CN108934451B - fruit tree fruit picking robot - Google Patents

Abstract

Fruit tree fruit picking robot, including the carriage, carriage bottom is provided with the wheel, carriage rear side upper portion is provided with the hand push-and-pull frame, be provided with in the carriage along the vertical direction and divide into the vertical baffle of preceding fruit storage chamber and back drive chamber with carriage internal partition, vertical baffle back lateral wall is provided with the direction side pipe that is located back drive intracavity along the vertical direction is fixed, the carriage back lateral wall is provided with the back door body, the carriage front side wall is provided with the front door body, back drive intracavity level is provided with horizontal baffle, back drive intracavity is provided with the rechargeable battery that is located horizontal baffle below and is located the side of side pipe rear side, be provided with elevating gear on the horizontal baffle, elevating gear upper end is provided with the fruit that is located the carriage top and picks the manipulator. The fruit picking machine is reasonable in structural design, the picking, conveying and collecting operation of fruits is completed through the cooperation of the plurality of groups of motors, the exhaust fans and the air pumps, the efficiency of the whole picking process is high, the safety is high, and the labor capacity and the labor intensity of fruit farmers can be greatly reduced.

Description

fruit tree fruit picking robot

technical field

The invention belongs to the technical field of agricultural and forestry machinery and equipment, and in particular relates to a fruit picking robot for fruit trees.

Background technique

At present, the fruit picking of apples, peaches, pears, apricots, pomegranates and other fruit trees is mainly done manually, which requires a lot of labor costs, and tools such as benches and short ladders are needed. Picking on the fruit tree undoubtedly increases the danger of picking, and the workload is large and the efficiency is low. A little carelessness will fall from the fruit tree, and there is a great potential safety hazard. The traditional fruit picking device for fruit trees is a long pole, through which the fruit is knocked down, which will cause damage to the fruit tree, and the fallen fruit is easy to damage. Composed of rods and scissors, when in use, it is necessary to hold the telescopic rod to pick the fruit. After working for a long time, the arm will feel sore, the labor intensity is high, and the picking efficiency is low.

Contents of the invention

In order to solve the deficiencies in the prior art, the present invention provides a fruit picking robot for fruit trees with low labor intensity, strong safety, high picking efficiency and less damage to the fruit.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the fruit tree fruit picking robot includes a compartment, the bottom of the compartment is provided with wheels, the upper part of the rear side of the compartment is provided with a hand-held push-pull frame, and the interior of the compartment is arranged along the vertical direction to divide the interior of the compartment into The vertical partition of the front fruit storage chamber and the rear drive chamber, the rear side wall of the vertical partition is fixedly provided with a guide square tube located in the rear drive chamber along the vertical direction, the rear side wall of the compartment is provided with a rear door body, and the front side wall of the compartment A front door body is provided, a horizontal partition is arranged horizontally in the rear driving chamber, a rechargeable battery is arranged under the horizontal partition and on the rear side of the square tube in the rear driving chamber, and a geared motor and a controller are arranged on the horizontal partition. There is a drive hole on the back side of the guide square tube, and a support square tube slides through the inside of the guide square tube. A drive rack structure is arranged on the rear side of the lower part of the support square tube along the vertical direction. The power output shaft of the geared motor is equipped with a drive gear. It passes through the drive hole and meshes with the drive rack structure. The upper end of the supporting square tube is provided with a fruit picking manipulator located above the carriage. The rechargeable battery supplies power to the controller. The controller is connected to the geared motor and the fruit picking manipulator respectively through the control line.

