectively fixedly connected to the top ends of two arranging comb teeth 210 located at both ends, and a scissor-type bracket 320 is arranged inside the slide rail 100, and a rectangular through hole 212 is opened at the top end of one side of multiple arranging comb teeth 210, and the scissor-type bracket 320 is located inside the multiple rectangular through holes 212, and the arranging comb teeth 210 are rotatably connected to the scissor-type bracket 320.

[0034] In this embodiment, the scissor-type bracket 320 includes multiple inner support rods and multiple outer support rods, and the multiple inner support rods and the adjacent outer support rods are rotatably connected with a rotating shaft, the multiple rotating shafts correspond one-to-one to the multiple rectangular through holes 212, and the multiple rotating shafts are fixedly connected between the two opposite inner walls of the corresponding rectangular through holes 212.

[0035] In this embodiment, by synchronously starting two electric push rods 310 through a one-to-two controller, the two electric push rods 310 can drive the two sorting comb teeth 210 located at the two ends to move toward or away from each other, so that the two sorting comb teeth 210 drive the scissor-type bracket 320 to be stretched or compressed as a whole. When the scissor-type bracket 320 is stretched, the distance between two adjacent sorting comb teeth 210 increases, and when the scissor-type bracket 320 is compressed, the distance between two adjacent sorting comb teeth 210 decreases.

[0036] like Figure 5-6As shown, in this embodiment, the cutting mechanism 400 includes a movable plate 410, and a plurality of circular through holes are provided on one side of the movable plate 410, two blades 420 are provided on one side of the movable plate 410, and a plurality of notches 421 are provided on one side of the two blades 420, and the plurality of notches 421 on the same blade 420 correspond one to one with the plurality of circular through holes on the movable plate 410, a plurality of arranging comb teeth 210 are provided on one side with sliding through holes 213, and the movable plate 410 and the two blades 420 are located between the plurality of sliding through holes 213, both ends of the slide rail 100 are fixedly connected with connecting plates 110, and one side of the two connecting plates 110 are fixedly connected with guide rails 120, and the outer side walls of the two guide rails 120 are slidably connected with sliders 121, and one side of the moving plate 410 is fixedly connected to the two sliders 121, one end of the moving plate 410 is fixedly connected to the shell 430, and the shell 430 is rotatably connected to the rotating rod 440, the outer wall of the rotating rod 440 is provided with two eccentric wheels 441, and the outer wall of the rotating rod 440 is fixedly sleeved with the inner walls of the two eccentric wheels 441, the outer walls of the two eccentric wheels 441 are rotatably sleeved with cranks 442, and one end of the two cranks 442 is rotatably connected to one end of the two blades 420 respectively, a DC motor is provided inside the shell 430, and the motor shaft of the DC motor is fixedly sleeved with a transmission gear 444, the outer wall of the rotating rod 440 is fixedly sleeved with a driven gear 443, and the driven gear 443 is meshed with the transmission gear 444.

[0037] In a specific implementation, when installing the cutting mechanism 400, the user can use the bolts in the prior art, select a plurality of bolts of suitable specifications, align the plurality of bolts with the plurality of circular through holes, and then sequentially pass the plurality of bolts through the notches 421 on the two blades 420 and then through the circular through holes on the movable plate 410 and screw them together with the nuts, so that the two blades 420 are stacked on the movable plate 410, and the notches 421 on the blades 420 can be relied on to slide the two blades 420 back and forth within a certain distance to make it easier to cut the treetops, and by starting the DC motor, the transmission gear 444 drives the rotating rod 443 through the driven gear 444. 40 rotates synchronously, the inner side walls of the two eccentric wheels 441 on the rotating rod 440 are close to the outer ring edge of the same, and the two eccentric wheels 441 are symmetrically distributed with the central axis of the rotating rod 440 as the center, so that when the rotating rod 440 rotates, the two eccentric wheels 441 are driven to rotate synchronously, so that the two eccentric wheels 441 drive the two cranks 442 to move synchronously, when one end of the crank 442 approaches the moving plate 410, the other end of the crank 442 will be away from the moving plate 410, so that the two cranks 442 drive the two blades 420 to move back and forth in different directions, so that the two blades 420 can saw the treetops, thereby improving the cutting effect on the treetops.

[0038] Embodiment 2

[0039] On the basis of the first embodiment, the drive motor 450 and the screw rod 451 are provided to facilitate the user to control the positions of the two blades 420 .

[0040] like Figure 4 As shown, in this embodiment, the top of the sorting comb teeth 210 located in the middle is fixedly connected to a driving motor 450, and the motor shaft of the driving motor 450 is fixedly connected to a screw rod 451, a screw nut 452 is screwed on the outer side wall of the screw rod 451, and one side of the screw nut 452 is fixedly connected to the top surface of the movable plate 410.

[0041] During specific implementation, the driving motor 450 is started to drive the screw rod 451 to rotate, and the screw rod 451 is used to control the positions of the screw nut 452 and the movable plate 410 on the screw rod 451, thereby controlling the two blades 420 to move along the sliding through hole 213 to cut the treetops between two adjacent trimming comb teeth 210.

