Apple picking robot

Abstract

The utility model discloses an apple picking robot, it includes walking mechanism, elevating system, mechanical arm picking mechanism and auxiliary mechanism, and walking mechanism includes bottom plate, four wheel hub frames and car wheel, and elevating system includes the first limit frame of setting in the top of bottom plate, is provided with elevating subassembly in the first limit frame, and the top of elevating subassembly is provided with the second limit frame and elevating plate, and mechanical arm picking mechanism includes the base rotating motor of setting in the top of elevating plate, and the output of base rotating motor is connected with the bottom of first mechanical arm, and one side of first mechanical arm top end is provided with the joint motor, and the joint motor output is connected with second mechanical arm end, and the other end of second mechanical arm is provided with the grabbing subassembly, and auxiliary mechanism includes the cabinet of setting in the one side of top of bottom plate, is equipped with the drainage element in the cabinet, and the controller is provided with in the outer wall of cabinet, the utility model discloses can utilize elevating system and promote the grabbing subassembly in mechanical arm picking mechanism to the set height to the apple and carry out picking.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and in particular to an apple picking robot. Background Technology

[0002] my country is the world's largest fruit producer and consumer. Fruit harvesting is the most labor-intensive and time-consuming part of the fruit production chain, requiring approximately 40% of the labor force in the entire production process.

[0003] In recent years, due to the rapid development of robotics technology, robots have been widely used in industries, agriculture, medicine, military and other fields. The application of agricultural robots can improve labor productivity, improve working conditions and solve problems such as labor shortage.

[0004] Currently, apple harvesting in my country is generally done manually, which is labor-intensive. Since most apples are located at high altitudes, harvesters often need to climb trees or use ladders to reach them, making the entire harvesting process somewhat dangerous. In addition, while existing apple harvesting devices can pick apples, they are neither flexible nor convenient during the harvesting process. Therefore, we propose an apple harvesting robot. Summary of the Invention

[0005] The problem this invention aims to solve is the inconvenience and labor involved in harvesting apples from high places, as is the case with existing technologies.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an apple picking robot, comprising a walking mechanism, a lifting mechanism, a robotic arm picking mechanism, and an auxiliary mechanism. The walking mechanism includes a base plate and four wheel hubs disposed at the bottom of the base plate, with wheels rotatably disposed on the four wheel hubs. The lifting mechanism includes a first limiting frame disposed at the top of the base plate, a lifting component disposed within the first limiting frame, a second limiting frame disposed at the top of the lifting component, and a lifting plate disposed at the top of the second limiting frame. The robotic arm picking mechanism includes a base rotary motor disposed at the top of the lifting plate, the output end of the base rotary motor being connected to the bottom end of the first robotic arm, a joint motor disposed on one side of the top of the first robotic arm, and a second robotic arm disposed on the other side of the top of the first robotic arm, the end of the second robotic arm being connected to the output end of the joint motor, and a gripping component disposed at the other end of the second robotic arm. The auxiliary mechanism includes a cabinet disposed on one side of the top of the base plate, a drainage component disposed inside the cabinet, a controller disposed on the outer wall of the cabinet, and the base rotary motor and the joint motor being electrically connected to the controller.

[0007] In a preferred embodiment of the apple picking robot described in this utility model, a drive motor is respectively provided on one side of each of the four wheel hubs, the output end of the drive motor is connected to the wheel, and the four drive motors are electrically connected to the controller, which is a single-chip microcomputer of model MPC89L515AP.

[0008] In a preferred embodiment of the apple-picking robot described in this utility model, the first limiting frame and the second limiting frame are rectangular frames. The first limiting frame includes a first limiting plate and a second limiting plate spaced apart. The two sides of the first limiting plate and the second limiting plate are connected by a third limiting plate and a fourth limiting plate, respectively. The opposite end faces of the third limiting plate and the fourth limiting plate are respectively provided with first limiting grooves. The second limiting frame includes a fifth limiting plate and a sixth limiting plate spaced apart. The two sides of the fifth limiting plate and the sixth limiting plate are connected by a seventh limiting plate and an eighth limiting plate, respectively. The opposite end faces of the seventh limiting plate and the eighth limiting plate are respectively provided with second limiting grooves.