The fruit picking manipulator includes a picking tube, the picking tube is vertically arranged and the top is open, the bottom of the picking tube is provided with a bottom cover, the upper end of the supporting square tube is fixed with a support frame, and the angle adjustment motor is fixed on the support frame. The front and rear directions are arranged horizontally, the lower surface of the bottom cover is fixedly connected to the main shaft of the angle adjustment motor through connecting ears, a gap is opened on the front side of the upper part of the picking tube, and the fruit falling guide tube is connected to the lower part of the picking tube through a clamp, and the fruit falling guide tube is located at The front side of the square tube is supported, and the upper end of the fruit falling guide tube is inclined backward to connect with the gap. The picking tube is equipped with a lifting motor, a mounting frame, a lifting rack and a picking suction cup. The lifting motor and the mounting frame are fixed in the picking tube. The mounting frame is provided with guide grooves that are transparent on the side and up and down. The lifting rack is slidably inserted in the guide groove and the length direction of the lifting rack is set along the vertical direction. The main shaft of the lifting motor is provided with a driving gear. The gear and the lifting rack are meshed for transmission. The upper end of the lifting rack is fixed with a mounting seat, and a rotating motor is fixed on the mounting seat. The bottom of the picking suction cup is provided with a connecting seat. The lower part of the connecting seat is hinged on the mounting seat through the first pin. A pin shaft is arranged in the horizontal direction, and the main shaft of the rotating motor is coaxially fixedly connected with the first pin shaft; the upper part of the picking cylinder is provided with a stem cutter assembly located above the picking suction cup.

The picking sucker is a bowl-shaped structure with an open mouth facing upwards. The picking sucker is a double-layer structure. There is a cavity inside the picking sucker. There are a number of air holes on the inner surface of the picking sucker. There is an exhaust fan and an air pump on the bottom cover of the picking tube. The suction port of the exhaust fan is connected with the cavity in the picking suction cup through the air inlet pipe, the air pump is connected with the cavity in the picking suction cup through the air delivery pipe, and the air delivery pipe is provided with an air pressure valve.

The fruit stem cutting assembly includes a cutter and a cutting motor. The shape of the cutter is a one-sixth spherical structure. The left and right sides of the cutter are hinged on the top of the picking cylinder through the second pin shaft. The ball center of the knife, the third pin shaft is fixedly connected with the cutter, the front side edge of the cutter is a cutting edge, and the outer end of one of the second pin shafts is provided with a pulley, the cutting motor is fixed in the picking cylinder, and the cutting motor The main shaft is provided with a main pulley, the main pulley and the slave pulley are located on the outside of the picking cylinder, and the master pulley is connected with the slave pulley through a belt;

The controller is connected with the angle adjustment motor, rotating motor, blower fan, air pump, air pressure valve and cut-off motor of the fruit picking manipulator through the control line.

The lower end of the fruit falling guide pipe is connected with a feeding hose and a feeding guide in turn. The feeding guide is connected to the supporting square pipe through a connecting piece. The lower end of the feeding guide extends into the front fruit storage cavity, and the lower end of the feeding guide passes through the third pin. The shaft is rotatably connected with a buffer cover, and the third pin is sheathed with a torsion spring. Under the action of the torsion spring, the buffer cover contacts the lower end of the feeding conduit, and the upper surface of the buffer cover is provided with a sponge layer located in the feeding conduit.

The carriage is provided with a cover plate on the top of the rear drive cavity, and a touch control screen is provided on the cover plate. The touch control screen is set with a front high and a rear low slope. The top of the rotating motor housing is fixed with an upwardly facing high-definition camera. The high-definition camera and The touch control screen is connected with the controller through the signal line.

The bottom of the carriage is provided with a through hole for moving up and down through the support square tube just below the support square tube.

By adopting the above technical scheme, the present invention has the following beneficial effects:

(1) In the present invention, when picking the fruit of the fruit tree, the operator pushes the carriage and the fruit picking manipulator to the fruit tree through the hand-held push-pull frame, and can control the deceleration motor, angle adjustment motor, rotating motor, and exhaust fan by manipulating the touch control screen , air pump, air pressure valve and cut off the opening and closing of the motor, and the fruit picking manipulator will pick the fruit from the fruit tree and drop it into the compartment. The whole picking process is smooth, the labor intensity is low, the work efficiency is high, and the safety is strong, which has changed the traditional manual way of picking fruits.

