CN116406569A

CN116406569A - Intelligent fruit picking equipment

Info

Publication number: CN116406569A
Application number: CN202310682342.5A
Authority: CN
Inventors: 张志勇; 王硕
Original assignee: Shanxi Agricultural University
Current assignee: Shanxi Agricultural University
Priority date: 2023-06-09
Filing date: 2023-06-09
Publication date: 2023-07-11
Anticipated expiration: 2043-06-09
Also published as: CN116406569B

Abstract

The invention discloses intelligent fruit picking equipment, which belongs to the technical field of intelligent fruit picking equipment, and aims to solve the problems that the picking efficiency is low due to the fact that the picking assembly is used for collecting fruits in a collecting bag in a mode of manually picking the fruits by matching with the equipment, labor cost is reduced, dirt on the picked fruits can be cleaned, enough time is allowed in the transferring process to enable the ripe fruits to be transported to a set place, and rot and loss are avoided in the long-time transferring process to a certain extent.

Description

Intelligent fruit picking equipment

Technical Field

The invention relates to the technical field of intelligent fruit picking equipment, in particular to intelligent fruit picking equipment.

Background

The fruit in the orchard is timely and efficiently harvested when the fruit is ripe, the yield and quality of the fruit in the current year and the coming year, and the storage, transportation, processing and market supply of the fruit are greatly influenced, and the harvesting needs to be completed rapidly during the fruit ripening period, so that more transportation time is striven for fruit transportation, and the fruit quality is prevented from being reduced due to causal over-ripening.

The mode that current fruit in to the orchard was picked is usually accomplished with artifical mode of picking, picks down the fruit through the mode that the manual work used the picking tool to put into corresponding placing the incasement with the fruit and collect, such mode of picking is not only picked efficiency bottom, and the amount of labour is big moreover, and the cost of labor is high, if the staff is not enough in time to pick can probably lead to the fruit to be ripe, makes the fruit take place to rot and causes certain loss in the transportation process of follow-up longer time.

Therefore, an intelligent fruit picking apparatus is proposed for the above-mentioned problems.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide intelligent fruit picking equipment, which is characterized in that compared with the situation that the picking efficiency is low caused by the mode of manually picking fruits with the equipment, the picking efficiency is further improved, meanwhile, the labor cost required by picking is saved, and dirt on the picked fruits can be cleaned to a certain extent, so that more time is saved for the subsequent transferring process, more sufficient time is provided in the transferring process, the ripe fruits are transported to a set place, excessive ripeness of the fruits caused by more time consumed by picking in the transferring process is prevented, and the loss is reduced.

In order to solve the problems, the invention adopts the following technical scheme.

The utility model provides an intelligence fruit picking device, includes picking device, the rotation inslot rotation that sets up on the picking device is connected with the swing arm, swing arm one end is provided with clamping assembly, clamping assembly includes the grip block, grip block one end and swing arm swing joint, the grip groove has been seted up on the grip block, be provided with a pair of mutually symmetrical grip block in the grip groove, and grip groove internally mounted has first servo motor, grip block bottom fixedly connected with gear, a pair of gear intermeshing connects, the right side the gear rotates with the grip groove inner wall to be connected, first servo motor output and left side gear fixedly connected, grip block one side is provided with adjusting part, be provided with a plurality of picking assembly and a plurality of collection assembly on the adjusting part.

Further, the adjusting component comprises a fixing half ring, a plurality of evenly distributed fixing grooves are formed in the fixing half ring, the fixing grooves are circumferentially distributed, a second servo motor is mounted in the fixing groove, the output end of the second servo motor is fixedly connected with a connecting block, the picking component comprises an electric push rod, and the top end of the connecting block is fixedly connected with the bottom end of the electric push rod.

Further, the electric push rod is composed of a plurality of sections of connecting rods, one ends of the connecting rods are fixedly connected with picking blocks and collecting blocks, a miniature motor is installed in a groove formed in each picking block, the output end of the miniature motor is fixedly connected with a picking rod, a mechanical swinging ball is installed on each picking rod, and a picking device is installed on each mechanical swinging ball.

Further, the collecting block is rotationally connected with an arc-shaped plate, the arc-shaped plate is arc-shaped, one end of the arc-shaped plate is rotationally connected with a telescopic rod, and the top end of the telescopic rod is rotationally connected with the bottom end of the picking rod.

