CN118525682B

CN118525682B - A robotic system for fruit thinning

Info

Publication number: CN118525682B
Application number: CN202410710949.4A
Authority: CN
Inventors: 史源平; 容旭巍; 杨伟超; 赵翠俭
Original assignee: Shijiazhuang University
Current assignee: Shijiazhuang University
Priority date: 2024-06-04
Filing date: 2024-06-04
Publication date: 2025-11-14
Anticipated expiration: 2044-06-04
Also published as: CN118525682A

Abstract

The invention relates to the technical field of agricultural mechanization, and discloses a robot system for fruit tree thinning, which comprises a vehicle body, wherein the top of the vehicle body is fixedly connected with a mounting seat, the outside of the mounting seat is provided with a movable arm, the other end of the movable arm is provided with a mounting disc, the outer wall of the mounting disc is rotationally connected with a plurality of electric telescopic rods I, the other ends of the electric telescopic rods I are rotationally connected with movable frameworks, a soft cloth cover is connected between the movable frameworks, the middle of the mounting disc is fixedly connected with a guide cylinder, and the outer wall of the guide cylinder is fixedly connected with a plurality of fixing seats. Through install collection subassembly and dredge the subassembly on the movable arm for the unnecessary fruit and the leaf branch after being pruned can be retrieved and handled, provide the nutrient for fruit tree or other plants with its preparation nourishment, its production that has effectively reduced the discarded object, and provide good environment for the orchard.

Description

Robot system for thinning fruit tree

Technical Field

The invention relates to the technical field of agricultural mechanization, in particular to a robot system for thinning fruit trees.

Background

In the cultivation process of peach trees, pruning and thinning are vital agronomic measures, which not only affect the size and quality of fruits, but also relate to the health and overall yield of the tree body. Traditional peach pruning and thinning usually rely on manual operations, which are not only labor intensive, but also inefficient, particularly in large-scale commercial orchards, where the limitations of manual operations are more pronounced.

The non-uniformity of artificial thinning and pruning may lead to uneven fruit quality, affecting the market competitiveness of the fruit. In addition, due to the growth cycle and physiological characteristics of peach trees, the wrong pruning time or method can cause damage to the tree body, and the yield and quality in the next year are affected.

Meanwhile, if the waste generated by pruning and thinning is not properly treated, potential organic resources are wasted, and the waste can become a breeding place for plant diseases and insect pests. In conventional practice, these wastes often need to be manually collected and transported to a special composting site, which not only increases labor and management costs, but also increases environmental burden.

In view of the above problems, the invention provides a robot system for thinning fruit trees.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a robot system for fruit tree thinning, which solves the problems of low efficiency, high cost and improper waste treatment of the traditional peach tree pruning and fruit thinning.

The robot system for fruit tree thinning comprises a vehicle body, wherein the top of the vehicle body is fixedly connected with a mounting seat, a movable arm is arranged outside the mounting seat, the other end of the movable arm is provided with a mounting disc, the outer wall of the mounting disc is rotationally connected with a plurality of electric telescopic rods I, the other ends of the electric telescopic rods I are rotationally connected with movable frameworks, a plurality of flexible cloth covers are connected between the movable frameworks, the middle of the mounting disc is fixedly connected with a guide cylinder, the outer wall of the guide cylinder is fixedly connected with a plurality of fixing seats, the end parts of the movable frameworks are respectively rotationally connected with the middle of the fixing seats, the outer wall of the mounting disc is provided with a thinning component, the inside of the vehicle body is provided with a smashing component, the inside of the vehicle body is provided with a collecting component, and the two sides of the mounting seat are respectively provided with an anti-skid component.

Preferably, the movable arm comprises a first motor, the outer wall fixedly connected with of the first motor is at the outer wall of mount pad, the drive end fixedly connected with of first motor adjusts the pole, the top both sides of mount pad are all rotated and are connected with movable rod one, two the other end of movable rod one is all rotated and is connected with connecting piece one, two the other end of connecting piece one is all rotated and is connected with movable rod two, the other end of adjusting the pole is rotated and is connected at the opposite side of two connecting pieces one, the other end middle part of adjusting the pole is rotated and is connected with the connection accuse pole, the outer wall fixedly connected with motor of mount pad, the drive end fixedly connected with rocker of motor two, the outer wall rotation of rocker is connected with the regulation connecting rod, the other end rotation of regulation connecting rod is connected with the connection accuse pole, the other end rotation of connection accuse pole and two movable rods two is connected with connecting piece two.