[0009] In a preferred embodiment of the apple picking robot described in this utility model, the lifting assembly includes two pairs of first scissor mechanisms and second scissor mechanisms arranged vertically. The second scissor mechanism includes a first support rod and a second support rod that are hinged together in an "X" shape. A connecting rod is connected between the lower ends of the two second support rods. A first limiting post is provided at both ends of the connecting rod. The first limiting post is slidably disposed in a first limiting groove. The lower ends of the two first support rods are respectively hinged to a first limiting plate. Two first connecting plates are connected between the two first support rods at intervals.

[0010] In a preferred embodiment of the apple-picking robot of this utility model, the first scissor mechanism includes a third support rod and a fourth support rod that are hinged together in an "X" shape. The lower ends of the third support rod and the fourth support rod are respectively hinged to the upper ends of the first support rod and the second support rod. The upper ends of the two fourth support rods are respectively hinged to the fifth limiting plate. The upper ends of the two third support rods are respectively provided with second limiting posts. The second limiting posts are respectively slidably disposed in the second limiting grooves. Two second connecting plates are provided at intervals between the two third support rods.

[0011] In a preferred embodiment of the apple-picking robot described in this utility model, a transmission assembly is provided at the top of the base plate inside the first limiting frame. The transmission assembly includes a transmission motor and a first bearing seat located at the top of the base plate, and a second bearing seat located at the end face of the second limiting plate. A threaded seat is sleeved on the outer wall of the connecting rod. A threaded rod is connected to the output end of the transmission motor. The threaded rod is threadedly connected to the threaded seat. The outer wall of the threaded rod is fixed in the inner ring of the first and second bearing seats. The transmission motor is electrically connected to the controller.

[0012] In a preferred embodiment of the apple-picking robot described in this utility model, the grasping component includes a mounting block disposed on one side of the end of the second robotic arm. A rotary motor is fixed on the mounting block, and the output end of the rotary motor is connected to a mounting frame. Two spaced-apart circular fixing blocks are disposed on one side of the mounting frame. The two circular fixing blocks are connected by a plurality of circumferentially arranged connecting posts. Three connecting blocks are circumferentially arranged on the side wall of the outer circular fixing block. The top two sides of the three connecting blocks are respectively hinged to one end of two connecting rods, and the other ends of the two connecting rods are respectively hinged to the bottom two sides of the locking claw. The rotary motor is electrically connected to the controller.

[0013] In a preferred embodiment of the apple picking robot described in this utility model, a push-pull block is provided at the bottom center of the three locking claws, and three push-pull rods are respectively circumferentially hinged to the side wall of the push-pull block. The end of the push-pull rod away from the push-pull block is hinged to the middle of the connecting rod. An electric push rod is provided on the other side of the mounting frame. The push-pull shaft of the electric push rod passes through two circular fixing blocks and is fixedly connected to the push-pull block. The electric push rod is electrically connected to the controller.

[0014] As a preferred embodiment of the apple picking robot of this utility model, the drainage component includes a small water pump disposed inside the cabinet, the outlet of the small water pump is connected to a water pipe, one end of the water pipe extends out of the top of the cabinet and is provided with a shower nozzle at the end, a material basket is provided at the top of the cabinet, and a water inlet is opened on one side of the top of the cabinet.

[0015] The beneficial effects of this utility model are as follows: This utility model can use a lifting mechanism to raise the gripping component in the robotic arm picking mechanism to a set height, so that the gripping component can pick apples from high places. After the gripping component clamps the root of the apple, it pulls it to break the branches at the root of the apple, reducing direct damage to the apple and facilitating the preservation and transportation of the apple. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments 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. Among them:

[0017] Figure 1 This is a visual representation of an apple-picking robot.

