Apple picking robot

Abstract

The utility model discloses an apple picking robot which comprises a driving assembly, one side of the driving assembly is connected with a collecting device, one side of the driving assembly is provided with a clamping and fixing device, the clamping and fixing device comprises an unlocking block, an unlocking plate, a clamping and fixing sleeve, an unlocking sleeve, a connecting spring, a clamping and fixing block, a clamping and fixing rod and a clamping and fixing groove, and the unlocking block is arranged in the unlocking sleeve. The unlocking sleeve is arranged on the outer side of the clamping sleeve in a sleeving mode, the unlocking plate is connected with the unlocking sleeve through the connecting spring, the clamping block is clamped in the clamping groove, a reinforcing mechanism is arranged on the outer side of the clamping sleeve and comprises an adaptive plate, a matching plate, a matching sleeve, a matching groove, an adaptive sleeve, an adaptive spring, an adaptive rod and an adaptive groove, and the adaptive plate is connected to one side of the adaptive sleeve. The matching plate is connected to the inner side of the adaptation plate, the matching grooves are formed in the matching sleeve, one end of the adaptation rod is connected with the outer wall of the unlocking sleeve through the adaptation spring, and the multiple adaptation grooves are formed in the outer side of the unlocking sleeve. The whole picking efficiency is improved, time delay in the picking process is reduced, and the stability of the device is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of fruit picking, and more particularly to an apple picking robot. Background Art

[0002] Although some progress has been made in the existing apple picking robot technology, it still faces many challenges and shortcomings, mainly in terms of equipment structure, collection and transportation efficiency, and stability.

[0003] First of all, many apple-picking robots use drive components combined with robotic arms to pick fruits. Although this design can basically meet the picking needs, the equipment structure is usually simple and lacks a matching collection device. This means that the picked apples need to be manually collected and transported, which not only increases labor costs but also greatly reduces picking efficiency. In large-scale orchards, the manual collection and transportation process is time-consuming and labor-intensive, resulting in bottlenecks in the picking process and failing to fully utilize the robot's automation advantages.

[0004] Secondly, to solve the above problems, some advanced apple-picking robots are equipped with storage bins to facilitate the collection and transportation of picked apples. However, these robots still have shortcomings in the connection and disassembly operations between the drive components and the storage bins. Usually, these operations are rather cumbersome. When a storage bin is full, it cannot be quickly replaced, which not only causes delays in picking work, but may also affect the overall picking plan and efficiency. During peak picking periods, this delay problem is particularly prominent, affecting the economic benefits of the orchard.

[0005] In addition, although some equipment has introduced quick connection and disconnection devices in order to improve the replacement efficiency of storage bins, these devices have simple structures and lack sufficient mechanical strength and stability. In actual operation, the bumps on the orchard road or the vibrations during the operation of the equipment may cause these connecting parts to loosen or even fall off. This situation not only affects the normal operation of the equipment, but may also cause damage or loss of apples during the picking process, increasing operational risks and maintenance costs. Utility Model Content

[0006] (1) Technical problems solved

[0007] In view of the problems existing in the prior art, the utility model provides an apple picking robot to solve the technical problems mentioned in the background technology.

[0008] (2) Technical solution

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an apple picking robot, comprising a driving assembly, characterized in that: one side of the driving assembly is connected to a collecting device, one side of the driving assembly is provided with a clamping device, the clamping device comprises an unlocking block, an unlocking plate, a clamping sleeve, an unlocking sleeve, a connecting spring, a clamping block, a clamping rod and a clamping groove, the unlocking block is fixedly arranged in the unlocking sleeve, the unlocking plate is connected to one side of the clamping block, the clamping sleeve is detachably sleeved on the outside of the clamping rod, the unlocking sleeve is rotatably sleeved on the outside of the clamping sleeve, the unlocking plate is connected to the outer wall of the unlocking sleeve by a connecting spring, the clamping block clamps The cam is fitted in the fixing groove, the fixing groove is provided on the outside of the fixing rod, and a reinforcement mechanism is provided on the outside of the fixing sleeve, the reinforcement mechanism includes an adapter plate, a matching plate, a matching sleeve, a matching groove, an adapter sleeve, an adapter spring, an adapter rod and an adapter groove, the adapter plate is fixedly connected to one side of the adapter sleeve, the matching plate is connected to the inner side of the adapter plate, the matching sleeve is rotatably sleeved on the outside of the fixing sleeve, the matching groove is provided on the matching sleeve, the adapter sleeve is slidingly sleeved on the outside of the fixing sleeve, one end of the adapter rod is connected to the outer wall of the unlocking sleeve through the adapter spring, the other end of the adapter rod is inserted into the adapter groove, and a plurality of adapter grooves are provided on the outer wall of the fixing sleeve.

