Kiwi fruit picking robot

Abstract

The utility model relates to the technical field of robots, and discloses a kiwi fruit picking robot which comprises a chassis frame. The walking assembly is used for driving the chassis frame to move; the moving assembly is used for adjusting the picking position; the picking assembly is used for picking kiwi fruits; the collecting assembly is used for collecting kiwi fruits; the moving assembly comprises a first moving frame, a second moving frame and a third moving frame, and the picking assembly comprises a picking mechanical arm and a slideway pipe. Through cooperation of the walking assembly, the moving assembly, the picking assembly and the collecting assembly, the picking mechanical arm can move to the position of kiwi fruits for picking, a flexible material wrapping a clamping piece of the picking mechanical arm plays a role in protecting the kiwi fruits, and a sliding way pipe plays a role in buffering and guiding falling of the kiwi fruits, so that the kiwi fruits are prevented from directly falling and being broken.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a kiwi fruit harvesting robot. Background Technology

[0002] Kiwifruit harvesting is highly seasonal and has a short cycle, requiring the harvesting of a large number of fruits in a short period of time. Therefore, it requires a significant investment of manpower and resources. The existing methods of kiwifruit harvesting mainly include manual harvesting and mechanical harvesting. Manual harvesting requires harvesters to work continuously in the orchard for long periods of time, bending over, reaching out, or climbing ladders. This method is labor-intensive, and with the increasing cost of labor each year, the cost of manual kiwifruit harvesting is also rising. Mechanical harvesting, on the other hand, utilizes computer vision technology, sensor technology, robotic arm technology, and robot mobility technology to achieve automated mechanical harvesting.

[0003] However, the existing technology has the following problems:

[0004] In existing technologies for harvesting kiwifruit using robots, the robotic arms are harder than human hands, and their gripping force cannot be adjusted freely based on touch like a human hand. As a result, the robotic arms often cause damage to the surface of the kiwifruit due to excessive gripping force, which affects the storage and quality of the kiwifruit. Utility Model Content

[0005] The purpose of this utility model is to provide a kiwi fruit harvesting robot to solve the above problems and overcome the defects of the prior art, as detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This utility model provides a kiwifruit harvesting robot, comprising: a chassis frame; a walking component for driving the chassis frame to move; a moving component for adjusting the harvesting position; a harvesting component for harvesting kiwifruit; and a collecting component for collecting kiwifruit. Two moving components are provided, each mounted on the chassis frame. Each moving component includes a first moving frame, a second moving frame, and a third moving frame. The first moving frame is slidably mounted on the chassis frame, the second moving frame is slidably mounted on the first moving frame, and the third moving frame is slidably mounted on the second moving frame. Two harvesting components are provided, each mounted on one of the two moving components. Each harvesting component includes a harvesting robotic arm and a sliding tube. The harvesting robotic arm is mounted on the top of the third moving frame, and the sliding tube is connected to the second and third moving frames respectively via two clamps.

[0008] Preferably, the walking assembly includes four casters, which are respectively installed at the four corners of the side wall of the chassis frame, and each caster is equipped with a drive device.

[0009] Preferably, a drive device is provided on the chassis frame and connected to two first movable frames, a drive device is provided between the first and second movable frames, a drive device is provided between the third movable frame and the second movable frame, and a vision camera is provided on the chassis frame.

[0010] Preferably, the collection assembly includes a collection hopper and a collection box, the collection hopper being mounted on a chassis frame, and the collection box being slidably mounted inside the chassis frame, with the collection box located below the collection hopper.

[0011] Preferably, the harvesting robotic arm includes two clamps and a drive device. The outer wall of the clamps is covered with a flexible material. The top and bottom of the slide tube are respectively provided with an inlet and an outlet. The inlet of the slide tube is located below the two clamps, and the outlet of the slide tube is located above the collection hopper.