(2), the fruit picking manipulator in the present invention can well simulate the way of manual fruit picking, and the fruit picking at a high place is decomposed into the picking action: according to the height of the fruit on the fruit tree, the carriage is pushed under the fruit tree, and the fruit is picked. The picking manipulator is located directly below the fruit, and then starts the deceleration motor. The deceleration motor drives the supporting square tube to move upwards along the guiding square tube through the meshing of the driving gear and the driving rack structure, so that the picking cylinder at the upper end of the supporting square tube moves up and approaches the fruit. For the picked fruit, stop the deceleration motor after the fruit enters the picking tube slightly; at this time, the high-definition camera monitors the position of the fruit and the picking suction cup and displays it through the touch control screen. The touch control screen displays the deceleration motor, angle adjustment motor, rotation Motor, exhaust fan, air pump, air pressure valve and touch key to cut off the motor; if there is still a distance between the fruit and the picking suction cup in the left and right direction, the angle adjustment motor is started, and the angle adjustment motor drives the picking cylinder to rotate left and right through the connecting ear and the bottom cover , stop until the fruit is directly below the picking suction cup; then start the lifting motor, the lifting motor drives the picking suction cup to move upward through the meshing of the driving gear and the lifting rack, and stops the lifting motor until the fruit to be picked enters the picking suction cup; If there is a distance between the fruit to be picked and the picking suction cup in the front and back direction, the rotating motor is started when the lifting motor has not stopped, and the rotating motor drives the picking sucker to rotate forward or backward through the connecting seat until the fruit to be picked enters After entering the picking sucker and contacting the inner wall of the picking sucker, stop the lifting motor and the rotating motor; then start the exhaust fan, and the exhaust fan will vacuum the cavity between the inner surface of the picking sucker and the outer surface of the fruit through the intake pipe to form a negative pressure. Under the action of atmospheric pressure, the fruit is adsorbed on the picking sucker;

Since the fruit is connected to the branches of the fruit tree through the fruit stem, the fruit stem needs to be cut off to pick the fruit. After the fruit is absorbed on the picking suction cup, the cutting motor is started immediately, and the cutting motor drives the cutter to rotate forward through the belt transmission mechanism. , the cutting edge on the front side of the cutter will cut off the fruit stem connected with the fruit; then operate the cutting motor to reverse, so that the cutter rotates backward to the original position;

Then start the lifting motor, the lifting motor drives the lifting rack to retract downwards, so that the picking suction cup is pulled back into the picking tube, and then the rotating motor is started, and the rotating motor drives the picking suction cup to rotate forward until the picking suction cup tilts towards the fruit drop guide tube After the upper port is closed, the exhaust fan is turned off, the air pump is started, and the air pressure valve is opened. The air pump supplies high-pressure gas to the cavity of the picking suction cup through the air delivery pipe. The high-pressure gas pushes the fruit on the picking suction cup through the air hole, and the fruit is pushed into the fruit drop guide tube. , the picked fruit falls into the front fruit storage cavity on the front side of the carriage through the fruit drop guide pipe, feeding hose and feeding conduit. The conduit moves to ensure the stability of the fruit when it falls. When the fruit falls on the buffer cover at the lower end of the discharge conduit, due to the set sponge layer, the damage to the fruit is avoided. The impact force of the fruit on the buffer plate overcomes the elastic force of the torsion spring , the buffer cover is flipped down and opened, and the fruit falls from the feeding conduit into the compartment. So far complete all the actions of fruit picking.

3. The front door used in the present invention is used to take out the picked fruits, and the rear door is used to install and maintain the rechargeable motor and other components in the back drive cavity.

4. In the present invention, since the picking tube will block the operator's line of sight, a high-definition camera is installed, and the real-time monitoring image is displayed through the touch control screen, so that the operator can control and operate each motor and fan by observing the touch control screen and air pump. This also avoids the fatigue of the cervical spine caused by raising the head for a long time.

5. Through the setting of the holes, the length of the supporting square tube can be increased as much as possible, and the rising height of the supporting square tube can be improved, that is, the height of picking fruits can be increased. And when the present invention is not in use, the storage height of the fruit picking manipulator can also be reduced, which is more convenient for storage.