[0010] The utility model is further configured such that a fixing plate is fixedly provided at one end of the fixing rod.

[0011] The present invention is further configured such that a slide groove is provided on the outer side of the fixing sleeve, a slider is fixedly provided on the inner side of the adapting sleeve, and the slider is slidably arranged in the slide groove.

[0012] The utility model is further configured such that a matching spring is connected to one side of the adapter sleeve, and the other end of the matching spring is in contact connection with the matching sleeve.

[0013] The present invention is further configured such that the collection device includes a storage bin, a tire and a mounting frame, the mounting frame can be detachably mounted under the storage bin, and the tire can be movably mounted on the outside of the drive assembly and one side of the mounting frame respectively. Through the design of components such as the storage bin, mechanized collection and collection are achieved.

[0014] The utility model is further configured such that a connecting frame is connected to one side of the storage bin, a fixing frame is fixedly provided on one side of the driving assembly, and a connecting sleeve is connected to one side of both the connecting frame and the fixing frame.

[0015] The utility model is further configured such that a mechanical arm assembly is movably provided above the driving assembly, and a mechanical claw assembly is connected to one end of the mechanical arm assembly. The apple picking work can be quickly completed through the cooperation of the mechanical arm assembly and the mechanical claw assembly.

[0016] The present invention is further configured such that a camera assembly is movably provided above the driving assembly, and the arrangement of the camera assembly facilitates observation of the surrounding conditions of the device.

[0017] (3) Beneficial effects

[0018] Compared with the existing technology, the utility model provides an apple picking robot with the following beneficial effects:

[0019] 1. The collection device includes components such as a storage bin, tires, and a mounting frame, which solves the problem of high labor intensity in manual picking and collection in the existing technology. The cooperation of the robotic arm assembly and the robotic claw assembly can quickly complete the apple picking work, greatly reducing the labor intensity of manual labor. The design of components such as the storage bin realizes mechanized collection and collection, thereby improving the overall apple picking efficiency. The structural design of arranging a camera assembly above the drive assembly facilitates real-time observation of the situation around the equipment, thereby improving operational safety.

[0020] 2. The locking device includes an unlocking block, an unlocking plate, a locking sleeve, an unlocking sleeve, a connecting spring, a locking block, a locking rod and a locking groove, which solves the problem of cumbersome storage bin replacement in the prior art. By arranging an unlocking block in the unlocking sleeve and an unlocking plate on one side of the locking block, when a storage bin is full, the storage bin can be quickly replaced, which not only avoids delays in picking work, but also improves the overall picking plan and efficiency, and ensures the economic benefits of the orchard. This not only reduces maintenance costs, but also shortens equipment downtime, thereby ensuring picking efficiency.