[0012] Preferably, the harvesting component further includes an installation block, which is mounted on the second movable frame via a bracket. A sliding rod is slidably connected through the inner wall of the installation block, and a sliding shaft is connected to the sliding rod. A groove plate is connected to the third movable frame via a bracket, and a wavy groove is provided on the groove plate. The sliding shaft is slidably connected to the wavy groove of the groove plate. A detonator is connected to the end of the sliding rod away from the groove plate, and the detonator is connected to the outer wall of the slide tube.

[0013] Preferably, the harvesting assembly further includes a connecting rod mounted on a third movable frame. A light rod is connected to the connecting rod, and a piston is connected to the bottom end of the light rod. An air chamber is connected to the mounting block. The piston is slidably connected to the inner wall of the air chamber, and the light rod is slidably connected through the top of the air chamber. Two air inlet pipes and two air outlet pipes are connected to the air chamber. A flexible hose is connected between the two air outlet pipes via a T-junction. The top of the flexible hose is connected to the top outer wall of the slide pipe via a clamp, and a jet nozzle is connected to the top of the flexible hose.

[0014] Preferably, one of the air inlet pipes and one of the air outlet pipes are located above the piston, and the other air inlet pipe and the other air outlet pipe are located below the piston. Each of the air inlet pipes and the air outlet pipes is equipped with a check valve. The jet head is provided with a jet nozzle, and the jet nozzle faces the two clamps of the harvesting robot arm. The top of the slide tube is rotatably mounted with a pry bar via a bracket. One end of the pry bar is connected to the bottom outer wall of the jet head. The end of the pry bar away from the jet head is provided with a flat plate, and the flat plate of the jet head is located inside the inlet of the slide tube.

[0015] Preferably, a tray is slidably installed inside the collection box, and multiple constant force springs are connected between the bottom surface of the tray and the bottom inner wall of the collection box.

[0016] The beneficial effects are:

[0017] 1. This kiwifruit harvesting robot, through the cooperation of walking, moving, harvesting, and collecting components, enables the robotic arm to move to the location of the kiwifruit for harvesting. The flexible material wrapped around the robotic arm's clamps protects the kiwifruit, while the slide tube cushions and guides the kiwifruit as it falls, preventing it from falling directly and breaking. The tray and multiple constant-force springs work together to cushion the impact, protecting the kiwifruit falling into the collecting box. Furthermore, the tray can descend as the number of kiwifruit above it increases, keeping the landing point of the kiwifruit in the collecting box at a higher position, shortening the falling distance and reducing the probability of breakage. With two moving components and two harvesting components, the two harvesting components can perform harvesting operations simultaneously, improving harvesting efficiency.

[0018] 2. This kiwifruit harvesting robot, through the setting of the actuating ring, allows the actuating ring to continuously actuate the slide tube as the kiwifruit slides inside, promoting the kiwifruit to fall and preventing blockage in the slide tube.

[0019] 3. This kiwifruit harvesting robot features a jet nozzle that allows for continuous airflow during harvesting, removing impurities from the kiwifruit surface and reducing subsequent cleaning workload. The pry bar allows the jet nozzle to swing as the kiwifruit falls, increasing its spray range and further optimizing the cleaning effect. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the mobile component of this utility model;

[0023] Figure 3 This is a schematic diagram of the second movable frame structure of this utility model;

[0024] Figure 4This is a schematic diagram of the harvesting component structure of this utility model;

[0025] Figure 5 This is a schematic diagram of the mounting block structure of this utility model;

[0026] Figure 6 This is a schematic diagram of the groove plate structure of this utility model;

[0027] Figure 7 This is a schematic diagram of the air chamber structure of this utility model;

[0028] Figure 8 This is a schematic diagram of the piston structure of this utility model;

[0029] Figure 9 This is a schematic diagram of the pry bar structure of this utility model;

[0030] Figure 10 This is a schematic diagram of the collection component structure of this utility model;

[0031] Figure 11 This is a schematic diagram of the collection box structure of this utility model;

[0032] Figure 12 This is a schematic diagram of the pallet structure of this utility model.