[0018] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0019] Figure 3 This is a rear view of an apple-picking robot.

[0020] Figure 4 This is a schematic diagram of the lifting mechanism in an apple-picking robot.

[0021] Figure 5 This is a schematic diagram of the structure of the first and second limiting frames in an apple-picking robot.

[0022] Figure 6 This is a schematic diagram of the lifting component in an apple-picking robot.

[0023] Figure 7 This is a schematic diagram of the gripping component in an apple-picking robot.

[0024] Figure 8 This is a schematic diagram of the drainage component in an apple-picking robot. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] Reference Figures 1-8This embodiment is an apple-picking robot, including a walking mechanism 100, a lifting mechanism 200, a robotic arm picking mechanism 300, and an auxiliary mechanism 400. The walking mechanism 100 includes a base plate 101 and four wheel hub frames 102 disposed at the bottom end of the base plate 101. Wheels 103 are rotatably disposed on the four wheel hub frames 102. The lifting mechanism 200 includes a first limiting frame 201 disposed at the top of the base plate 101. A lifting component 202 is disposed within the first limiting frame 201. A second limiting frame 203 is disposed at the top of the lifting component 202. A lifting plate 204 is disposed at the top of the second limiting frame 203. The robotic arm picking mechanism 300 includes a lifting plate 204 disposed on the lifting plate 204. The base rotation motor 301 is located at the top, and its output end is connected to the bottom end of the first robotic arm 302. A joint motor 303 is provided on one side of the top of the first robotic arm 302, and a second robotic arm 304 is provided on the other side of the top of the first robotic arm 302. The end of the second robotic arm 304 is connected to the output end of the joint motor 303, and a gripping component 305 is provided on the other end of the second robotic arm 304. The auxiliary mechanism 400 includes a cabinet 401 located on one side of the top of the base plate 101. A drainage component 402 is provided inside the cabinet 401, and a controller 403 is provided on the outer wall of the cabinet 401. The base rotation motor 301 and the joint motor 303 are electrically connected to the controller 403.

[0027] The walking mechanism 100 transports the entire device to the apple tree. The lifting component 202 raises the lifting plate 204, which in turn raises the robotic arm picking mechanism 300 to the desired picking position. The base rotation motor 301 in the robotic arm picking mechanism 300 can drive the first robotic arm 302 to rotate 360 ​​degrees. The joint motor 303 on one side of the top of the first robotic arm 302 can drive the second robotic arm 304 to rotate at a certain angle. When the end of the second robotic arm 304 is close to the apple to be picked, the gripping component 305 at the end of the second robotic arm 304 is controlled to pick the apple.

[0028] In this embodiment, a drive motor 104 is provided on one side of each of the four wheel hub frames 102. The output end of the drive motor 104 is connected to the wheel 103. The four drive motors 104 are electrically connected to the controller 403. The controller 403 is a single-chip microcomputer with model MPC89L515AP.

[0029] The controller 403 controls the activation of the drive motors 104 on the four wheel hub brackets 102 to provide forward power for this application. When there is a speed difference between the drive motors 104 on the left and right sides, steering control can be performed.

[0030] In this embodiment, the first limiting frame 201 and the second limiting frame 203 are rectangular frames. The first limiting frame 201 includes a first limiting plate 201a and a second limiting plate 201b spaced apart. The two sides of the first limiting plate 201a and the second limiting plate 201b are connected by a third limiting plate 201c and a fourth limiting plate 201d, respectively. The opposite end faces of the third limiting plate 201c and the fourth limiting plate 201d are respectively provided with a first limiting groove 201e. The second limiting frame 203 includes a fifth limiting plate 203a and a sixth limiting plate 203b spaced apart. The two sides of the fifth limiting plate 203a and the sixth limiting plate 203b are connected by a seventh limiting plate 203c and an eighth limiting plate 203d, respectively. The opposite end faces of the seventh limiting plate 203c and the eighth limiting plate 203d are respectively provided with a second limiting groove 203e.