Further, the collection assembly comprises a collection plate, a plurality of arc plates are arranged at one ends, close to each other, of the collection plate, the shape of the collection plate is matched with that of the arc plates, and the top ends of the collection plate are leveled with the top ends of the arc plates.

Further, the collecting tray comprises a pair of elastic nets and an elastic slideway, the elastic slideway is installed at one end, close to each other, of the elastic nets, and the elastic slideway is made of elastic materials.

Further, a plurality of blocking rods which are unevenly distributed are arranged on the elastic slideway, and blocking air bags are arranged at the top ends of the blocking rods.

Further, a plurality of evenly distributed adsorption fibers are arranged on the outer periphery of the blocking air bag, and the adsorption fibers are made of adsorption materials.

Further, a collecting hole is formed in the collecting tray, a collecting bag is arranged on the inner wall of the collecting hole, and a plurality of protection components are arranged on the inner wall of the collecting bag.

Further, the protection component comprises a fixed air bag, a plurality of collision air bags which are uniformly distributed and communicated with the fixed air bag are arranged on the fixed air bag, a plurality of cleaning holes are formed in the fixed air bag, and the fixed air bag and the collision air bag are made of memory elastic materials.

Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) According to the scheme, the second servo motor arranged in the fixing groove formed in the adjusting assembly rotates the connecting block to drive the electric push rod to rotate, the control of the rotation angle of the electric push rod is completed according to the size of a fruit tree by the aid of the control system carried in the picking device, the first servo motor in the clamping block is used for controlling the gear to rotate, so that the pair of clamping plates drive the fixed semi-rings to complete the clamping of the fruit tree, after the clamping is completed, the picking of fruits on the fruit tree is started through the cooperation of the picking assembly and the collecting assembly, and compared with a fruit picking mode mainly taking manpower as a main mode, the picking efficiency can be effectively improved, and the labor cost is saved.

(2) The scheme can clean dirt on picked fruits to a certain extent in the picking process, so that more time is saved for subsequent cleaning, the fruits are prevented from being rotten in the long-time transportation process to a certain extent, and the loss is reduced.

Drawings

Fig. 1 is a schematic perspective view of a picking apparatus of the present invention;

FIG. 2 is a schematic top view of a clamping assembly according to the present invention;

FIG. 3 is a schematic side view of an adjustment assembly according to the present invention;

FIG. 4 is a schematic perspective view of a picking assembly of the present invention;

FIG. 5 is a schematic perspective view of a collection assembly according to the present invention;

FIG. 6 is a schematic diagram of the front structure of the blocking rod of the present invention;

FIG. 7 is a schematic side elevational view of the collection bag of the present invention;

fig. 8 is a schematic front view of a protection component of the present invention.

The reference numerals in the figures illustrate:

1. picking equipment; 2. a clamping assembly; 3. an adjustment assembly; 4. a picking assembly; 5. a collection assembly; 6. a protection component; 11. a swing arm; 21. a clamping block; 22. a clamping groove; 23. a clamping plate; 24. a gear; 25. a first servo motor; 31. a stationary half ring; 32. a fixing groove; 33. a second servo motor; 34. a connecting block; 41. an electric push rod; 42. picking up the blocks; 43. picking a rod; 44. a mechanical swing ball; 45. collecting the blocks; 46. an arc-shaped plate; 47. a telescopic rod; 48. a picking device; 51. a collection tray; 52. a blocking lever; 53. a collection hole; 54. a collection bag; 55. an elastic net; 56. an elastic slideway; 57. a blocking balloon; 58. adsorbing fibers; 61. fixing the air bag; 62. a collision airbag; 63. cleaning the hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.

In the description of the present invention, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Examples