[0033] The reference numerals in the attached drawings are explained as follows: 1. Chassis frame; 2. Walking assembly; 3. Moving assembly; 31. First moving frame; 32. Second moving frame; 33. Third moving frame; 4. Harvesting assembly; 41. Harvesting robotic arm; 42. Slide tube; 43. Mounting block; 44. Slide rod; 45. Slide shaft; 46. Slot plate; 47. Dial ring; 48. Connecting rod; 49. Smooth rod; 410. Piston; 411. Air chamber; 412. Air inlet pipe; 413. Air outlet pipe; 414. Hose; 415. Jet nozzle; 416. Pry bar; 5. Collection assembly; 51. Collection hopper; 52. Collection box; 53. Tray; 54. Constant force spring. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0035] Example 1

[0036] Please see Figure 1 - Figure 12 A kiwi fruit harvesting robot, comprising: a chassis frame 1;

[0037] The walking component 2 is used to drive the chassis frame 1 to move. The walking component 2 includes four casters, which are respectively installed at the four corners of the side wall of the chassis frame 1. The casters are equipped with drive devices. The four casters of the walking component 2 can drive the chassis frame 1 to move through the drive devices.

[0038] The movable component 3 is used to adjust the picking position. Two movable components 3 are provided, both mounted on the chassis frame 1. Each movable component 3 includes a first movable frame 31, a second movable frame 32, and a third movable frame 33. The first movable frame 31 is slidably mounted on the chassis frame 1, the second movable frame 32 is slidably mounted on the first movable frame 31, and the third movable frame 33 is slidably mounted on the second movable frame 32. A drive device is provided on the chassis frame 1 and connected to the two first movable frames 31. A drive device is also provided between the first movable frames 31 and the second movable frame 32. A drive device is provided between the first mobile frame 33 and the second mobile frame 32. A vision camera is provided on the chassis frame 1. The first mobile frame 31 can move back and forth on the chassis frame 1 under the control of the drive component. The second mobile frame 32 can move left and right on the first mobile frame 31 under the control of the drive component. The third mobile frame 33 can move up and down on the second mobile frame 32 under the control of the drive component. A vision camera is also provided on the chassis frame 1. After the vision camera detects the position of the kiwi, it controls each drive component to make the walking component 2 drive the chassis frame 1 to move under the kiwi.

[0039] The picking component 4 is used for picking kiwifruit. There are two picking components 4, which are respectively set on two moving components 3. The picking component 4 includes a picking robotic arm 41 and a slide tube 42. The picking robotic arm 41 is installed on the top of the third moving frame 33. The slide tube 42 is connected to the second moving frame 32 and the third moving frame 33 respectively by two clamps. The picking robotic arm 41 includes two clamps and a driving device. The outer wall of the clamps is covered with a flexible material. The top and bottom of the slide tube 42 are respectively provided with an inlet and an outlet. The inlet of the slide tube 42 is located below the two clamps. The moving components 3 drive the picking robotic arm 41 to move to the kiwifruit. The picking robotic arm 41 controls the two clamps to open through the driving device. After clamping the kiwifruit, the two clamps are released, allowing the kiwifruit to fall into the inlet of the slide tube 42. The slide tube 42 has telescopic performance and can extend and retract with the movement of the third moving frame 33. The flexible material covering the outer wall of the clamps can protect the kiwifruit and prevent it from being pinched or damaged.

[0040] The collecting component 5 is used to collect kiwifruit. The collecting component 5 includes a collecting hopper 51 and a collecting box 52. The collecting hopper 51 is installed on the chassis frame 1, and the collecting box 52 is slidably installed inside the chassis frame 1. The collecting box 52 is located below the collecting hopper 51, and the outlet of the slide tube 42 is located above the collecting hopper 51. The kiwifruit slides down the slide tube 42 and falls into the collecting hopper 51 through the outlet. The kiwifruit slides down the collecting hopper 51 and into the collecting box 52. The slide tube 42 plays a role in cushioning and guiding the kiwifruit when it falls.

