CN210093997U

CN210093997U - Automatic fruit picking device

Info

Publication number: CN210093997U
Application number: CN201920699886.1U
Authority: CN
Inventors: 汪毅炫; 徐春霞; 杨波; 彭贵林
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-02-21
Anticipated expiration: 2029-05-16

Abstract

The utility model relates to the technical field of picking mechanical equipment, in particular to an automatic fruit picking device, which comprises a frame, a rotary chassis component, a picking component, a fruit conveying component, a control unit, an identification probe, a cleaning component and a walking component, wherein the rotary chassis component is arranged on the upper part of the left side of the frame, the picking component is arranged on the upper part of the rotary chassis component, the identification probe is fixedly arranged on the upper part of a fruit cutting knife of the picking component, a fruit receiving pipe is fixedly arranged on the lower part of the fruit cutting knife and is communicated up and down, the upper part of the fruit receiving pipe is fixedly arranged with the lower part of the fruit cutting knife, the lower part of the fruit receiving pipe is fixedly arranged with the frame, and a sorting box is arranged on the; the inner side of the lower part of the fruit receiving pipe is provided with a fruit conveying component which can convey fruits to the sorting box from top to bottom one by one along the up-down direction; the lower part of the frame is provided with a walking component, and the upper part of the frame is provided with a control unit. Reasonable and compact structure, convenient use, high operating efficiency and time and labor saving for picking.

Description

Automatic fruit picking device

Technical Field

The utility model relates to a picking mechanical equipment technical field is an automatic fruit picking device.

Background

Fruits are one of the common foods in our lives, and in order to ensure the quality of the fruits and avoid the phenomenon of breakage in the picking process, the picking mode of the fruits is mainly one by one at present. With the improvement of the level of picking mechanization, the fruit picking is mainly a manual picking machine at present, the picking action is realized through mechanical action (manual operation of a handle), the picking can be well finished under the condition that the workload is not very large, but for large and medium-sized fruit planting farms, the manual mechanical picking machine cannot pick the fruits with high efficiency, part of the fruits are damaged in the picking falling process, the picked fruits are screened and classified, the time and the labor are wasted, and the operation requirement of high-efficiency picking cannot be met.

Disclosure of Invention

The utility model provides an automatic fruit picking device has overcome above-mentioned prior art not enough, and it can effectively solve fruit machinery and pick the problem that the operating efficiency is low, pick wastes time and energy.

The technical scheme of the utility model is realized through following measure: an automatic fruit picking device comprises a rack, a rotary chassis component, a picking component, a fruit conveying component, a control unit, an identification probe, a cleaning component and a walking component, wherein the rotary chassis component is arranged at the upper part of the rack and comprises a chassis and a rotary driving motor, the output shaft of the rotary driving motor faces upwards, and the chassis is fixedly installed with the output shaft of the rotary driving motor; the picking assembly is arranged on the upper portion of the chassis and comprises a driving rod, a driven rod, a fruit shearing knife, a first hydraulic cylinder and a second hydraulic cylinder, the lower portion of the driving rod is hinged and installed with the right side of the upper portion of the chassis, the first hydraulic cylinder is arranged on the left side of the upper portion of the chassis, one end of the first hydraulic cylinder is hinged and installed with the chassis, a piston head of the first hydraulic cylinder is hinged and installed with the driving rod, the driven rod is hinged and installed on the upper portion of the driving rod, the second hydraulic cylinder is arranged between the driven rod and the driving rod, one end of the second hydraulic cylinder is hinged and installed with the driving rod; the fruit cutting device comprises a driven rod, a fruit cutting knife, an identification probe, a fruit receiving pipe, a sorting box and a cleaning assembly, wherein the upper part of the driven rod is fixedly provided with the fruit cutting knife, the upper part of the fruit cutting knife is fixedly provided with the identification probe capable of detecting the operation area of the fruit cutting knife, the lower part of the fruit cutting knife is fixedly provided with the fruit receiving pipe capable of receiving fruits, the upper part of the fruit receiving pipe is fixedly arranged with the lower part of the fruit cutting knife, the lower part of the fruit receiving pipe is fixedly arranged with a rack, the lower part of the rack corresponding to the outlet position of the lower part of the fruit receiving pipe is provided with; the inner side of the lower part of the fruit receiving pipe is provided with a fruit conveying component which can convey fruits to the sorting box from top to bottom one by one along the up-down direction; the lower part of the frame is provided with a walking assembly, the upper part of the frame is provided with a control unit, and the control unit is respectively and electrically connected with the rotating chassis assembly, the picking assembly, the fruit conveying assembly, the identification probe, the cleaning assembly and the walking assembly.