[0021] 3. The reinforcement mechanism includes components such as an adapter plate, a matching plate, a matching sleeve, a matching groove, an adapter sleeve, an adapter spring, an adapter rod and an adapter groove, which makes the fixation of the fixing device more stable. The structural design of the adapter spring is arranged on the outside of the adapter rod, which makes the resetting of the reinforcement mechanism easier. The rounded corner structure design of the end of the adapter rod and the rounded corner treatment of the side wall of the adapter groove avoid the jamming between the parts, and further improves the safety of the device. These improvements will not only ensure the stability of the storage bin fixation and prevent the fruit from being damaged, but also reduce the occurrence of safety accidents, avoid serious hidden dangers, reduce maintenance costs, and increase the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of an apple picking robot in the present utility model;

[0023] Figure 2 for Figure 1 Schematic diagram of the local enlarged structure at A in the middle;

[0024] Figure 3 This is a schematic diagram of the overall structure of the second perspective of the present invention;

[0025] Figure 4It is a cross-sectional structural diagram of the clamping device and the reinforcement mechanism in the present invention;

[0026] Figure 5 for Figure 4 Schematic diagram of the local enlarged structure at B in the middle;

[0027] Figure 6 for Figure 4 Schematic diagram of the locally enlarged structure at point C in the middle.

[0028] In the figure: 1. Drive assembly; 2. Unlocking block; 3. Unlocking plate; 4. Fixing sleeve; 5. Unlocking sleeve; 6. Connecting spring; 7. Fixing block; 8. Fixing rod; 9. Fixing slot; 10. Adapter plate; 11. Matching plate; 12. Matching sleeve; 13. Matching slot; 14. Adapter sleeve; 15. Adapter spring; 16. Adapter rod; 17. Adapter slot; 18. Fixing plate; 19. Slide; 20. Slider; 21. Matching spring; 22. Storage bin; 23. Tire; 24. Mounting frame; 25. Connecting frame; 26. Fixing frame; 27. Connecting sleeve; 28. Robotic arm assembly; 29. ​​Robotic claw assembly; 30. Camera assembly. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0031] In the present invention, unless otherwise specified, directions such as "up" and "down" are usually relative to the directions shown in the drawings, or relative to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are usually relative to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned direction words are not used to limit the present invention.

[0032] See also Figures 1-6, an apple picking robot includes a driving component 1, one side of the driving component 1 is connected to a collecting device, one side of the driving component 1 is provided with a clamping device, the clamping device includes an unlocking block 2, an unlocking plate 3, a clamping sleeve 4, an unlocking sleeve 5, a connecting spring 6, a clamping block 7, a clamping rod 8 and a clamping slot 9, the unlocking block 2 is fixedly arranged in the unlocking sleeve 5, the unlocking plate 3 is connected to one side of the clamping block 7, the clamping sleeve 4 is detachably sleeved on the outside of the clamping rod 8, the unlocking sleeve 5 is rotatably sleeved on the outside of the clamping sleeve 4, the unlocking plate 3 is connected to the outer wall of the unlocking sleeve 5 by the connecting spring 6, the clamping block 7 is clamped in the clamping slot 9, the clamping slot 9 is opened on the outside of the clamping rod 8, and the clamping A reinforcement mechanism is provided on the outside of the sleeve 4, which includes an adapter plate 10, a matching plate 11, a matching sleeve 12, a matching groove 13, an adapter sleeve 14, an adapter spring 15, an adapter rod 16 and an adapter groove 17. The adapter plate 10 is fixedly connected to one side of the adapter sleeve 14, the matching plate 11 is connected to the inner side of the adapter plate 10, the matching sleeve 12 is rotatably sleeved on the outside of the fixing sleeve 4, the matching groove 13 is opened on the matching sleeve 12, and the adapter sleeve 14 is slidingly sleeved on the outside of the fixing sleeve 4. One end of the adapter rod 16 is connected to the outer wall of the unlocking sleeve 5 through the adapter spring 15, and the other end of the adapter rod 16 is inserted into the adapter groove 17. Multiple adapter grooves 17 are opened on the outer wall of the fixing sleeve 4.

[0033] A clamping plate 18 is fixedly provided at one end of the clamping rod 8 .

[0034] A sliding groove 19 is provided on the outer side of the fixing sleeve 4 , and a sliding block 20 is fixedly provided on the inner side of the adapting sleeve 14 . The sliding block 20 is slidably arranged in the sliding groove 19 .

[0035] A matching spring 21 is connected to one side of the adapter sleeve 14 , and the other end of the matching spring 21 is in contact connection with the matching sleeve 12 .