To sum up, the structure design of the present invention is reasonable, and through the combined use of multiple sets of motors, exhaust fans and air pumps, the fruit picking, transportation and collection operations are completed. The overall picking process is highly efficient and safe, and can greatly reduce the labor of fruit farmers. volume and labor intensity.

Description of drawings

Fig. 1 is the overall structural representation of the present invention;

Fig. 2 is a half-cut perspective view of a fruit picking manipulator in the present invention;

Fig. 3 is the schematic plan view of the fruit picking manipulator among the present invention;

Fig. 4 is a schematic structural view of picking suction cups in the present invention.

Detailed ways

As shown in Fig. 1-Fig. 4, fruit tree fruit picking robot of the present invention comprises compartment 1, and compartment 1 bottom is provided with wheel 2, and compartment 1 rear side upper part is provided with hand-held push-pull frame 3, and compartment 1 is provided with along vertical direction. The interior of the compartment 1 is divided into the vertical partition 6 of the front fruit storage chamber 4 and the rear drive chamber 5, and the rear side wall of the vertical partition 6 is fixedly provided with a guide square pipe 7 positioned in the rear drive chamber 5 along the vertical direction. 1 The rear side wall is provided with a rear door body 8, the front side wall of the compartment 1 is provided with a front door body 9, a horizontal partition 10 is horizontally provided in the rear driving chamber 5, and a A rechargeable battery 11 on the rear side of the tube, a geared motor 12 and a controller 13 are arranged on the horizontal partition 10, a driving hole 14 is provided on the rear side of the guiding square tube 7, and a supporting square tube 15 is provided for sliding inside the guiding square tube 7, The rear side of the lower part of the support square tube 15 is provided with a drive rack structure 16 along the vertical direction, and the power output shaft of the reduction motor 12 is equipped with a drive gear 17. The drive gear 17 passes through the drive hole 14 and meshes with the drive rack structure 16, supporting the square tube. 15 upper ends are provided with the fruit picking manipulator 18 that is positioned at compartment 1 top, and rechargeable battery 11 supplies power for controller 13, and controller 13 is connected with reduction motor 12 and fruit picking manipulator 18 respectively by control line.

The fruit picking manipulator 18 includes a picking tube 19, the picking tube 19 is vertically arranged and the top is open, the bottom of the picking tube 19 is provided with a bottom cover 20, the upper end of the supporting square tube 15 is fixed with a support frame 21, and the support frame 21 is fixed with an angle adjustment Motor 22, the main shaft of angle adjustment motor 22 is arranged horizontally along the front-back direction, and the lower surface of bottom cover 20 is fixedly connected on the main shaft of angle adjustment motor 22 by connecting ear 23, and the upper front side of picking tube 19 is provided with breach 24, and picking tube 19 The lower part is connected with a fruit drop guide tube 26 through a clip 25, the fruit drop guide tube 26 is positioned at the front side of the support square tube 15, the upper end of the fruit drop guide tube 26 is inclined backwards and connected with the gap 24, and the picking tube 19 is provided with a lifter. Motor 27, mounting frame 28, lifting rack 29 and plucking suction cup 30, lifting motor 27 and mounting frame 28 are fixed in the picking tube 19, and mounting frame 28 is provided with side and up and down all transparent guide groove, and lifting rack 29 slides are inserted in the guide groove and the length direction of lifting rack 29 is set along the vertical direction, and the main shaft of lifting motor 27 is provided with driving gear 31, and driving gear 31 is meshed with lifting rack 29 transmission, and the lifting rack 29 Mounting seat 32 is fixed on the upper end, and rotating motor 33 is fixed on mounting seat 32, and the bottom of picking sucker 30 is provided with connecting seat 34, and connecting seat 34 bottom is hinged on mounting seat 32 by first pin shaft 35, and first pin shaft 35 Horizontally arranged, the main shaft of rotating motor 33 is coaxially fixedly connected with first pin shaft 35;

The picking suction cup 30 is a bowl-shaped structure with an open mouth facing upwards. The picking suction cup 30 is a double-layer structure. Be provided with suction fan 38 and air pump 39 on it, the suction mouth of suction fan 38 is connected with the cavity 36 in the sucker 30 of picking by air inlet pipe, and the air pump 39 is connected with the cavity 36 in the sucker 30 of picking by air delivery pipe, and the air delivery pipe is provided with There is an air pressure valve (not shown in the figure).