[0031] In this embodiment, the lifting assembly 202 includes two pairs of first scissor mechanisms and second scissor mechanisms arranged vertically. The second scissor mechanism includes a first support rod 202a and a second support rod 202b that are hinged to each other in an "X" shape. A connecting rod 202c is connected between the lower ends of the two second support rods 202b. A first limiting post 202d is provided at both ends of the connecting rod 202c. The first limiting post 202d is slidably disposed in a first limiting groove 201e. The lower ends of the two first support rods 202a are respectively hinged to a first limiting plate 201a. Two first connecting plates 202e are connected between the two first support rods 202a at intervals.

[0032] In this embodiment, the first scissor mechanism includes a third support rod 202g and a fourth support rod 202h that are interlocked and hinged in an "X" shape. The lower ends of the third support rod 202g and the fourth support rod 202h are respectively hinged to the upper ends of the first support rod 202a and the second support rod 202b. The upper ends of the two fourth support rods 202h are respectively hinged to the fifth limiting plate 203a. The upper ends of the two third support rods 202g are respectively provided with second limiting posts 202i, which are slidably disposed in the second limiting grooves 203e. Two second connecting plates 202j are spaced apart between the two third support rods 202g.

[0033] In this embodiment, a transmission assembly 205 is provided at the top of the base plate 101 located inside the first limiting frame 201. The transmission assembly 205 includes a transmission motor 205a and a first bearing seat 205b disposed at the top of the base plate 101, and a second bearing seat 205c disposed at the end face of the second limiting plate 201b. A threaded seat 205d is sleeved on the outer wall of the connecting rod 202c. A threaded rod 205e is connected to the output end of the transmission motor 205a. The threaded rod 205e is threadedly connected to the threaded seat 205d. The outer wall of the threaded rod 205e is fixed in the inner ring of the first bearing seat 205b and the second bearing seat 205c. The transmission motor 205a is electrically connected to the controller 403.

[0034] The controller 403 activates the drive motor 205a, which drives the threaded rod 205e to rotate, thereby causing the threaded seat 205d to move axially along the threaded rod 205e. When the threaded seat 205d moves toward the drive motor 205a, it drives the connecting rod 202c to move toward the drive motor 205a. The threaded seat 205d, through the connecting rod 202c, drives the first limiting posts 202d at both ends to slide within the first limiting groove 201e of the first limiting frame 201. The included angle between the first support rod 202a and the second support rod 202b decreases, thereby driving the third support rod 202g and the fourth support rod 202h to move in the same direction. As the included angle between the two third support rods 202g decreases, the second limiting post 202i at the upper end of the two third support rods 202g slides in the second limiting groove 203e, thus driving the second limiting frame 203 and the lifting plate 204 to rise in height. If the transmission motor 205a is reversed, the threaded seat 205d moves away from the transmission motor 205a, and the threaded seat 205d drives the connecting rod 202c to move away from the transmission motor 205a. The included angle between the first support rod 202a and the second support rod 202b increases, which in turn drives the included angle between the third support rod 202g and the fourth support rod 202h to increase, and the height of the second limiting frame 203 and the lifting plate 204 decreases.

[0035] In this embodiment, the gripping component 305 includes a mounting block 305a disposed on one side of the end of the second robotic arm 304. A rotary motor 305b is fixed on the mounting block 305a. The output end of the rotary motor 305b is connected to a mounting frame 305c. Two spaced circular fixing blocks 305d are disposed on one side of the mounting frame 305c. The two circular fixing blocks 305d are connected by a plurality of circumferentially arranged connecting posts 305e. Three connecting blocks 305f are circumferentially arranged on the side wall of the outer circular fixing block 305d. The top two sides of the three connecting blocks 305f are respectively hinged to one end of two connecting rods 305g. The other ends of the two connecting rods 305g are respectively hinged to the bottom two sides of the clamping claw 305h. The rotary motor 305b is electrically connected to the controller 403.