The following are further optimization or/and improvement of the technical scheme of the utility model:

the cleaning assembly can comprise cleaning rollers, a driving gear, a cleaning driving motor and mounting plates, two mounting plates which are distributed at intervals in the front-rear direction are fixedly mounted in a separation box corresponding to an outlet position at the lower part of the fruit receiving pipe, the mounting plates are arranged in the left-right direction, at least two cleaning rollers which are arranged in the front-rear direction are mounted between the two mounting plates at intervals in the left-right direction, the driving gear is fixedly mounted at the front part of each cleaning roller, all the driving gears are connected with the cleaning driving motor in a transmission mode through chains, and the cleaning driving motor is fixedly mounted at the left part of the rack; the inner sides of the lower parts of the sorting boxes corresponding to the positions between every two adjacent cleaning rollers are provided with collecting cavities with upward openings.

The inner side of the lower part of the collecting cavity can be provided with a protective layer.

All the cleaning rollers can be arranged in a left-right direction in a left-low-right high-inclination shape.

The fruit conveying assembly can comprise a mounting frame, a driving wheel, a driven wheel, a conveying chain, a fruit receiving disc and a conveying driving motor, the lower part of the mounting frame is fixedly arranged at the upper part of the rack, the driven wheel and the driving wheel are arranged at intervals in the vertical direction at the front part of the mounting frame, the driven wheel and the driving wheel are connected together through the conveying chain, the driving wheel is connected with an output shaft of the conveying driving motor in a transmission manner, and the conveying driving motor is fixedly arranged at the upper part of the rack and electrically connected with the; the outer sides of the conveying chains are provided with fruit receiving discs capable of bearing fruits at intervals, the left sides of the fruit receiving pipes are provided with mounting holes arranged in the vertical direction, the fruit receiving discs can be positioned in the fruit receiving pipes through the mounting holes, the fruit receiving discs are hinged with the conveying chains and mounted together, and limiting parts capable of supporting the fruit receiving discs are fixedly mounted on the outer sides of the conveying chains corresponding to the mounting positions of the fruit receiving discs; the inner side of the fruit receiving disc can be provided with a pressure sensor which can be electrically connected with the control unit.

The inner side of the fruit receiving plate can be provided with a buffer layer, and the pressure sensor can be fixedly arranged on the upper part of the buffer layer.

The control unit can comprise a first control unit and a second control unit, a first driving motor and a second driving motor can be arranged on the upper portion of the rack, the first driving motor is in transmission connection with the first hydraulic cylinder, and the second driving motor is in transmission connection with the second hydraulic cylinder; the walking assembly comprises a walking wheel and a walking driving motor, and the walking driving motor is in transmission connection with the walking wheel; the identification probe, the first driving motor, the second driving motor, the walking driving motor, the rotating driving motor and the fruit cutter are respectively and electrically connected with the first control unit; the conveying driving motor, the cleaning driving motor and the pressure sensor are respectively and electrically connected with the second control unit.

The utility model has the advantages of reasonable and compact structure, convenient use, high operating efficiency and time and labor saving for picking. The arrangement of the first hydraulic cylinder and the second hydraulic cylinder enables the fruit picking assembly to flexibly and accurately adjust the position of the fruit shearing knife relative to the fruit, and the position adjusting efficiency is improved; the arrangement of the identification probe provides guarantee for accurate picking of fruits; the fruit conveying assembly conveys fruits one by one, so that damage to the fruits caused by collision in the conveying process is effectively avoided, and the breakage rate of fruit picking is reduced.