Referring to fig. 1-2, an intelligent fruit picking device comprises a picking device 1, a swinging arm 11 is rotationally connected in a rotating groove formed on the picking device 1, a clamping component 2 is arranged at one end of the swinging arm 11, the clamping component 2 comprises a clamping block 21, one end of the clamping block 21 is movably connected with the swinging arm 11, a clamping groove 22 is formed on the clamping block 21, a pair of mutually symmetrical clamping plates 23 are arranged in the clamping groove 22, a first servo motor 25 is arranged in the clamping groove 22, a gear 24 is fixedly connected at the bottom end of the clamping plate 23, a pair of gears 24 are mutually meshed and connected, a right side gear 24 is rotationally connected with the inner wall of the clamping groove 22, an output end of the first servo motor 25 is fixedly connected with a left side gear 24, an adjusting component 3 is arranged at one side of the clamping plate 23, a plurality of picking components 4 and a plurality of collecting components 5 are arranged on the adjusting component 3, the swinging arm 11 is rotationally connected in the rotating groove formed on the picking device 1, and one end of the swinging arm 11 is provided with a clamping component 2, when ripe fruits on fruit trees in an orchard are required to be picked, a connecting block 34 is rotated by a second servo motor 33 arranged in a fixed groove 32 formed in an adjusting component 3 so as to drive an electric push rod 41 to rotate, the angle of the electric push rod 41 is adjusted according to the size of the fruit trees by a control system carried in the picking equipment 1, a gear 24 is controlled to rotate by a first servo motor 25 in a clamping block 21 on the clamping component 2, so that a pair of clamping plates 23 drive a fixed half ring 31 to finish clamping the fruit trees, the fruits on the fruit trees are started to be picked by the cooperation of a picking component 4 and a collecting component 5 after the clamping is finished, and the fruits are collected into a collecting bag 54 by the collecting component 5 so as to finish the picking of the fruits, compared with the existing fruit picking mode mainly comprising manpower, the fruit picking machine can effectively improve picking efficiency, save labor cost, can primarily clean dirt on the surfaces of picked fruits, avoid decay of the fruits in the long-time transportation process to a certain extent, and reduce loss.

Referring to fig. 3, the adjusting assembly 3 includes a stationary half ring 31, a plurality of evenly distributed fixing slots 32 are formed in the stationary half ring 31, the plurality of fixing slots 32 are circumferentially distributed, a second servo motor 33 is installed in the fixing slots 32, an output end of the second servo motor 33 is fixedly connected with a connecting block 34, the picking assembly 4 includes an electric push rod 41, a top end of the connecting block 34 is fixedly connected with a bottom end of the electric push rod 41, the plurality of evenly distributed fixing slots 32 are formed in the stationary half ring 31, an output end of the second servo motor 33 installed in the fixing slots 32 is fixedly connected with a connecting block 34, the connecting block 34 is fixedly connected with a lower end of the electric push rod 41, the second servo motor 33 installed in the fixing slots 32 is started to drive the connecting block 34 to rotate synchronously, a control system carried in the picking device 1 is used for controlling a rotation angle of the second servo motor 33 to drive the connecting block 34 according to information collection of fruit tree sizes, and then the electric push rod 41 is started to enable a plurality of connecting rods on the electric push rod 41 to stretch out, so that the picking assembly 4 is beneficial to picking fruits and collecting the fruits in real time.

Referring to fig. 4, the electric push rod 41 is composed of a plurality of connecting rods, one end of each connecting rod is fixedly connected with a picking block 42 and a collecting block 45, a micro motor is installed in a groove formed in the picking block 42, the output end of the micro motor is fixedly connected with a picking rod 43, a mechanical swinging ball 44 is installed on the picking rod 43, a picking device 48 is installed on the mechanical swinging ball 44, the picking device 48 is composed of an electric telescopic rod and an electric sucking disc, the micro motor is installed in the groove formed in the picking block 42, so that the micro motor can be started to drive the picking rod 43 to rotate so as to synchronously drive the mechanical swinging ball 44 and the picking device 48 to rotate, picking of fruits on a fruit tree is facilitated, the rotating angle of the picking device 48 is controlled through the mechanical swinging ball 44, a visual sensor is carried on the picking device 48, automatic telescopic length of the picking device 48 is controlled through the electric telescopic rod carried on the picking device 1, picking of the fruits is completed through the electric sucking disc, collection of the fruits is completed through the collecting assembly 5, and the picking assembly 4 and the picking assembly can be reset to collect fruits after the fruit is completed, and the fruit can be cleaned conveniently.

The collecting block 45 is rotationally connected with the arc 46, the shape of the arc 46 is arc, one end of the arc 46 is rotationally connected with the telescopic rod 47, the top end of the telescopic rod 47 is rotationally connected with the bottom end of the picking rod 43, the arc 46 is rotationally connected to the collecting block 45 through the scheme, the shape of the arc 46 is arc, the telescopic rod 47 is driven to move through the rotation of the picking rod 43, the arc 46 is rotationally connected with the arc 46 and the picking rod 43 through the two ends of the telescopic rod 47, the arc 46 is pulled to rotate through the telescopic rod 47, the collecting disc 51 is synchronously driven to stretch through the rotation of the arc 46, fruits can be placed on the collecting disc 51 when the picking device 48 finishes picking and adsorbing the fruits, finally the angle of the clamping assembly 2 is controlled through the swinging arm 11, the collecting disc 51 is inclined, the fruits on the collecting disc 51 can roll down to the collecting holes 53 formed in the collecting disc 51 under the action of gravity, and the fruits are collected by the collecting bag 54.