[0041] Through the cooperation of the walking component 2, the moving component 3, the picking component 4, and the collecting component 5, the picking robotic arm 41 can move to the position of the kiwifruit for picking. The flexible material wrapped by the clamp of the picking robotic arm 41 protects the kiwifruit. The slide tube 42 cushions and guides the kiwifruit as it falls, preventing it from falling directly and getting damaged. With the setting of two moving components 3 and two picking components 4, the two picking components 4 can carry out picking operations simultaneously, improving picking efficiency.

[0042] Furthermore, the harvesting component 4 also includes a mounting block 43, which is mounted on the second movable frame 32 via a bracket. A sliding rod 44 is slidably connected through the inner wall of the mounting block 43, and a sliding shaft 45 is connected to the sliding rod 44. A groove plate 46 is connected to the third movable frame 33 via a bracket. The groove plate 46 is provided with a wavy groove, and the sliding shaft 45 is slidably connected to the wavy groove of the groove plate 46. When the groove plate 46 moves up and down, the sliding rod 44 is driven to reciprocate back and forth on the mounting block 43 through the cooperation of the wavy groove and the sliding shaft 45. The end of the sliding rod 44 away from the groove plate 46... A ring 47 is connected to the outer wall of the slide tube 42. The slide rod 44 drives the ring 47 to move back and forth. When the ring 47 moves, it moves the slide tube 42 and its connected part back and forth, achieving the effect of shaking the slide tube 42, thereby promoting the sliding of kiwifruit in the slide tube 42 and preventing kiwifruit from blocking the slide tube 42. By setting the ring 47, when the kiwifruit slides in the slide tube 42, the ring 47 can continuously move the slide tube 42, promote the sliding of kiwifruit, and prevent the slide tube 42 from being blocked.

[0043] Furthermore, the harvesting component 4 also includes a connecting rod 48, which is mounted on the third moving frame 33. A smooth rod 49 is connected to the connecting rod 48, and a piston 410 is connected to the bottom end of the smooth rod 49. An air chamber 411 is connected to the mounting block 43. The piston 410 is slidably connected to the inner wall of the air chamber 411, and the smooth rod 49 is slidably connected to the top of the air chamber 411. Two air inlet pipes 412 and two air outlet pipes 413 are connected to the air chamber 411. A flexible hose 414 is connected between the two air outlet pipes 413 via a T-junction. The top of the flexible hose 414 is connected to the top outer wall of the slide pipe 42 via a clamp, and a spray nozzle is connected to the top of the flexible hose 414. Air head 415 has one intake pipe 412 and one outlet pipe 413 located above piston 410, and the other intake pipe 412 and the other outlet pipe 413 located below piston 410. Check valves are installed inside the intake pipe 412 and the outlet pipe 413. Air head 415 has an air nozzle facing the two grippers of the harvesting robotic arm 41. The two outlet pipes 413 alternately inject air into the hose 414, which then delivers the air to the air head 415. The air head 415 sprays air through the nozzle onto the harvesting robotic arm 41 and the kiwi fruit being grasped, thus catching the kiwi fruit. The impurities and loose fuzz adhering to the peach surface are blown off, achieving a certain cleaning effect. A pry bar 416 is rotatably mounted on the top of the slide tube 42 via a bracket. One end of the pry bar 416 is connected to the bottom outer wall of the jet head 415. A flat plate is provided on the end of the pry bar 416 away from the jet head 415. The flat plate of the jet head 415 is located inside the inlet of the slide tube 42. When the kiwi falls into the slide tube 42, it contacts the flat plate on the pry bar 416, causing the kiwi to push the flat plate downwards. This allows the pry bar 416 to use leverage to push the jet head 415 downwards. Because the hose 414 has a certain degree of resilience, when the pry bar 416 is not in contact with the kiwi, the hose... The tube 414 uses its rebound force to reset the air jet head 415 and the pry bar 416, allowing the air jet head 415 to swing as the kiwi fruit falls during air jetting, increasing the air jetting range and further improving the air jetting cleaning effect. The air jet head 415 is designed to continuously spray air during harvesting, removing impurities from the kiwi fruit surface and reducing subsequent cleaning work. The pry bar 416 allows the air jet head 415 to swing as the kiwi fruit falls, increasing the air jetting range and further optimizing the air jetting cleaning effect.