Preferably, the outer wall of the mounting plate is fixedly connected to the outer wall of the second connecting piece, and a hose is fixedly connected to one end of the guide cylinder, which is connected with the middle part of the mounting plate.

Preferably, the dredging component comprises a mounting frame, the outer wall fixedly connected with of mounting frame is at the outer wall of connecting piece two, the outer wall fixedly connected with motor three of mounting frame, the drive end fixedly connected with two-way lead screw of motor three, the equal threaded connection in outer wall both sides of two-way lead screw removes the accuse pole, mounting frame middle part fixedly connected with guide bar, two the equal sliding connection in middle part of removing the accuse pole is at the outer wall of guide bar, two the equal rotation in bottom of removing the accuse pole is connected with the handle, two the equal fixedly connected with cutter of the other end of handle, two the crossing department rotation in middle part of cutter is connected with the pivot pole, the outer wall rotation of pivot pole is connected in the mounting frame middle part.

Preferably, the outer parts of the two cutters and the soft cloth cover are positioned on the same vertical horizontal line.

Preferably, the crushing assembly comprises a crushing chamber, the crushing chamber is arranged in the vehicle body, two crushing rollers are rotatably connected in the crushing chamber, gears are fixedly connected to the outer walls of the two crushing rollers, the outer parts of the gears are meshed, and one of the crushing rollers is fixedly connected with a motor IV.

Preferably, the collecting assembly comprises a guide pipe, the guide pipe penetrates through the bottom of the vehicle body and is communicated with the crushing cavity, the other end of the guide pipe penetrates through the middle of the cavity of the vehicle body, the top of the vehicle body is fixedly connected with a dust collector, a connecting pipe is fixedly connected to the connecting position of the dust collector, connecting threads are arranged on the outer walls of the guide pipe and the connecting pipe, two connecting threads are connected with threaded sleeves through threads, two collecting bags are fixedly connected to the opposite sides of the threaded sleeves, and a filter plate is connected to the top of each collecting bag.

Preferably, the antiskid component comprises two movable frames, wherein the tops of the two movable frames are respectively connected to two sides of a vehicle body in a rotating mode, the bottoms of the two movable frames are respectively connected with a rotating rod in a rotating mode, the outer walls of the rotating rods are respectively and fixedly connected with two rotating wheels, the outer walls of the rotating wheels are respectively and fixedly connected with a plurality of wheel sheets, the two sides of the vehicle body are respectively and fixedly connected with a connecting seat, the two middle parts of the connecting seats are respectively and rotatably connected with an electric telescopic rod II, and the other ends of the electric telescopic rods II are respectively and rotatably connected to the middle parts of the two movable frames.

The invention provides a robot system for thinning fruit trees. The beneficial effects are as follows:

1. According to the invention, the collection component and the thinning component are arranged on the movable arm, so that the trimmed redundant fruits and leaves can be recycled, and the trimmed redundant fruits and leaves can be manufactured into the nutrient for providing nutrients for fruit trees or other plants, thereby effectively reducing the generation of wastes and providing a good environment for an orchard.

2. According to the invention, the crushing assembly is designed in the vehicle body, so that the collected redundant fruits and leaves can be crushed rapidly, the subsequent recovery and collection are facilitated, the composting treatment at a composting place is facilitated, the composting treatment efficiency is improved, and the transportation space to the composting place is reduced.

3. According to the invention, the anti-skid assemblies are designed on the two sides of the vehicle body, so that the running stability can be ensured when the device runs on a slope or on the ground which is easy to skid, the conditions of inclination, skid, side turning and the like can not occur, and the normal running of the device in an orchard can be ensured.