Referring to fig. 5, the collecting assembly 5 includes a collecting tray 51, a plurality of curved plates 46 are all installed at one end close to each other, the shape of the collecting tray 51 is matched with the curved plates 46, and the top end of the collecting tray 51 is leveled with the top end of the curved plate 46.

The collecting tray 51 comprises a pair of elastic nets 55 and an elastic slideway 56, the elastic slideway 56 is arranged at one end of the pair of elastic nets 55, which is close to each other, the elastic slideway 56 is arranged at one end of the elastic slideway 56, which is close to each other, the elastic slideway 56 is arranged at the other end of the elastic net 55, the elastic slideway 56 is arranged at the elastic slideway 56, when the picking rod 43 rotates to drive the telescopic rod 47 to pull the arc plate 46 to rotate to complete the unfolding of the collecting tray 51, the arc plates 46 arranged at two sides cannot rotate after rotating to be level with a horizontal plane, and the arc plates 46 arranged in the middle cannot rotate continuously until rotating to be smaller than a plane included angle of 15-20 degrees, so that the collecting tray 51 arranged at two sides inclines towards the middle, fruits can be collected by the collecting bag 54 under the action of gravity, and meanwhile, the elastic slideway 56 is arranged at the elastic slideway 56, so that the collecting tray 51 can be better stored and unfolded.

Referring to fig. 5 and 6, a plurality of blocking rods 52 are installed on the elastic sliding way 56, blocking air bags 57 are installed at the top ends of the blocking rods 52, the scheme is characterized in that the elastic sliding way 56 is provided with the blocking rods 52, so that the blocking air bags 57 installed on the blocking rods 52 can prevent a plurality of fruits from collision to a greater extent when the elastic sliding way 56 on the collecting tray 51 rolls, meanwhile, the fruits can limit the rolling speed when rolling, collision of the fruits is avoided, the collision loss of the fruits is reduced, and the collecting tray 51 is sized to realize that the fruits roll in sequence.

Referring to fig. 6, a plurality of uniformly distributed adsorption fibers 58 are installed around the periphery of the blocking air bag 57, the adsorption fibers 58 are made of adsorption materials, the uniformly distributed adsorption fibers 58 are installed around the periphery of the blocking air bag 57, and the adsorption fibers 58 are made of adsorption materials, so that the fruits are ripe in hot seasons, more dew and dust mixtures exist on the fruits during early morning picking, the dew and dust mixtures can be adsorbed by the adsorption fibers 58 installed around the periphery of the blocking air bag 57 when the fruits are contacted, and the blocking rod 52 can vibrate to a certain extent when the fruits collide with the blocking air bag 57, so that the vibration of the blocking rod 52 can drive the adsorption fibers 58 to shake, and dirt adsorbed by the adsorption fibers 58 can be thrown out, so that the fruits are cleaned more effectively.

Referring to fig. 7-8, a collecting hole 53 is formed in a collecting tray 51, a collecting bag 54 is mounted on an inner wall of the collecting hole 53, a plurality of protection components 6 are mounted on an inner wall of the collecting bag 54, the collecting bag 54 is mounted inside the collecting hole 53, and a plurality of protection components 6 are mounted on an inner wall of the collecting bag 54, due to the plurality of blocking rods 52 mounted on an elastic slideway 56, fruits roll into the collecting bag 54 slowly, and fruits with larger caliber of the collecting hole 53 are limited and enter the collecting bag 54, so that the fruits can be protected better through the protection components 6 mounted in the collecting bag 54.