[0036] In this embodiment, a push-pull block 305i is provided at the bottom center of the three locking claws 305h. Three push-pull rods 305j are respectively circumferentially hinged to the side wall of the push-pull block 305i. The end of the push-pull rod 305j away from the push-pull block 305i is hinged to the middle of the connecting rod 305g. An electric push rod 305k is provided on the other side of the mounting bracket 305c. The push-pull shaft of the electric push rod 305k passes through two circular fixing blocks 305d and is fixedly connected to the push-pull block 305i. The electric push rod 305k is electrically connected to the controller 403.

[0037] When the three clamping claws 305h at the end of the second robotic arm 304 approach the apple, the controller 403 controls the push-pull shaft of the electric push rod 305k to pull the push-pull block 305i. The push-pull block 305i, under the force of the pullback, will pull the three push-pull rods 305j. The three push-pull rods 305j will then pull the connecting rod 305g to rotate around the connecting block 305f, thereby causing one end of the three clamping claws 305h to move closer to each other until they clamp the base of the apple. Then, the controller controls the rotary motor 305b to drive... The mounting bracket 305c rotates, which in turn drives the three locking claws 305h to rotate, breaking off the branches at the base of the apple tree. Then, the push-pull shaft of the electric push rod 305k is controlled to push the push-pull block 305i. The push-pull block 305i, under the force of the push, will push the three push-pull rods 305j. The three push-pull rods 305j will then push the connecting rod 305g to rotate outward around the connecting block 305f, thereby causing one end of the three locking claws 305h to move away from each other. At this point, the apple can be removed.

[0038] In this embodiment, the drainage component 402 includes a small water pump 402a disposed inside the cabinet 401. The outlet end of the small water pump 402a is connected to a water pipe 402b. One end of the water pipe 402b extends out of the top of the cabinet 401 and is provided with a shower nozzle 402c. A material basket 401a is provided at the top of the cabinet 401, and a water inlet 401b is opened on one side of the top of the cabinet 401.

[0039] After picking, the apples are placed in the container basket 401a, and the small water pump 402a is turned on. The small water pump 402a outputs water from the cabinet 401 along the water pipe 402b to the shower nozzle 402c to perform a preliminary cleaning of the picked apples.