Fruit stem cutting assembly comprises cutting knife 40 and cutting off motor 41, and cutting knife 40 profile is one-sixth spherical structure, and cutting knife 40 left and right sides are all hinged on the top of picking tube 19 by second bearing pin 42, and second bearing pin The center line of 42 passes through the spherical center of cutter 40, and the 3rd bearing pin is fixedly connected with cutter 40, and the front edge of cutter 40 is a cutting edge, and the outer end of wherein a second bearing pin 42 is provided with pulley 43, the cutting motor 41 is fixed in the picking tube 19, the main shaft of the cutting motor 41 is provided with a main pulley 44, the main pulley 44 and the slave pulley 43 are all positioned at the outside of the picking tube 19, the main pulley 44 passes through the belt 45 and Connect from the pulley 43;

Controller 13 is connected with angle adjustment motor 22, rotary motor 33, blower fan 38, air pump 39, air pressure valve and cut-off motor 41 of fruit picking manipulator 18 by described control line.

The lower end of the fruit falling guide pipe 26 is connected with a feeding hose 46 and a feeding conduit 47 in turn, and the feeding conduit 47 is connected with the support square pipe 15 by a connector 48, and the lower end of the feeding conduit 47 stretches into the front fruit storage chamber 4, The lower end of the blanking conduit 47 is rotatably connected with a buffer cover 50 through the third pin shaft 49, and the third pin shaft 19 is sleeved with a torsion spring. Under the action of the torsion spring, the buffer cover 50 contacts the lower end of the blanking conduit 47, and the buffer cover 50 upper surface is provided with and is positioned at the sponge layer in feeding conduit 47.

The compartment 1 is provided with a cover plate 51 on the top of the rear drive chamber 5, and a touch control panel 52 is arranged on the cover plate 51. The touch control panel 52 is arranged with a front high and a rear low slope, and the top of the casing of the rotary motor 33 is fixedly arranged with an upwardly facing The high-definition camera 53, the high-definition camera 53 and the touch control screen 52 are all connected with the controller 13 by signal lines.

The bottom of the carriage is provided with a penetration hole 54 for moving up and down through the support square pipe 15 just below the support square pipe 15 .

The working process of the present invention is:

The fruit picking manipulator 18 in the present invention can well simulate the manual fruit picking mode, and the fruit picking at a high place is decomposed into: according to the height of the fruit on the fruit tree, the carriage 1 is pushed under the fruit tree, and the fruit picking is carried out. The manipulator 18 is located directly below the fruit, and then starts the reduction motor 12. The reduction motor 12 drives the support square tube 15 to move upwards along the guide square tube 7 through the engagement of the drive gear 17 and the drive rack structure 16, so that the upper end of the support square tube 15 The picking tube 19 moves up close to the fruit to be picked, and the fruit enters the picking tube 19 and stops the deceleration motor 12; at this time, the high-definition camera 53 monitors the position of the fruit and the picking suction cup 30 and displays it through the touch control screen 52. On 52, show the touch key that deceleration motor 12, angle adjustment motor 22, rotary motor 33, blower fan 38, air pump 39, air pressure valve and cut-off motor 41 are arranged; Angle adjustment motor 22, angle adjustment motor 22 drives through connecting ear 23 and bottom cover 20 and drives picking cylinder 19 to rotate left and right, stops after being positioned at the directly below picking suction cup 30 until fruit; The engagement of 31 and lifting rack 29 drives the picking suction cup 30 to move upwards until the fruit to be picked enters the picking suction cup 30 and stops the lifting motor 27; if there is a distance between the fruit to be picked and the picking suction cup 30, Then when the lifting motor 27 has not stopped, start the rotating motor 33, and the rotating motor 33 drives the picking sucker 30 to rotate forward or backward through the connecting seat 34 until the fruit to be picked enters the picking sucker 30 and contacts with the picking sucker 30 inner wall Back stop lifting motor 27 and rotating motor 33; Then start blower fan 38, blower fan 38 will pluck the cavity between the inner surface of suction cup 30 and the fruit outer surface to form negative pressure by air intake pipe, under atmospheric pressure effect, Fruit is adsorbed on the picking sucker 30;