[0036] In this embodiment, when the storage bin 22 is full, the matching sleeve 12 is first rotated so that the matching sleeve 12 drives the matching groove 13 to rotate. When the matching groove 13 moves to the position corresponding to the matching plate 11, the adapter sleeve 14 is pushed so that the adapter sleeve 14 drives the adapter plate 10 and the adapter sleeve 14 to slide along the slider 20 and the slide groove 19, and the adapter sleeve 14 cooperates with the matching sleeve 12 to squeeze the matching spring 21. When the matching spring 21 is squeezed to the limit, the corresponding matching plate 11 will pass through the matching groove 13 and move to the other side of the matching sleeve 12. Then the matching sleeve 12 is rotated again so that the matching sleeve 12 drives the matching groove 13 to move to a position that does not correspond to the matching plate 11. At this time, the adapter plate 10 and the corresponding matching plate 11 cooperate to squeeze the matching sleeve 14 When the adapter sleeve 12 is limited to one side, the adapter sleeve 14 will no longer limit the outer end of the adapter rod 16. At this time, the unlocking sleeve 5 is rotated, and the unlocking sleeve 5 will drive the adapter rod 16 set on the side wall to rotate, and then the side wall of the adapter groove 17 will squeeze one end of the adapter rod 16. Due to the rounded corner design at the end of the adapter rod 16 and the edge of the adapter groove 17, one end of the adapter rod 16 will slide out of the adapter groove 17, and then the other end of the adapter rod 16 will drive the adapter spring 15 to stretch, and at the same time, the unlocking sleeve 5 will drive the unlocking block 2 to move, and then the unlocking block 2 will push the unlocking plate 3 to move outward, and then the unlocking plate 3 will drive the connecting spring 6 to stretch, and at the same time, the unlocking plate 3 will drive the fixing block 7 to slide out of the fixing groove 9, and then the fixing sleeve 4 and the fixing rod 8 will be pulled to both sides respectively. , the locking sleeve 4 and the locking rod 8 can be removed. At this time, the storage bin 22 and the drive assembly 1 have been disconnected. Then you need to connect the peripheral conveying equipment to this storage bin 22, and connect the drive assembly 1 to another empty storage bin 22, so that the connecting sleeve 27 connected to one side of the connecting frame 25 and the connecting sleeve 27 connected to one side of the fixing frame 26 are concentrically fitted together, and then the locking rod 8 passes through the two connecting sleeves 27, and then rotate the unlocking sleeve 5 in the opposite direction. The unlocking sleeve 5 will drive the unlocking block 2 to reset, and the unlocking sleeve 5 will drive the adapter rod 16 to rotate and reset. When the unlocking block 2 is completely reset, the adapter spring 15 will drive the adapter rod 16 to reset, so that one end of the adapter rod 16 is reinserted into the original adapter slot 17, and the unlocking plate 3 will When the limit of the unlocking block 2 is lost, the connecting spring 6 will drive the locking block 7 to return to its original position through the unlocking plate 3, and then the locking sleeve 4 will be directly fitted to the outside of the locking rod 8. Due to the chamfered design of one end of the locking rod 8 and one side of the locking block 7, the locking rod 8 will push the locking block 7 open, so that the locking block 7 drives the unlocking plate 3 to move outward, and then the unlocking plate 3 will drive the connecting spring 6 to stretch again. When the locking sleeve 4 is completely fitted to the outside of the locking rod 8, the connecting spring 6 drives the locking block 7 to engage with the locking groove 9 through the unlocking plate 3, so that the locking sleeve 4 and the locking rod 8 form a locking relationship, and then the matching sleeve 12 is rotated again, so that the matching sleeve 12 drives the matching groove 13 to rotate to the position corresponding to the matching plate 11, and then the matching spring 21 will push the adapter sleeve 14 to return to its original position.Then the adapter sleeve 14 drives the adapter plate 10 and the matching plate 11 to slide and reset along the slider 20 and the sliding groove 19. When the matching spring 21 is completely reset, the other two matching plates 11 just move to the two sides of the matching sleeve 12 respectively, and then continue to rotate the matching sleeve 12, so that the matching sleeve 12 drives the matching groove 13 to move to a position that does not correspond to the matching plate 11. At this time, the adapter plate 10 and the corresponding two matching plates 11 cooperate to form a limit on the adapter sleeve 14 to prevent the adapter sleeve 14 from sliding easily. Then the inner wall of the adapter sleeve 14 limits the outer end of the adapter rod 16 again to prevent the adapter rod 16 from moving. Then the adapter rod 16 will cooperate with the adapter groove 17 to form a limit on the unlocking sleeve 5 to prevent the unlocking sleeve 5 from moving, avoiding accidental unlocking caused by accidental rotation of the unlocking sleeve 5, thereby ensuring the stability of the connection part.