[0040] Working principle: The controller 403 controls the activation of the drive motors 104 on the four wheel hubs 102 to provide forward propulsion. When there is a speed difference between the drive motors 104 on the left and right sides, steering control can be performed. After the walking mechanism 100 transports the entire device to the apple tree, when it is necessary to raise the height of the lifting plate 204, the controller 403 activates the transmission motor 205a. The transmission motor 205a drives the threaded rod 205e to rotate, which in turn drives the threaded seat 205d to move along the axial direction of the threaded rod 205e. When the threaded seat 205d moves towards the transmission motor 205a, the threaded seat 205d drives the connecting rod 202c to move towards the direction of the transmission motor 205a. The threaded seat 205d moves through the connecting rod 202c. c drives the first limiting post 202d at both ends to slide within the first limiting groove 201e of the first limiting frame 201. The included angle between the first support rod 202a and the second support rod 202b decreases, which in turn drives the included angle between the third support rod 202g and the fourth support rod 202h to decrease. The second limiting post 202i at the upper end of the two third support rods 202g slides within the second limiting groove 203e. Therefore, it can drive the second limiting frame 203 and the lifting plate 204 to be raised. The base rotation motor 301 in the robotic arm picking mechanism 300 can drive the first robotic arm 302 to rotate 360 ​​degrees. The joint motor 303 on one side of the top of the first robotic arm 302 can drive the second robotic arm 304 to rotate at a certain angle, so that... When the three gripping claws 305h in the end-grip assembly 305 of the second robotic arm 304 approach the apple to be picked, the push-pull shaft of the electric push rod 305k pulls the push-pull block 305i. The push-pull block 305i, under the force of the pull, pulls the three push-pull rods 305j. The three push-pull rods 305j then pull the connecting rod 305g to rotate around the connecting block 305f, thereby causing one end of the three gripping claws 305h to move closer together until they clamp the root of the apple. Then, the rotary motor 305b drives the mounting frame 305c to rotate. The mounting frame 305c drives the three gripping claws 305h to rotate, breaking off the branches at the root of the apple. Then, the push-pull shaft of the electric push rod 305k pushes the push-pull block 305i. The push-pull block 305i, under the force of the push, will... Pushing the three push-pull rods 305j, the three push-pull rods 305j in turn push the connecting rod 305g to rotate outward around the connecting block 305f, thereby causing one end of the three locking claws 305h to move away from each other, at which point the apple can be removed. When the operation is finished and the height of the lifting plate 204 needs to be lowered, the control drive motor 205a is reversed, and the threaded seat 205d moves away from the drive motor 205a. The threaded seat 205d drives the connecting rod 202c to move away from the drive motor 205a, the included angle between the first support rod 202a and the second support rod 202b increases, thereby causing the included angle between the third support rod 202g and the fourth support rod 202h to increase, and the height of the second limit frame 203 and the lifting plate 204 to decrease.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An apple-picking robot, characterized in that: The system includes a walking mechanism (100), a lifting mechanism (200), a robotic arm harvesting mechanism (300), and an auxiliary mechanism (400). The walking mechanism (100) includes a base plate (101) and four wheel hubs (102) disposed at the bottom of the base plate (101). Wheels (103) are rotatably disposed on the four wheel hubs (102). The lifting mechanism (200) includes a first limiting frame (201) disposed at the top of the base plate (101). A lifting component (202) is disposed inside the first limiting frame (201). A second limiting frame (203) is disposed at the top of the lifting component (202). A lifting plate (204) is disposed at the top of the second limiting frame (203). The robotic arm harvesting mechanism (300) includes a base rotary motor (3) disposed at the top of the lifting plate (204). 01), the output end of the base rotation motor (301) is connected to the bottom end of the first robotic arm (302). A joint motor (303) is provided on one side of the top of the first robotic arm (302). A second robotic arm (304) is provided on the other side of the top of the first robotic arm (302). The end of the second robotic arm (304) is connected to the output end of the joint motor (303). A gripping component (305) is provided on the other end of the second robotic arm (304). The auxiliary mechanism (400) includes a cabinet (401) provided on one side of the top of the base plate (101). A drainage component (402) is provided inside the cabinet (401). A controller (403) is provided on the outer wall of the cabinet (401). The base rotation motor (301) and the joint motor (303) are electrically connected to the controller (403).

2. The apple-picking robot as described in claim 1, characterized in that: Each of the four wheel hub frames (102) is provided with a drive motor (104) on one side. The output end of the drive motor (104) is connected to the wheel (103). The four drive motors (104) are electrically connected to the controller (403). The controller (403) is a single-chip microcomputer with model MPC89L515AP.

3. The apple-picking robot as described in claim 1, characterized in that: The first limiting frame (201) and the second limiting frame (203) are rectangular frames. The first limiting frame (201) includes a first limiting plate (201a) and a second limiting plate (201b) spaced apart. The two sides of the first limiting plate (201a) and the second limiting plate (201b) are connected by a third limiting plate (201c) and a fourth limiting plate (201d), respectively. The opposite end faces of the third limiting plate (201c) and the fourth limiting plate (201d) are respectively opened. The first limiting groove (201e) is provided, and the second limiting frame (203) includes a fifth limiting plate (203a) and a sixth limiting plate (203b) arranged at intervals. The two sides of the fifth limiting plate (203a) and the sixth limiting plate (203b) are connected by a seventh limiting plate (203c) and an eighth limiting plate (203d) respectively. The opposite end faces of the seventh limiting plate (203c) and the eighth limiting plate (203d) are respectively provided with a second limiting groove (203e).