4. According to the invention, the soft cloth covers are designed outside the movable frameworks, when the soft cloth covers are used for processing fruit trees, the soft cloth covers are positioned below the pruning shears and can directly collect pruned materials in a concentrated manner, and the opening caliber of the soft cloth covers can be controlled by the movement of the movable frameworks, so that when the fruit trees are pruned, the fruit trees can be wrapped according to the conditions, and the pruning of the fruit trees in a large range is fast and convenient.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic view of the present invention from below;

FIG. 3 is a schematic view of the structure of the soft cloth cover of the present invention;

FIG. 4 is a schematic view of the structure of the movable arm of the present invention;

FIG. 5 is a schematic view showing the internal structure of the pulverizing chamber of the present invention;

FIG. 6 is a schematic view of the structure of the bi-directional screw of the present invention;

FIG. 7 is a schematic view of the internal structure of the collecting bag of the present invention;

FIG. 8 is a schematic view of a filter plate according to the present invention;

fig. 9 is a schematic structural view of the connecting lever of the present invention.

The device comprises a vehicle body 1, a mounting seat 2, a motor I, an adjusting rod 4, a movable rod I5, a motor II, a rocker 7, a rocker 8, an adjusting connecting rod 9, a connecting piece I, a connecting rod 10, a connecting control rod 11, a movable rod II, a connecting piece 13, a mounting disc 14, an electric telescopic rod I, a movable framework 15, a movable framework 16, a guide cylinder 17, a fixing seat 18, a soft cloth cover 19, a hose 20, a mounting frame 21, a motor III, a motor 22, a bidirectional screw rod 23, a guide rod 24, a movable control rod 25, a handle 26, a cutter 27, a rotating shaft rod 28, a crushing chamber 29, a crushing roller 30, a gear 31, a motor IV, a guide pipe 33, a connecting screw thread 34, a dust collector 35, a connecting pipe 36, a screw sleeve 37, a collecting bag 38, a movable frame 39, a rotating rod 40, a rotating wheel 41, a wheel sheet 42, a connecting seat 43, an electric telescopic rod II, a filter plate 44 and a filter plate.

Detailed Description

The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples

Referring to fig. 1-3, an embodiment of the invention provides a robot system for fruit tree thinning, which comprises a vehicle body 1, wherein the top of the vehicle body 1 is fixedly connected with a mounting seat 2, a movable arm is arranged outside the mounting seat 2, the other end of the movable arm is provided with a mounting plate 13, the outer wall of the mounting plate 13 is rotationally connected with a plurality of electric telescopic rods 14, the other ends of the electric telescopic rods 14 are rotationally connected with movable frameworks 15, a soft cloth cover 18 is connected between the movable frameworks 15, the middle part of the mounting plate 13 is fixedly connected with a guide cylinder 16, the outer wall of the guide cylinder 16 is fixedly connected with a plurality of fixing seats 17, the end parts of the movable frameworks 15 are respectively rotationally connected with the middle parts of the plurality of fixing seats 17, the outer wall of the mounting plate 13 is provided with a thinning component, the inside of the vehicle body 1 is provided with a crushing component, the inside of the vehicle body 1 is provided with a collecting component, and both sides of the mounting seat 2 are provided with anti-skid components.

Specifically, when using, start electric telescopic handle one 14 for a plurality of movable skeletons 15 open, thereby make soft cloth cover 18 prop up, form the cover body of maximum bore, then start the movable arm, make to dredge and remove the subassembly and prune fruit on the peach branch up, the unnecessary fruit after pruning, branch and leaf material will fall into the inside of cover body, follow guide cylinder 16 and get into hose 19's inside afterwards, through hose 19 slip in smashing the inside of subassembly, through smashing the processing of subassembly, collect the material after smashing under collecting the effect of subassembly. When the soft cloth cover 18 is used for processing fruit trees, the materials under pruning can be directly collected in a centralized mode under the pruning tool, and the opening caliber of the soft cloth cover 18 can be controlled by the movement of the movable frameworks 15, so that the pruning of a large range of tree can be fast and convenient due to the fact that the tree is wrapped according to conditions during pruning.

Referring to fig. 4-9, the movable arm includes a first motor 3, an outer wall of the first motor 3 is fixedly connected to an outer wall of a mounting seat 2, a driving end of the first motor 3 is fixedly connected with an adjusting rod 4, two sides of the top of the mounting seat 2 are rotationally connected with a first movable rod 5, the other ends of the first two movable rods 5 are rotationally connected with a first connecting piece 9, the other ends of the first two connecting pieces 9 are rotationally connected with a second movable rod 11, the other ends of the adjusting rod 4 are rotationally connected to opposite sides of the first two connecting pieces 9, the middle of the other ends of the adjusting rod 4 is rotationally connected with a connecting control rod 10, the outer wall of the mounting seat 2 is fixedly connected with a second motor 6, a driving end of the second motor 6 is fixedly connected with a rocker 7, an outer wall of the rocker 7 is rotationally connected with an adjusting connecting rod 8, the other ends of the adjusting rod 8 are rotationally connected with a connecting control rod 10, and the other ends of the connecting control rod 10 and the second movable rods 11 are rotationally connected with a second connecting piece 12.