[0037] See also Figure 1-Figure 4 As an implementation method of the collection device: the collection device includes a storage bin 22, a tire 23 and a mounting frame 24, the mounting frame 24 can be detachably installed under the storage bin 22, and the tire 23 can be movably installed on the outside of the drive assembly 1 and one side of the mounting frame 24.

[0038] A connecting frame 25 is connected to one side of the storage bin 22 , a fixing frame 26 is fixed to one side of the driving assembly 1 , and a connecting sleeve 27 is connected to one side of both the connecting frame 25 and the fixing frame 26 .

[0039] A mechanical arm assembly 28 is movably provided above the driving assembly 1 , and a mechanical claw assembly 29 is connected to one end of the mechanical arm assembly 28 .

[0040] A camera assembly 30 is movably provided above the driving assembly 1 .

[0041] More specifically, when the device needs to be used, the drive assembly 1 and the camera assembly 30 are turned on. The camera assembly 30 facilitates observation of the surrounding situation of the device, and the device can be remotely controlled by an external electronic control device. Then the drive assembly 1 will drive the tire 23 installed below to drive the drive assembly 1 to move, and then the drive assembly 1 will drive the storage bin 22 to move through the connecting sleeve 27 provided on the fixing frame 26 and the connecting frame 25. Then the storage bin 22 will move through the tire 23 provided on one side of the mounting frame 24. When it moves to the appropriate position, the drive assembly 1 is turned off so that the drive assembly 1 no longer moves. Then the robotic arm assembly 28 is controlled to pick apples from the apple tree, so that the robotic arm assembly 28 picks the apples through the robotic claw assembly 29 connected to its output end. Then the robotic arm assembly 28 is controlled to move the robotic claw assembly 29 together with the picked apples to the inside of the storage bin 22. Then the robotic claw assembly 29 releases the picked apples so that the apples are placed in the storage bin 22. Then refer to the above steps and repeat the operation to complete the apple picking work.