Because the fruit is connected with the branches of the fruit tree through the fruit stem, the fruit stem needs to be cut off before the fruit can be picked. After the fruit is absorbed on the picking suction cup 30, the cutting motor 41 is started immediately, and the cutting motor 41 drives the cutting motor 41 through the belt 45 transmission mechanism. The knife 40 rotates forward, and the cutting edge on the front side of the cutting knife 40 cuts off the fruit stem connected with the fruit; then the cutting motor 41 is operated to reverse, so that the cutting knife 40 rotates backward to the original position;

Then start the lifting motor 27, the lifting motor 27 drives the lifting rack 29 to retract downwards, so that the picking suction cup 30 is pulled back in the picking tube 19, and then the rotating motor 33 is started, and the rotating motor 33 drives the picking suction cup 30 to rotate forward until After the picking sucker 30 tilts towards the upper port of the fruit drop guide pipe 26, close the exhaust fan 38, start the air pump 39, open the air pressure valve, and the air pump 39 provides high-pressure gas to the cavity 36 of the picking sucker 30 through the air pipe, and the high-pressure gas passes through the air hole 37 promotes the fruit on the picking sucker 30, and the fruit is pushed into the fruit drop guide tube 26, and the picked fruit falls into the front storage compartment on the front side of the compartment 1 through the fruit drop guide tube 26, the feeding hose 46 and the feeding guide tube 47. In the fruit cavity 4, the feeding hose 46 acts as the fruit picking manipulator 18 when it rotates, so that it will not drive the feeding guide 47 to move, so as to ensure the stability of the fruit when it falls, and the fruit falls to the buffer cover at the lower end of the feeding guide 47. 50, due to the sponge layer provided, thus avoiding damage to the fruit, the impact force of the fruit on the buffer plate overcomes the elastic force of the torsion spring, the buffer cover 50 is turned downwards and opened, and the fruit falls into the compartment 1 from the feeding conduit 47 . So far complete all the actions of fruit picking.

This embodiment does not impose any formal restrictions on the shape, material, structure, etc. of the present invention. All simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention belong to the protection of the technical solution of the present invention. scope.

Claims (4)