Drawings

Fig. 1 is a schematic partial sectional structure view of the preferred embodiment of the present invention.

FIG. 2 is a schematic view of a partial cross-sectional structure of a fruit receiving tray.

The codes in the figures are respectively: the fruit cleaning machine comprises a frame 1, a chassis 2, a first hydraulic cylinder 3, a rotary driving motor 4, a driving rod 5, a driven rod 6, a second hydraulic cylinder 7, a recognition probe 8, a fruit shearing knife 9, a fruit receiving pipe 10, a fruit receiving tray 11, a limiting part 12, a driven wheel 13, a driving wheel 14, a conveying driving motor 15, a mounting plate 16, a cleaning roller 17, a collecting cavity 18, a protective layer 19, a traveling wheel 20, a traveling wheel 21, a traveling driving motor 22, a cleaning driving motor 23, a first control unit 24, a second control unit 24, a first driving motor 25, a second driving motor 26, a buffer layer 27, a pressure sensor 28, a conveying chain 29, a mounting frame 30, a driving gear 31 and a separation box 32.

Detailed Description

The utility model discloses do not receive the restriction of following embodiment, can be according to the utility model discloses a technical scheme and actual conditions determine concrete implementation.

In the present invention, for convenience of description, the description of the relative position relationship of the components is described according to the layout mode of the attached drawing 1 in the specification, such as: the positional relationship of front, rear, upper, lower, left, right, etc. is determined in accordance with the layout direction of the drawings of the specification.

The invention will be further described with reference to the following examples and drawings:

as shown in attached figures 1 and 2, the automatic fruit picking device comprises a rack 1, a rotary chassis component, a picking component, a fruit conveying component, a control unit, an identification probe 8, a cleaning component and a walking component, wherein the rotary chassis component is arranged at the upper part of the rack 1 and comprises a chassis 2 and a rotary driving motor 4, an output shaft of the rotary driving motor 4 faces upwards, and the chassis 2 and the output shaft of the rotary driving motor 4 are fixedly installed together; the picking assembly is arranged on the upper portion of the chassis 2 and comprises a driving rod 5, a driven rod 6, a fruit shearing knife 9, a first hydraulic cylinder 3 and a second hydraulic cylinder 7, the lower portion of the driving rod 5 is hinged and mounted with the right side of the upper portion of the chassis 2, the first hydraulic cylinder 3 is arranged on the left side of the upper portion of the chassis 2, one end of the first hydraulic cylinder 3 is hinged and mounted with the chassis 2, the piston head of the first hydraulic cylinder 3 is hinged and mounted with the driving rod 5, the driven rod 6 is hinged and mounted on the upper portion of the driving rod 5, the second hydraulic cylinder 7 is arranged between the driven rod 6 and the driving rod 5, one end of the second hydraulic cylinder 7 is hinged and mounted with the driving rod 5, and the; a fruit cutting knife 9 is fixedly installed on the upper portion of the driven rod 6, an identification probe 8 capable of detecting the operation area of the fruit cutting knife 9 is fixedly installed on the upper portion of the fruit cutting knife 9, a fruit receiving pipe 10 capable of receiving fruits is fixedly installed on the lower portion of the fruit cutting knife 9, the upper portion of the fruit receiving pipe 10 is fixedly installed with the lower portion of the fruit cutting knife 9, the lower portion of the fruit receiving pipe 10 is fixedly installed with the rack 1, a sorting box 32 is arranged on the lower portion of the rack 1 corresponding to the outlet position of the lower portion of the fruit receiving pipe 10, an opening corresponding to the outlet position of the lower portion of the fruit receiving pipe 10 is arranged on the upper portion of the sorting box 32, and a; the inner side of the lower part of the fruit receiving pipe 10 is provided with fruit conveying components which can convey fruits to the sorting box 32 from top to bottom one by one along the up-down direction; the lower part of the frame 1 is provided with a walking assembly, the upper part of the frame 1 is provided with a control unit, and the control unit is respectively and electrically connected with the rotating chassis assembly, the picking assembly, the fruit conveying assembly, the identification probe 8, the cleaning assembly and the walking assembly.