Specifically, when the height of the dredging component needs to be adjusted, the rotation speeds of the motor I3 and the motor II 6 can be controlled, the rotation angles of the adjusting rod 4 and the rocker 7 can be adjusted, the position of the connecting piece I9 can be adjusted under the rotation driving of the adjusting rod 4, the adjusting connecting rod 8 can be enabled to move under the rotation driving of the rocker 7, then the connecting control rod 10 can be driven to move, at the moment, under the movable fit of the connecting control rod 10 and the connecting piece I9, the whole movable arm can be adjusted in multiple directions under the limit control of the movable rod I5, the movable rod II 11 can be enabled to move under the rotation driving of the connecting piece I9, meanwhile, the movable angle of the connecting piece II 12 can be adjusted under the cooperation of a plurality of components, the mounting disc 13 on the device can be enabled to drive the cover body and the dredging component to flexibly adjust in azimuth, and peach trees with different shapes can be conveniently adapted to use.

The outer wall of the mounting plate 13 is fixedly connected with the outer wall of the second connecting piece 12, and one end of the guide cylinder 16 connected with the middle part of the mounting plate 13 is fixedly connected with a hose 19.

Referring to fig. 1 and 6, the thinning assembly comprises a mounting frame 20, the outer wall of the mounting frame 20 is fixedly connected to the outer wall of a connecting piece II 12, a motor III 21 is fixedly connected to the outer wall of the mounting frame 20, a bidirectional screw rod 22 is fixedly connected to the driving end of the motor III 21, movable control rods 24 are connected to two sides of the outer wall of the bidirectional screw rod 22 in a threaded mode, a guide rod 23 is fixedly connected to the middle of the mounting frame 20, the middle of the two movable control rods 24 are slidably connected to the outer wall of the guide rod 23, handles 25 are rotatably connected to the bottoms of the two movable control rods 24, cutters 26 are fixedly connected to the other ends of the two handles 25, a rotating shaft rod 27 is rotatably connected to the middle of the two cutters 26 in a crossed position, and the outer wall of the rotating shaft rod 27 is rotatably connected to the middle of the mounting frame 20.

Specifically, during construction, the motor III 21 is started, the bidirectional screw rod 22 is driven by the motor III 21 to rotate, and then the movable control rods 24 on two sides are driven to slide relatively or reversely along the outer wall of the guide rod 23, so that the two handles 25 on the bottom are driven to move relatively or reversely, and the middle parts of the two cutters 26 are connected in a rotating way through the rotating shaft rod 27, so that under the control of the two handles 25, the two cutters 26 are mutually closed or separated, and then fruits on peach trees are trimmed. For the device can carry out remote operation, can install the camera at the outer wall of handle 25 to the staff of being convenient for catches the detailed image of peach, including branch, blade, flower and fruit, the controlling means of being convenient for prunes the processing.

The outer portions of the two cutters 26 are positioned on the same vertical level as the soft cloth cover 18.

Specifically, the sheared material is thereby facilitated to directly enter the cover body of the soft cloth cover 18, thereby facilitating collection.

Referring to fig. 5, the crushing assembly includes a crushing chamber 28, the crushing chamber 28 is disposed in the vehicle body 1, two crushing rollers 29 are rotatably connected in the crushing chamber 28, gears 30 are fixedly connected to outer walls of the two crushing rollers 29, the outer portions of the two gears 30 are meshed, and a motor four 31 is fixedly connected to an end portion of one of the crushing rollers 29.

Specifically, when the material falls into the inside of the pulverizing chamber 28, the motor four 31 is synchronously started, and under the drive of the motor four 31, one of the pulverizing rollers 29 rotates, and then the external gear 30 is driven to synchronously rotate, so that the other gear 30 is driven to synchronously rotate, and the two pulverizing rollers 29 synchronously rotate in the inside of the pulverizing chamber 28, so that the material entering the inside of the pulverizing chamber 28 is rapidly pulverized and cut, the subsequent recovery and collection are facilitated, the composting treatment of the material at a composting place is facilitated, the composting treatment efficiency is improved, and the transportation space to the composting place is reduced.