1. Fruit tree fruit picking robot, characterized in that: it includes a compartment, the bottom of the compartment is provided with wheels, the upper part of the rear side of the compartment is provided with a hand-held push-pull frame, and the interior of the compartment is provided with a vertical direction to divide the interior of the compartment into a front fruit storage chamber and a rear drive. The vertical partition of the cavity, the rear side wall of the vertical partition is fixedly provided with a guiding square pipe located in the rear drive chamber along the vertical direction, the rear side wall of the carriage is provided with a rear door body, the front side wall of the carriage is provided with a front door body, and the rear drive A horizontal partition is installed horizontally in the cavity, and a rechargeable battery located below the horizontal partition and on the rear side of the square tube is installed in the rear driving cavity. A geared motor and a controller are arranged on the horizontal partition, and a The driving hole, the guiding square tube slides through the supporting square tube, and the rear side of the lower part of the supporting square tube is provided with a driving rack structure along the vertical direction. The power output shaft of the geared motor is equipped with a driving gear, which passes through the driving hole and the driving gear. The upper end of the supporting square tube is equipped with a fruit picking manipulator located above the carriage, and the rechargeable battery supplies power to the controller, which is connected to the geared motor and the fruit picking manipulator respectively through the control line; The fruit picking manipulator includes a picking tube, the picking tube is vertically arranged and the top is open, the bottom of the picking tube is provided with a bottom cover, the upper end of the supporting square tube is fixed with a support frame, and the angle adjustment motor is fixed on the support frame. The front and rear directions are arranged horizontally, the lower surface of the bottom cover is fixedly connected to the main shaft of the angle adjustment motor through connecting ears, a gap is opened on the front side of the upper part of the picking tube, and the fruit falling guide tube is connected to the lower part of the picking tube through a clamp, and the fruit falling guide tube is located at The front side of the square tube is supported, and the upper end of the fruit falling guide tube is inclined backward to connect with the gap. The picking tube is equipped with a lifting motor, a mounting frame, a lifting rack and a picking suction cup. The lifting motor and the mounting frame are fixed in the picking tube. The mounting frame is provided with guide grooves that are transparent on the side and up and down. The lifting rack is slidably inserted in the guide groove and the length direction of the lifting rack is set along the vertical direction. The main shaft of the lifting motor is provided with a driving gear. The gear and the lifting rack are meshed for transmission. The upper end of the lifting rack is fixed with a mounting seat, and a rotating motor is fixed on the mounting seat. The bottom of the picking suction cup is provided with a connecting seat. The lower part of the connecting seat is hinged on the mounting seat through the first pin. A pin shaft is arranged in the horizontal direction, and the main shaft of the rotating motor is fixedly connected with the first pin shaft in the same axial direction; the upper part of the picking cylinder is provided with a stem cutter assembly located above the picking suction cup; The picking sucker is a bowl-shaped structure with an open mouth facing upwards. The picking sucker is a double-layer structure. There is a cavity inside the picking sucker. There are a number of air holes on the inner surface of the picking sucker. There is an exhaust fan and an air pump on the bottom cover of the picking tube. The suction port of the exhaust fan is connected with the cavity in the picking suction cup through the air inlet pipe, and the air pump is connected with the cavity in the picking suction cup through the air delivery pipe, and the air delivery pipe is provided with an air pressure valve; The cavity of the picking sucker provides high-pressure gas, and the high-pressure gas pushes the fruit on the picking sucker through the pores, and the fruit is pushed into the fruit drop guide tube; The lower end of the fruit falling guide pipe is connected with a feeding hose and a feeding guide in turn. The feeding guide is connected to the supporting square pipe through a connecting piece. The lower end of the feeding guide extends into the front fruit storage cavity, and the lower end of the feeding guide passes through the third pin. The shaft is rotatably connected with a buffer cover, and the third pin is sheathed with a torsion spring. Under the action of the torsion spring, the buffer cover contacts the lower end of the feeding conduit, and the upper surface of the buffer cover is provided with a sponge layer located in the feeding conduit. 2. The fruit picking robot for fruit trees according to claim 1, characterized in that: the fruit stem cutting assembly includes a cutter and a cutting motor, the shape of the cutter is a one-sixth spherical structure, and the left and right sides of the cutter pass through the second pin The shaft is hinged on the top of the picking tube, the center line of the second pin passes through the center of the cutter, the third pin is fixedly connected with the cutter, the front edge of the cutter is a cutting edge, and one of the second pins The outer end is provided with a slave pulley, and the cutting motor is fixed in the picking cylinder. The main pulley of the cutting motor is provided with a main pulley. Both the main pulley and the slave pulley are located outside the picking cylinder. connect; The controller is connected with the angle adjustment motor, rotating motor, blower fan, air pump, air pressure valve and cut-off motor of the fruit picking manipulator through the control line. 3. The fruit picking robot for fruit trees according to claim 1, characterized in that: the compartment is provided with a cover plate on the top of the rear drive chamber, and a touch control screen is provided on the cover plate, and the touch control screen is arranged at a high front and a low slope at the rear. A high-definition camera facing upwards is fixedly arranged on the top of the housing of the motor, and both the high-definition camera and the touch control screen are connected to the controller through signal wires. 4. The fruit picking robot for fruit trees according to claim 1, characterized in that: the bottom of the carriage is provided with a through hole for moving up and down through the supporting square tube just below the supporting square tube.