The protection component 6 includes fixed gasbag 61, install a plurality of evenly distributed and with the collision gasbag 62 that fixed gasbag 61 is linked together on the fixed gasbag 61, and set up a plurality of clean holes 63 on the fixed gasbag 61, the material of fixed gasbag 61 and collision gasbag 62 all sets up to the memory elastic material, this scheme is through the protection component 6 including fixed gasbag 61, and install a plurality of collision gasbag 62 that are linked together with fixed gasbag 61 on the fixed gasbag 61, the fruit can restrict the roll-off speed of fruit under the effect of fixed gasbag 61 and collision gasbag 62, thereby make the fruit can roll into in the fixed gasbag 61, fall into in proper order in the fixed gasbag 61 when the fruit falls into in the fixed gasbag 61, and at the in-process of extrusion collision gasbag 62, can make the gas in the collision gasbag 62 extrude through the clean hole 63 that sets up, can further clean the fruit through gas from clean hole 63 blowout, when the fruit rolls into the collection bag 54 more, the distance of fruit collection hole 53 in the collection bag 54 also can shorten, can shorten because of the height makes the roll-off bag 54 can make adjacent fruit can fall into the material and take out the material through the bump-off in the fixed gasbag 61 in proper order, can accomplish the performance can be accomplished by setting up the elastic material in the time after the fruit rolls into the fruit, the fruit can be accomplished by the equipment.

Working principle: when the ripe fruit on the fruit tree is required to be picked, before the operator drives the picking device 1 to move to the fruit tree, the second servo motor 33 installed in the fixed groove 32 is started to rotate the connecting block 34 so as to drive the electric push rod 41 to rotate, the angle adjustment of the electric push rod 41 is completed according to the size of the fruit tree according to the control system carried in the picking device 1, the first servo motor 25 in the clamping block 21 on the clamping assembly 2 is used for controlling the gear 24 to rotate, so that the pair of clamping plates 23 drive the fixed semi-ring 31 to complete the clamping of the fruit tree, the electric push rod 41 is started again so that a plurality of connecting rods on the electric push rod 41 extend, the micro motor is started to drive the picking rod 43 to rotate so as to synchronously drive the mechanical swinging ball 44 and the picking device 48 to synchronously rotate, simultaneously, the rotation of the picking rod 43 drives the telescopic rod 47 to move, two ends of the telescopic rod 47 are respectively connected with the arc plate 46 and the picking rod 43 in a rotating way, so that the arc plate 46 is pulled to rotate through the telescopic rod 47, the collecting tray 51 is synchronously driven to stretch through the rotation of the arc plate 46, the rotation angle of the picking device 48 is controlled through the mechanical swinging ball 44, the picking device 48 is provided with a visual sensor, the fruit is positioned through the visual sensor provided with the visual sensor, the picking device 48 is controlled by a control system on the picking equipment 1 to automatically stretch and pick the fruit through the adsorption force, the fruit can be placed on the collecting tray 51 when the picking device 48 finishes picking and adsorbing the fruit, the arc plates 46 on two sides are leveled with the horizontal plane, the rotation angle of the arc plate 46 arranged in the middle is smaller than two sides, so that the fruit on the collecting tray 51 can roll into a collecting hole 53 provided on the collecting tray 51 under the action of gravity and is collected by the collecting bag 54, the elastic slideway 56 is provided with the plurality of blocking rods 52, so that the blocking air bags 57 arranged on the blocking rods 52 can prevent a large degree of collision between a plurality of fruits when the picked fruit trees roll on the collecting tray 51, meanwhile, the fruits are prevented from rolling at a high speed, collision caused by the fruits is avoided, the adsorption fibers 58 arranged on the periphery of the blocking air bags 57 enable the fruits to contact with the mixture of dew and dust of the fruits, when the fruits fall into the fixed air bags 61, the follow-up fruits sequentially fall into the adjacent fixed air bags 61, and in the process of extruding the collision air bags 62, the gas in the collision air bags 62 can be extruded through the cleaning holes 63 arranged on the fixed air bags 61, the fruits can be further cleaned through the gas sprayed out from the cleaning holes 63, and the distance from the collecting holes 53 in the collecting bags 54 can be shortened as the fruits roll into the collecting bags 54 more, the height is shortened, the falling-in collecting bags 54 can be lower than the adjacent fruits, the working personnel can reset the collecting bags 54, and the picking assembly can be conveniently placed into the picking assembly to be conveniently washed and taken out after the picking assembly is convenient for picking assembly to take the fruits and the fruits are taken out.

The above description is only of the preferred embodiments of the present invention; the scope of the invention is not limited in this respect. Any person skilled in the art, within the technical scope of the present disclosure, may apply to the present invention, and the technical solution and the improvement thereof are all covered by the protection scope of the present invention.