Referring to fig. 5, 7 and 8, the collecting assembly includes a guide tube 32, the guide tube 32 penetrates through the bottom of the vehicle body 1 to communicate with the crushing chamber 28, the other end of the guide tube 32 penetrates through the middle of the cavity of the vehicle body 1, the top of the vehicle body 1 is fixedly connected with a dust collector 34, a connecting tube 35 is fixedly connected to the connecting position of the dust collector 34, connecting threads 33 are arranged on the outer walls of the guide tube 32 and the connecting tube 35, thread sleeves 36 are connected to the outer portions of the two connecting threads 33 in a threaded manner, collecting bags 37 are fixedly connected to the opposite sides of the two thread sleeves 36, and a filter plate 44 is connected to the top of the collecting bag 37.

Specifically, under the suction of the vacuum cleaner 34, the crushed material enters the collecting bag 37 from the inside of the guide pipe 32, and the filter plate 44 is designed in the through hole at the top of the collecting bag 37, so that the material can be prevented from entering the connecting pipe 35, the damage to the internal components of the vacuum cleaner 34 is avoided, after the collection is finished, the collecting bag 37 can be rotated, the threaded sleeves 36 at two sides are separated from the connecting threads 33 outside the guide pipe 32 and the connecting pipe 35, the material inside the collecting bag 37 is prevented from being poured out, and the collecting bag 37 is convenient to replace in the use process.

Referring to fig. 5, the anti-slip assembly includes two movable frames 38, the tops of the two movable frames 38 are all rotatably connected to two sides of the vehicle body 1, the bottoms of the two movable frames 38 are all rotatably connected with rotating rods 39, the outer walls of the two rotating rods 39 are all fixedly connected with two rotating wheels 40, the outer walls of the two groups of rotating wheels 40 are all connected with a plurality of wheel sheets 41, two sides of the vehicle body 1 are all fixedly connected with connecting seats 42, the middle parts of the two connecting seats 42 are all rotatably connected with electric telescopic rods II 43, and the other ends of the two electric telescopic rods II 43 are all rotatably connected to the middle parts of the two movable frames 38.

Specifically, when in use, if the device is in a slope or a slippery ground, the second electric telescopic rod 43 can be started, the angle between the movable frame 38 and the vehicle body 1 is controlled to be reduced, the distance between the rotating wheels 40 and the ground is reduced, the wheel sheets 41 are in contact with the ground, and when the tire at the bottom of the vehicle body 1 runs on the ground, the wheel sheets 41 outside the two groups of rotating wheels 40 are driven to rotate along the ground, so that the device is inserted into soil, and when the device is inserted into the soil at the rotation position, the friction between the chassis of the device and the ground can be increased, and the stability and the ground grabbing force of the device on the slope or slippery ground are improved. The design ensures that the robot walks in complex terrains more safely and reliably, and reduces the accident risk caused by sliding or turning over. By adjusting the structure of the control device, the robot can maintain good operation performance and safety even on uneven or smooth surfaces, and the adaptability and the efficiency of the robot in various agricultural environments are enhanced.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a fruit tree is dredged fruit and is used robot system, includes automobile body (1), its characterized in that, the top fixedly connected with mount pad (2) of automobile body (1), the outside of mount pad (2) is provided with the movable arm, the other end of movable arm is provided with mounting disc (13), the outer wall of mounting disc (13) rotates and is connected with a plurality of electric telescopic handle (14), a plurality of the other end of electric telescopic handle (14) is all rotated and is connected with movable skeleton (15), a plurality of be connected with soft cloth cover (18) between movable skeleton (15), the middle part fixedly connected with guide cylinder (16) of mounting disc (13), the outer wall fixedly connected with a plurality of fixing bases (17), a plurality of the tip of movable skeleton (15) is rotated respectively and is connected at the middle part of a plurality of fixing bases (17), the outer wall of mounting disc (13) is provided with and dredges the subassembly, the inside of automobile body (1) is provided with crushing subassembly, the inside of automobile body (1) is provided with collecting subassembly, both sides of mount pad (2) are provided with anti-skidding subassembly.