[0042] In summary, when the entire device is in use or running: when the storage bin 22 is full, the matching sleeve 12 is first rotated so that the matching sleeve 12 drives the matching groove 13 to rotate. When the matching groove 13 moves to the position corresponding to the matching plate 11, the adapter sleeve 14 is pushed so that the adapter sleeve 14 drives the adapter plate 10 and the adapter sleeve 14 to slide along the slider 20 and the slide groove 19, and the adapter sleeve 14 will cooperate with the matching sleeve 12 to squeeze the matching spring 21. When the matching spring 21 is squeezed to the limit, the corresponding matching plate 11 will pass through the matching groove 13 and move to the other side of the matching sleeve 12. Then the matching sleeve 12 is rotated again so that the matching sleeve 12 drives the matching groove 13 to move to a position that does not correspond to the matching plate 11. At this time, the adapter plate 10 and the corresponding matching plate 11 are matched. The adapter sleeve 14 is limited to one side of the matching sleeve 12, and then the adapter sleeve 14 will no longer limit the outer end of the adapter rod 16. At this time, the unlocking sleeve 5 is rotated, and the unlocking sleeve 5 will drive the adapter rod 16 set on the side wall to rotate, and then the side wall of the adapter groove 17 will squeeze one end of the adapter rod 16. Due to the rounded corner design at the end of the adapter rod 16 and the edge of the adapter groove 17, one end of the adapter rod 16 will slide out of the adapter groove 17, and then the other end of the adapter rod 16 will drive the adapter spring 15 to stretch, and at the same time the unlocking sleeve 5 will drive the unlocking block 2 to move, and then the unlocking block 2 will push the unlocking plate 3 to move outward, and then the unlocking plate 3 will drive the connecting spring 6 to stretch, and at the same time the unlocking plate 3 will drive the fixing block 7 to slide out of the fixing groove 9, and then the fixing sleeve 4 and the fixing rod 8 will be moved to the outside. By pulling on both sides, the fixing sleeve 4 and the fixing rod 8 can be removed. At this time, the storage bin 22 and the drive assembly 1 are disconnected. Then it is necessary to connect the peripheral conveying equipment to this storage bin 22, and connect the drive assembly 1 to another empty storage bin 22, so that the connecting sleeve 27 connected to one side of the connecting frame 25 and the connecting sleeve 27 connected to one side of the fixing frame 26 are concentrically fitted together, and then the fixing rod 8 is passed through the two connecting sleeves 27, and then the unlocking sleeve 5 is rotated in the opposite direction. The unlocking sleeve 5 will drive the unlocking block 2 to reset, and the unlocking sleeve 5 will drive the adapter rod 16 to rotate and reset. When the unlocking block 2 is completely reset, the adapter spring 15 will drive the adapter rod 16 to reset, so that one end of the adapter rod 16 is reinserted into the original adapter slot 17, and the unlocking plate 3 will lose the limit of the unlocking block 2, and then the connecting spring 6 will drive the locking block 7 to return to its position through the unlocking plate 3, and then the locking sleeve 4 will be directly fitted to the outside of the locking rod 8. Due to the chamfered design of one end of the locking rod 8 and one side of the locking block 7, the locking rod 8 will push the locking block 7 open, so that the locking block 7 drives the unlocking plate 3 to move outward, and then the unlocking plate 3 will drive the connecting spring 6 to stretch again. When the locking sleeve 4 is completely fitted to the outside of the locking rod 8, the connecting spring 6 drives the locking block 7 to engage with the locking groove 9 through the unlocking plate 3, so that the locking sleeve 4 and the locking rod 8 form a locking relationship, and then the matching sleeve 12 is rotated again, so that the matching sleeve 12 drives the matching groove 13 to rotate to the position corresponding to the matching plate 11, and then the matching spring 21 will push the adapter sleeve 14 to return to its position.Then the adapter sleeve 14 drives the adapter plate 10 and the matching plate 11 to slide and reset along the slider 20 and the sliding groove 19. When the matching spring 21 is completely reset, the other two matching plates 11 just move to the two sides of the matching sleeve 12 respectively, and then continue to rotate the matching sleeve 12, so that the matching sleeve 12 drives the matching groove 13 to move to a position that does not correspond to the matching plate 11. At this time, the adapter plate 10 and the corresponding two matching plates 11 cooperate to form a limit on the adapter sleeve 14 to prevent the adapter sleeve 14 from sliding easily. Then the inner wall of the adapter sleeve 14 limits the outer end of the adapter rod 16 again to prevent the adapter rod 16 from moving. Then the adapter rod 16 will cooperate with the adapter groove 17 to form a limit on the unlocking sleeve 5 to prevent the unlocking sleeve 5 from moving, avoiding accidental unlocking caused by accidental rotation of the unlocking sleeve 5, thereby ensuring the stability of the connection part.