[0042] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0043] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fruit sorting and cutting device for a fruit picking robot, comprising a slide rail (100), characterized in that: The slide rail (100) is internally slidably engaged with a fruit sorting and separating mechanism (200), and the fruit sorting and separating mechanism (200) is matched with an adjusting mechanism (300) and a cutting mechanism (400); The fruit sorting and separation mechanism (200) comprises a plurality of sorting comb teeth (210), the sorting comb teeth (210) are required to separate the fruits from the fruiting branches to complete the fruit sorting, and the top ends of the plurality of sorting comb teeth (210) are all slidably engaged with the inside of the slide rail (100), a rectangular groove (211) is provided at the bottom of one side of the plurality of sorting comb teeth (210), and a one-way fruit-feeding rotating plate (220) is provided inside the plurality of rectangular grooves (211), and the one-way fruit-feeding rotating plate (220) is required to allow the fruits to enter in one direction from the front end of the sorting comb teeth (210), so as to ensure that the fruits can be concentrated on the comb tooth surface after entering in one direction. One end of each of the one-way fruit-feeding rotating plates (220) is rotatably connected to the inside of the adjacent rectangular groove (211), and one end of each of the one-way fruit-feeding rotating plates (220) is provided with a torsion spring (221), one end of each of the one-way fruit-feeding rotating plates (220) is fixedly connected to one side of the adjacent one-way fruit-feeding rotating plates (220), and the other end of each of the one-way fruit-feeding rotating plates (221) is fixedly connected to an inner wall of an adjacent rectangular groove (211), and the bottom of the other side of each of the one-way fruit-feeding rotating plates (220) is fixedly connected to a comb tooth front end branch plate (230), and the comb tooth front end branch plate (230) is required to guide the fruits on the fruiting branch group into the inside of two adjacent arranging comb teeth (210).

2. The fruit sorting and cutting device of the fruit picking robot according to claim 1, characterized in that: The branch plate (230) at the front end of the comb teeth is triangular.

3. The fruit sorting and cutting device of the fruit picking robot according to claim 2, characterized in that: The adjustment mechanism (300) comprises two electric push rods (310), the two electric push rods (310) are fixedly connected to the top of the slide rail (100), and the movable ends of the two electric push rods (310) are respectively fixedly connected to the tops of two arranging comb teeth (210) located at both ends, a scissor-type bracket (320) is arranged inside the slide rail (100), a rectangular through hole (212) is opened at the top of one side of a plurality of the arranging comb teeth (210), and the scissor-type bracket (320) is located inside the plurality of rectangular through holes (212), and the arranging comb teeth (210) are rotatably connected to the scissor-type bracket (320).

4. The fruit sorting and cutting device of the fruit picking robot according to claim 3, characterized in that: The cutting mechanism (400) comprises a movable plate (410), and a plurality of circular through holes are provided on one side of the movable plate (410); two blades (420) are provided on one side of the movable plate (410), and a plurality of notches (421) are provided on one side of the two blades (420); the plurality of notches (421) on the same blade (420) correspond one to one with the plurality of circular through holes on the movable plate (410); a plurality of the arranging comb teeth (210) are provided on one side with sliding through holes (213), and the movable plate (410) and the two blades (420) are located between the plurality of sliding through holes (213); both ends of the slide rail (100) are fixedly connected with connecting plates (110), and one side of the two connecting plates (110) is fixedly connected with guide rails (120); the outer side walls of the two guide rails (120) are slidably clamped with sliders (121), and one side of the movable plate (410) is fixedly connected with the two sliders (121).

5. The fruit sorting and cutting device of the fruit picking robot according to claim 4, characterized in that: One end of the movable plate (410) is fixedly connected to a shell (430), and a rotating rod (440) is rotatably connected inside the shell (430). Two eccentric wheels (441) are provided on the outer wall of the rotating rod (440), and the outer wall of the rotating rod (440) is fixedly sleeved with the inner walls of the two eccentric wheels (441). The outer walls of the two eccentric wheels (441) are both rotatably sleeved with cranks (442), and one end of the two cranks (442) is rotatably connected to one end of the two blades (420) respectively.

6. The fruit sorting and cutting device of the fruit picking robot according to claim 5, characterized in that: A DC motor is arranged inside the housing (430), and a transmission gear (444) is fixedly sleeved on the motor shaft of the DC motor. A driven gear (443) is fixedly sleeved on the outer wall of the rotating rod (440), and the driven gear (443) is meshed with the transmission gear (444).

7. The fruit sorting and cutting device of the fruit picking robot according to claim 6, characterized in that: The top end of the arranging comb teeth (210) located in the middle is fixedly connected to a driving motor (450), and the motor shaft of the driving motor (450) is fixedly connected to a screw rod (451), a screw nut (452) is screwed on the outer side wall of the screw rod (451), and one side of the screw nut (452) is fixedly connected to the top surface of the moving plate (410).

Images