The movable arm comprises a first motor (3), the outer wall of the first motor (3) is fixedly connected with the outer wall of a mounting seat (2), the driving end of the first motor (3) is fixedly connected with an adjusting rod (4), two movable rods (5) are respectively and rotatably connected to the two sides of the top of the mounting seat (2), one connecting piece (9) is respectively and rotatably connected to the other end of the first movable rod (5), two movable rods (11) are respectively and rotatably connected to the other end of the first connecting piece (9), the other end of the adjusting rod (4) is rotatably connected to the opposite side of the first connecting piece (9), the middle part of the other end of the adjusting rod (4) is rotatably connected with a connecting control rod (10), the outer wall of the mounting seat (2) is fixedly connected with a second motor (6), the driving end of the second motor (6) is fixedly connected with a rocker (7), the outer wall of the rocker (7) is rotatably connected with an adjusting connecting rod (8), the other end of the adjusting rod (8) is rotatably connected with a connecting control rod (10), and the other ends of the connecting control rod (10) and the two movable rods (11) are rotatably connected with connecting pieces (12).

The outer wall of the mounting plate (13) is fixedly connected to the outer wall of the second connecting piece (12), and one end, connected with the middle part of the mounting plate (13), of the guide cylinder (16) is fixedly connected with a hose (19);

The dredging assembly comprises a mounting frame (20), the outer wall of the mounting frame (20) is fixedly connected to the outer wall of a connecting piece II (12), a motor III (21) is fixedly connected to the outer wall of the mounting frame (20), a bidirectional screw rod (22) is fixedly connected to the driving end of the motor III (21), movable control rods (24) are connected to two sides of the outer wall of the bidirectional screw rod (22) in a threaded mode, guide rods (23) are fixedly connected to the middle of the mounting frame (20), the middle of each movable control rod (24) is slidably connected to the outer wall of each guide rod (23), handles (25) are rotatably connected to the bottoms of the corresponding movable control rods (24), cutters (26) are fixedly connected to the other ends of the corresponding handles (25), rotating shafts (27) are rotatably connected to the intersecting positions of the middle of the corresponding cutters (26), and the outer walls of the rotating shafts (27) are rotatably connected to the middle of the mounting frame (20).

The outer parts of the two cutters (26) and the soft powder cloth cover (18) are positioned on the same vertical horizontal line.

2. The robot system for thinning fruit trees according to claim 1, wherein the smashing component comprises a smashing chamber (28), the smashing chamber (28) is arranged in a vehicle body (1), two smashing rollers (29) are rotatably connected in the smashing chamber (28), gears (30) are fixedly connected to outer walls of the two smashing rollers (29), the two gears (30) are meshed with each other, and a motor IV (31) is fixedly connected to an end portion of one smashing roller (29).

3. The robot system for fruit thinning according to claim 2, wherein the collecting assembly comprises a guide pipe (32), the guide pipe (32) penetrates through the bottom of the vehicle body (1) and is communicated with the crushing chamber (28), the other end of the guide pipe (32) penetrates through the middle part of the cavity of the vehicle body (1), a dust collector (34) is fixedly connected to the top of the vehicle body (1), a connecting pipe (35) is fixedly connected to the connecting position of the dust collector (34), connecting threads (33) are arranged on the outer walls of the guide pipe (32) and the connecting pipe (35), threaded sleeves (36) are connected to the outer parts of the two connecting threads (33) in a threaded manner, collecting bags (37) are fixedly connected to opposite sides of the two threaded sleeves (36), and filter plates (44) are connected to the tops of the collecting bags (37).

4. The robot system for fruit thinning according to claim 1, wherein the anti-slip assembly comprises two movable frames (38), the tops of the two movable frames (38) are all rotationally connected to two sides of the vehicle body (1), the bottoms of the two movable frames (38) are all rotationally connected with rotating rods (39), the outer walls of the two rotating rods (39) are all fixedly connected with two rotating wheels (40), the outer walls of the two groups of rotating wheels (40) are all connected with a plurality of wheel pieces (41), the two sides of the vehicle body (1) are all fixedly connected with connecting seats (42), the middle parts of the two connecting seats (42) are all rotationally connected with electric telescopic rods (43), and the other ends of the two electric telescopic rods (43) are all rotationally connected to the middle parts of the two movable frames (38).