[0043] When the device needs to be used, open the drive assembly 1 and the camera assembly 30. The camera assembly 30 is convenient for observing the situation around the device. At the same time, the device can be remotely controlled by an external electronic control device. Then the drive assembly 1 will drive the tire 23 installed below to drive the drive assembly 1 to move. Then the drive assembly 1 will drive the storage bin 22 to move through the connecting sleeve 27 set on the fixing frame 26 and the connecting frame 25. Then the storage bin 22 will move through the tire 23 set on one side of the mounting frame 24. When it moves to the appropriate position, turn off the drive assembly 1 so that the drive assembly 1 no longer moves. Then control the robotic arm assembly 28 to pick apples from the apple tree. The robotic arm assembly 28 picks the apples through the robotic claw assembly 29 connected to its output end. Then control the robotic arm assembly 28 to move the robotic claw assembly 29 together with the picked apples to the inside of the storage bin 22. Then the robotic claw assembly 29 loosens the picked apples so that the apples are placed in the storage bin 22. Then refer to the above steps and repeat the operation to complete the apple picking work.

[0044] In all the schemes mentioned above, the connection between the two components can be selected according to actual conditions by welding, bolt and nut connection, bolt or screw connection or other well-known connection methods, which will not be listed here one by one. In the above, all fixed connections are preferably welded. Although the embodiments of the present invention have been shown and described, it can be understood by ordinary technicians in this field that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. An apple picking robot, comprising a drive assembly (1), characterized in that: One side of the driving assembly (1) is connected to a collecting device. One side of the driving assembly (1) is provided with a clamping device, the clamping device comprising an unlocking block (2), an unlocking plate (3), a clamping sleeve (4), an unlocking sleeve (5), a connecting spring (6), a clamping block (7), a clamping rod (8) and a clamping groove (9). The unlocking block (2) is arranged in the unlocking sleeve (5), the unlocking sleeve (5) is sleeved on the outside of the clamping sleeve (4), the unlocking plate (3) is connected to the unlocking sleeve (5) via the connecting spring (6), the clamping block (7) is clamped in the clamping groove (9), and a reinforcing mechanism is provided on the outside of the clamping sleeve (4). The reinforcing mechanism comprises an adapter plate (10). , a matching plate (11), a matching sleeve (12), a matching groove (13), an adapting sleeve (14), an adapting spring (15), an adapting rod (16) and an adapting groove (17), the adapting plate (10) is connected to one side of the adapting sleeve (14), the matching plate (11) is connected to the inner side of the adapting plate (10), the matching sleeve (12) is sleeved on the outer side of the clamping sleeve (4), the matching groove (13) is opened on the matching sleeve (12), the adapting sleeve (14) is sleeved on the outer side of the clamping sleeve (4), one end of the adapting rod (16) is connected to the outer wall of the unlocking sleeve (5) through the adapting spring (15), and a plurality of adapting grooves (17) are opened on the outer wall of the clamping sleeve (4).

2. The apple picking robot according to claim 1, characterized in that: A clamping plate (18) is fixedly provided at one end of the clamping rod (8).

3. The apple picking robot according to claim 1, characterized in that: A sliding groove (19) is provided on the outer side of the clamping sleeve (4), and a sliding block (20) is fixedly provided on the inner side of the adapting sleeve (14), and the sliding block (20) is slidably arranged in the sliding groove (19).

4. The apple picking robot according to claim 3, wherein: One side of the adapting sleeve (14) is connected with a matching spring (21), and the other end of the matching spring (21) is in contact connection with the matching sleeve (12).

5. The apple picking robot according to any one of claims 1 to 4, characterized in that: The collecting device comprises a storage bin (22), a tire (23) and a mounting frame (24); the mounting frame (24) is detachably mounted below the storage bin (22); and the tire (23) is movably mounted on the outside of the drive assembly (1) and on one side of the mounting frame (24).

6. The apple picking robot according to claim 5, characterized in that: A connecting frame (25) is connected to one side of the storage bin (22), a fixing frame (26) is fixed to one side of the drive assembly (1), and a connecting sleeve (27) is connected to one side of both the connecting frame (25) and the fixing frame (26).

7. The apple picking robot according to claim 6, characterized in that: A mechanical arm assembly (28) is movably provided above the driving assembly (1), and one end of the mechanical arm assembly (28) is connected to a mechanical claw assembly (29).

8. The apple picking robot according to claim 7, characterized in that: A camera assembly (30) is movably provided above the driving assembly (1).

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