[0044] Furthermore, a tray 53 is slidably installed inside the collection box 52. Multiple constant force springs 54 are connected between the bottom surface of the tray 53 and the bottom inner wall of the collection box 52. Due to the elasticity of the multiple constant force springs 54 at the bottom, the tray 53 has a certain buffering capacity, which cushions the falling kiwifruit and further protects the kiwifruit. As the number of kiwifruit increases, the multiple constant force springs 54 contract due to the increased pressure above. When the constant force springs 54 contract, the tray 53 moves down accordingly. When there are no kiwifruit on the tray 53, the tray 53 is at its highest point. As more kiwifruit are on the tray 53, the tray 53 will gradually descend, so that the landing point of the kiwifruit in the collection box 52 is always kept at a high position, shortening the falling distance of the kiwifruit and thus reducing the probability of the kiwifruit being damaged.

[0045] Using the above structure, the working principle of this case is as follows: the four omnidirectional wheels of the walking component 2 can drive the chassis frame 1 to move through the drive device; the first moving frame 31 can move back and forth on the chassis frame 1 through the drive component; the second moving frame 32 can move left and right on the first moving frame 31 through the drive component; and the third moving frame 33 can move up and down on the second moving frame 32 through the drive component. After the vision camera on the chassis frame 1 detects the position of the kiwi, it controls each drive component to move the walking component 2 to move the chassis frame 1 under the kiwi, and the moving component 3 moves the picking robotic arm 41 to the kiwi. The picking robotic arm 41 then... The drive device controls the two clamps to open and clamp the kiwifruit. After clamping, the clamps are released, allowing the kiwifruit to fall into the inlet of the slide tube 42. The slide tube 42 has telescopic properties and can extend and retract with the movement of the third moving frame 33. The flexible material covering the outer wall of the clamps protects the kiwifruit, preventing it from being pinched or damaged. The kiwifruit slides down the slide tube 42 and falls through the outlet onto the collection hopper 51. The kiwifruit slides down the collection hopper 51 into the collection box 52. The slide tube 42 acts as a buffer and guide when the kiwifruit falls, preventing it from being damaged by a large impact from a direct fall. After entering the collection box 52, the kiwifruit falls onto the tray 53. The tray 53 is supported by multiple constant force springs at its bottom. The elastic force of component 4 provides a certain buffering capacity, cushioning the falling kiwifruit and further protecting it. As the number of kiwifruit increases, multiple constant force springs 54 contract due to the increased pressure above. When the constant force springs 54 contract, the support plate 53 moves downward, so that when there are no kiwifruit on the support plate 53, it is at its highest point. As more kiwifruit accumulates on the support plate 53, it gradually descends, ensuring that the landing point of the kiwifruit in the collection box 52 remains at a high position, shortening the falling distance and reducing the probability of the kiwifruit breaking. Through the cooperation of the walking component 2, moving component 3, picking component 4, and collecting component 5, the picking robotic arm 41 can... The robotic arm 41 moves to the location of the kiwifruit for harvesting. The flexible material wrapped around the clamps of the harvesting arm protects the kiwifruit. The slide tube 42 cushions and guides the kiwifruit as it falls, preventing it from falling directly and breaking. The tray 53 and multiple constant force springs 54 work together to cushion the kiwifruit, thus protecting the kiwifruit that falls into the collection box 52. The tray 53 can also descend as the number of kiwifruit above it increases, keeping the landing point of the kiwifruit in the collection box 52 at a higher position, shortening the falling distance and reducing the probability of the kiwifruit breaking. With the setting of two moving components 3 and two harvesting components 4, the two harvesting components 4 can perform harvesting operations simultaneously, improving harvesting efficiency.