Claims

1. An intelligent fruit picking device comprises a picking device (1), and is characterized in that: the picking device is characterized in that a swinging arm (11) is rotationally connected to a rotating groove formed in the picking device (1), one end of the swinging arm (11) is provided with a clamping assembly (2), the clamping assembly (2) comprises a clamping block (21), one end of the clamping block (21) is movably connected with the swinging arm (11), a clamping groove (22) is formed in the clamping block (21), a pair of mutually symmetrical clamping plates (23) are arranged in the clamping groove (22), a first servo motor (25) is arranged in the clamping groove (22), the utility model discloses a picking device, including clamping plate (23), right side, left side gear (24), right side, left side gear (24), clamping plate (23) bottom fixedly connected with gear (24), a pair of gear (24) intermeshing connects, right side gear (24) rotate with clamping groove (22) inner wall to be connected, first servo motor (25) output and left side gear (24) fixed connection, clamping plate (23) one side is provided with adjusting part (3), be provided with a plurality of picking parts (4) and a plurality of collection parts (5) on adjusting part (3).

2. An intelligent fruit picking apparatus as claimed in claim 1, wherein: the adjusting component (3) comprises a fixed semi-ring (31), a plurality of evenly distributed fixing grooves (32) are formed in the fixed semi-ring (31), the fixing grooves (32) are circumferentially distributed, a second servo motor (33) is mounted in the fixing grooves (32), the output end of the second servo motor (33) is fixedly connected with a connecting block (34), the picking component (4) comprises an electric push rod (41), and the top end of the connecting block (34) is fixedly connected with the bottom end of the electric push rod (41).

3. An intelligent fruit picking apparatus as claimed in claim 2, wherein: the electric push rod (41) is composed of a plurality of sections of connecting rods, one ends of the connecting rods are fixedly connected with picking blocks (42) and collecting blocks (45), miniature motors are installed in grooves formed in the picking blocks (42), the output ends of the miniature motors are fixedly connected with picking rods (43), mechanical swinging balls (44) are installed on the picking rods (43), and picking devices (48) are installed on the mechanical swinging balls (44).

4. An intelligent fruit picking apparatus as claimed in claim 3, wherein: the collecting block (45) is rotationally connected with an arc-shaped plate (46), the arc-shaped plate (46) is arc-shaped, one end of the arc-shaped plate (46) is rotationally connected with a telescopic rod (47), and the top end of the telescopic rod (47) is rotationally connected with the bottom end of the picking rod (43).

5. An intelligent fruit picking apparatus as claimed in claim 4, wherein: the collecting assembly (5) comprises a collecting disc (51), a plurality of arc plates (46) are close to one end of each other and are all provided with the collecting disc (51), the shape of the collecting disc (51) is matched with that of the arc plates (46), and the top ends of the collecting discs (51) are leveled with the top ends of the arc plates (46).

6. An intelligent fruit picking apparatus as claimed in claim 5, wherein: the collecting tray (51) comprises a pair of elastic nets (55) and an elastic slideway (56), the elastic slideway (56) is arranged at one end, close to each other, of the pair of elastic nets (55), and the elastic slideway (56) is made of elastic materials.

7. The intelligent fruit picking apparatus of claim 6, wherein: a plurality of blocking rods (52) which are unevenly distributed are arranged on the elastic slideway (56), and blocking air bags (57) are arranged at the top ends of the blocking rods (52).

8. An intelligent fruit picking apparatus as claimed in claim 7, wherein: a plurality of uniformly distributed adsorption fibers (58) are arranged on the periphery of the blocking air bag (57), and the adsorption fibers (58) are made of adsorption materials.

9. An intelligent fruit picking apparatus as claimed in claim 5, wherein: the collecting tray (51) is provided with a collecting hole (53), a collecting bag (54) is arranged on the inner wall of the collecting hole (53), and a plurality of protection components (6) are arranged on the inner wall of the collecting bag (54).

10. An intelligent fruit picking apparatus as claimed in claim 9, wherein: the protection assembly (6) comprises a fixed air bag (61), a plurality of collision air bags (62) which are uniformly distributed and communicated with the fixed air bag (61) are arranged on the fixed air bag (61), a plurality of cleaning holes (63) are formed in the fixed air bag (61), and the fixed air bag (61) and the collision air bag (62) are made of memory elastic materials.