4. The apple-picking robot as described in claim 3, characterized in that: The lifting assembly (202) includes two pairs of first scissor mechanisms and second scissor mechanisms arranged vertically. The second scissor mechanism includes a first support rod (202a) and a second support rod (202b) that are hinged to each other in an "X" shape. A connecting rod (202c) is connected between the lower ends of the two second support rods (202b). A first limiting post (202d) is provided at both ends of the connecting rod (202c). The first limiting post (202d) is slidably disposed in a first limiting groove (201e). The lower ends of the two first support rods (202a) are respectively hinged to a first limiting plate (201a). Two first connecting plates (202e) are connected between the two first support rods (202a) at intervals.

5. An apple-picking robot as described in claim 4, characterized in that: The first scissor mechanism includes a third support rod (202g) and a fourth support rod (202h) that are intersected and hinged in an "X" shape. The lower ends of the third support rod (202g) and the fourth support rod (202h) are respectively hinged to the upper ends of the first support rod (202a) and the second support rod (202b). The upper ends of the two fourth support rods (202h) are respectively hinged to the fifth limiting plate (203a). The upper ends of the two third support rods (202g) are respectively provided with second limiting posts (202i). The second limiting posts (202i) are respectively slidably disposed in the second limiting grooves (203e). Two second connecting plates (202j) are spaced apart between the two third support rods (202g).

6. The apple-picking robot as described in claim 5, characterized in that: A transmission assembly (205) is provided at the top of the base plate (101) located inside the first limiting frame (201). The transmission assembly (205) includes a transmission motor (205a) and a first bearing seat (205b) provided at the top of the base plate (101), and a second bearing seat (205c) provided at the end face of the second limiting plate (201b). A threaded seat (205d) is sleeved on the outer wall of the connecting rod (202c). A threaded rod (205e) is connected to the output end of the transmission motor (205a). The threaded rod (205e) is threadedly connected to the threaded seat (205d). The outer wall of the threaded rod (205e) is fixed in the inner ring of the first bearing seat (205b) and the second bearing seat (205c). The transmission motor (205a) is electrically connected to the controller (403).

7. An apple-picking robot as described in claim 1, characterized in that: The gripping assembly (305) includes a mounting block (305a) disposed on one side of the end of the second robotic arm (304). A rotary motor (305b) is fixed on the mounting block (305a). The output end of the rotary motor (305b) is connected to a mounting frame (305c). Two spaced circular fixing blocks (305d) are disposed on one side of the mounting frame (305c). The two circular fixing blocks (305d) are connected by a plurality of circumferentially arranged connecting posts (305e). Three connecting blocks (305f) are circumferentially arranged on the side wall of the outer circular fixing block (305d). The top two sides of the three connecting blocks (305f) are respectively hinged to one end of two connecting rods (305g). The other ends of the two connecting rods (305g) are respectively hinged to the bottom two sides of the locking claw (305h). The rotary motor (305b) is electrically connected to the controller (403).

8. An apple-picking robot as described in claim 7, characterized in that: A push-pull block (305i) is provided at the bottom center of the three locking claws (305h). Three push-pull rods (305j) are respectively circumferentially hinged to the side wall of the push-pull block (305i). The end of the push-pull rod (305j) away from the push-pull block (305i) is hinged to the middle of the connecting rod (305g). An electric push rod (305k) is provided on the other side of the mounting bracket (305c). The push-pull shaft of the electric push rod (305k) passes through two circular fixing blocks (305d) and is fixedly connected to the push-pull block (305i). The electric push rod (305k) is electrically connected to the controller (403).

9. An apple-picking robot as described in claim 1, characterized in that: The drainage component (402) includes a small water pump (402a) installed inside the cabinet (401). The outlet end of the small water pump (402a) is connected to a water pipe (402b). One end of the water pipe (402b) extends out of the top of the cabinet (401) and is equipped with a shower nozzle (402c). A material basket (401a) is installed at the top of the cabinet (401), and a water inlet (401b) is opened on one side of the top of the cabinet (401).

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