[0046] When the third moving frame 33 moves up and down, it drives the groove plate 46 to move up and down. Due to the limitation of the sliding rod 44 and the sliding shaft 45, they can only move back and forth. When the groove plate 46 moves up and down, the sliding rod 44 moves back and forth on the mounting block 43 through the cooperation of the wave-shaped sliding groove and the sliding shaft 45. The sliding rod 44 drives the dial ring 47 to move back and forth. When the dial ring 47 moves, it moves the slide tube 42 and its connected part back and forth, achieving the effect of shaking the slide tube 42, thereby promoting the sliding of kiwifruit in the slide tube 42 and avoiding the situation where kiwifruit is blocked in the slide tube 42. When the third moving frame 33 moves up and down, it drives the smooth rod 49 to move up and down through the connecting rod 48. The smooth rod 49 drives the piston. As piston 410 moves up and down, the check valves in inlet pipe 412 and outlet pipe 413 ensure that gas flows in only one direction. When piston 410 moves upward, the air between the top surface of piston 410 and air chamber 411 is compressed into the upper outlet pipe 413, while the air between the bottom surface of piston 410 and air chamber 411 is replenished through the lower inlet pipe 412. When piston 410 moves downward, the air between the bottom surface of piston 410 and air chamber 411 is compressed into the lower outlet pipe 413, while the air between the top surface of piston 410 and air chamber 411 is replenished through the upper inlet pipe 412. Therefore, the two outlet pipes 413 alternately inject air into hose 414. 4. Air is delivered to the jet head 415. The jet head 415 sprays air through its nozzle onto the harvesting robotic arm 41 and the kiwifruit being picked, blowing off impurities and loose fuzz from the surface of the kiwifruit, thus achieving a certain cleaning effect. When the kiwifruit falls into the slide tube 42, it contacts the plate on the pry bar 416, causing the kiwifruit to push the plate downwards. This causes the pry bar 416 to use leverage to push the jet head 415 downwards. Because the hose 414 has a certain degree of resilience, when the pry bar 416 is not in contact with the kiwifruit, the hose 414 uses its rebound force to reset the jet head 415 and the pry bar 416, allowing the jet head 415 to follow the falling kiwifruit while spraying air. The oscillating motion increases the air jet range, further enhancing the air jet cleaning effect. The deflector ring 47 continuously moves the slide tube 42 as the kiwifruit slides within it, promoting its descent and preventing blockages. The air jet head 415 continuously sprays air during harvesting, removing impurities from the kiwifruit surface and reducing subsequent cleaning workload. The pry bar 416 causes the air jet head 415 to oscillate as the kiwifruit falls, increasing its spray range and further optimizing the air jet cleaning effect.

[0047] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A kiwifruit picking robot, characterized by, Include: Chassis frame (1); Walking assembly (2) for driving chassis frame (1) to move; Moving assembly (3) for adjusting picking position; Picking assembly (4) for picking kiwi fruit; Collecting assembly (5) for collecting kiwi fruit; The moving assembly (3) is provided with two, two moving assemblies (3) are arranged on the chassis frame (1), the moving assembly (3) comprises a first moving frame (31), a second moving frame (32) and a third moving frame (33), the first moving frame (31) is slidably installed on the chassis frame (1), the second moving frame (32) is slidably installed on the first moving frame (31), and the third moving frame (33) is slidably installed on the second moving frame (32); The picking assembly (4) is provided with two, two picking assemblies (4) are arranged on two moving assemblies (3) respectively, the picking assembly (4) comprises a picking mechanical arm (41) and a slide pipe (42), the picking mechanical arm (41) is installed at the top end of the third moving frame (33), and the slide pipe (42) is connected with the second moving frame (32) and the third moving frame (33) through two hoops respectively.

2. The kiwifruit picking robot according to claim 1, characterized in that: The walking assembly (2) comprises four universal wheels, four universal wheels are installed at four corners of the side wall of the chassis frame (1) respectively, and driving devices are arranged on the universal wheels.

3. A kiwifruit picking robot according to claim 2, characterised in that: Driving devices are arranged on the chassis frame (1) and connected with two first moving frames (31), driving devices are arranged between the first moving frame (31) and the second moving frame (32), driving devices are arranged between the third moving frame (33) and the second moving frame (32), and visual cameras are arranged on the chassis frame (1).

4. A kiwifruit picking robot according to claim 3, characterised in that: The collecting assembly (5) comprises a collecting hopper (51) and a collecting box (52), the collecting hopper (51) is installed on the chassis frame (1), the collecting box (52) is slidably installed in the inside of the chassis frame (1), and the collecting box (52) is located below the collecting hopper (51).

5. A kiwifruit picking robot according to claim 4, characterised in that: The picking mechanical arm (41) comprises two clamps and driving devices, the outer wall of the clamp is wrapped with flexible material, the top and bottom of the slide pipe (42) are respectively provided with an inlet and an outlet, the inlet of the slide pipe (42) is located below the two clamps, and the outlet of the slide pipe (42) is located above the collecting hopper (51).

6. A kiwifruit picking robot according to claim 5, characterised in that: The picking assembly (4) further comprises a mounting block (43), the mounting block (43) is installed on the second moving frame (32) through a support, a slide rod (44) is slidably connected in the inner wall of the mounting block (43), a slide shaft (45) is connected on the slide rod (44), a groove plate (46) is connected on the third moving frame (33) through a support, the groove plate (46) is provided with a wave-shaped sliding groove, the slide shaft (45) is slidably connected with the wave-shaped sliding groove of the groove plate (46), a pull ring (47) is connected at the end of the slide rod (44) away from the groove plate (46), and the pull ring (47) is connected with the outer wall of the slide pipe (42).

7. A kiwifruit picking robot according to claim 6, characterised in that: The picking assembly (4) further comprises a connecting rod (48) installed on the third moving frame (33), a light rod (49) connected to the connecting rod (48), a piston (410) connected to the bottom end of the light rod (49), an air chamber (411) connected to the mounting block (43), the piston (410) and the inner wall of the air chamber (411) in sliding connection, the light rod (49) and the top of the air chamber (411) in penetrating sliding connection, two air inlet pipes (412) and two air outlet pipes (413) connected to the air chamber (411), a hose (414) connected between the two air outlet pipes (413) through a three-way pipe, the top of the hose (414) connected to the top outer wall of the slide pipe (42) through a hoop, and a jet head (415) connected to the top end of the hose (414).

8. A kiwifruit picking robot according to claim 7, characterised in that: One of the air inlet pipe (412) and one of the air outlet pipe (413) are located above the piston (410), and the other air inlet pipe (412) and the other air outlet pipe (413) are located below the piston (410), a check valve is arranged in each of the air inlet pipe (412) and the air outlet pipe (413), a jet port is arranged on the jet head (415), the jet port of the jet head (415) faces the two clamping pieces of the picking mechanical arm (41), a crowbar (416) is rotatably installed on the top end of the slide pipe (42) through a support, one end of the crowbar (416) is connected to the bottom outer wall of the jet head (415), a flat plate is arranged on the end of the crowbar (416) away from the jet head (415), and the flat plate of the jet head (415) is located in the inlet of the slide pipe (42).

9. A kiwifruit picking robot according to claim 8, characterised in that: A supporting plate (53) is slidably installed in the collecting box (52), and a plurality of constant force springs (54) are connected between the bottom surface of the supporting plate (53) and the bottom inner wall of the collecting box (52).

Images