During operation, the recognition probe 8 detects fruits, determines the positions of the fruits and conveys detection results to the control unit, the control unit receives signals and then respectively controls the walking assembly, the rotating chassis assembly and the fruit picking assembly, the walking assembly controls the frame 1 to move forwards or backwards to enable the positions of the frame to correspond to fruit trees, meanwhile, the rotating chassis 2 rotates to adjust the angle of the fruit picking assembly relative to the fruits, the fruit picking assembly adjusts the vertical height of the fruit shearing knife 9 under the action of the control unit, when the fruit shearing knife 9 corresponds to the positions of the fruits and meets picking requirements, the control unit controls the fruit shearing knife 9 to shear the fruits, the fruits fall into the fruit receiving pipe 10 and are conveyed to the sorting box 32 one by one under the action of the fruit conveying assembly, and when the fruits reach the sorting box 32, the fruits are sorted according to the sizes under the action of the sorting assembly, so that not only the precise picking of the fruits is realized, but also the sorting and the sorting of the fruits are realized, effectively improves the working efficiency and reduces the working intensity. The first hydraulic cylinder 3 and the second hydraulic cylinder 7 are respectively controlled by the control unit in the operation process, so that the fruit picking assembly can flexibly and accurately adjust the position of the fruit shearing knife 9 relative to the fruit, and the position adjusting efficiency is improved; the arrangement of the identification probe 8 provides guarantee for accurate picking of fruits; the fruit conveying assembly conveys fruits one by one, so that damage to the fruits caused by collision in the conveying process is effectively avoided, and the breakage rate of fruit picking is reduced. According to the requirement, the fruit receiving pipe 10 is a hose, so that the position of the fruit receiving pipe can be conveniently adjusted along with the action of the fruit shearing knife 9, and the operation is more flexible; the fruit cutting knife 9 is a pneumatic fruit cutting knife in the prior art, and the model thereof can be LX-810; the pneumatic fruit shearing knife is driven by an air compressor in the prior art, and the model of the air compressor can be 550W-8L; the first hydraulic cylinder 3 and the second hydraulic cylinder 7 are both in the prior art, and the models of the first hydraulic cylinder and the second hydraulic cylinder are both 2TG1-E60X 250; the rotary drive motor 4 is known in the art and may be of the type HT57DJ 100; the identification probe 8 is of a known prior art and may be a Cmucam5(pixy) color vision image sensor.

The automatic fruit picking device can be further optimized or/and improved according to actual needs:

as shown in attached figures 1 and 2, the cleaning assembly comprises cleaning rollers 17, a driving gear 31, a cleaning driving motor 22 and mounting plates 16, two mounting plates 16 which are distributed at intervals in the front-rear direction are fixedly mounted in a separation box 32 corresponding to an outlet position at the lower part of the fruit receiving pipe 10, the mounting plates 16 are arranged in the left-right direction, at least two cleaning rollers 17 which are arranged in the front-rear direction are mounted between the two mounting plates 16 at intervals in the left-right direction, the driving gear 31 is fixedly mounted at the front part of each cleaning roller 17, all the driving gears 31 are in transmission connection with the cleaning driving motor 22 through chains, and the cleaning driving motor 22 is fixedly mounted at the left part of the rack; a collecting cavity 18 with an upward opening is arranged on the inner side of the lower part of the sorting box 32 corresponding to the position between every two adjacent cleaning rollers 17. The standard of the interval between the accessible adjustment cleaning roller 17 to fruit size cleaning during the operation is divided, when fruit by connect in the fruit tray 11 fall into to cleaning roller 17 upper portion, because cleaning roller 17 rolls under cleaning driving motor 22's effect, fruit from right to left movement under the effect of the frictional force with cleaning roller 17 between, drop to corresponding collection chamber 18 when the size of fruit is less than adjacent cleaning roller 17 interval promptly, accomplish cleaning of fruit. The left and right positions of the cleaning roller 17 and the mounting plate 16 are adjustable, the cleaning roller 17 can be mounted by adopting a long strip hole, and the distance between the adjacent cleaning rollers 17 is adjusted according to actual needs, so that the utility model can be suitable for cleaning different types of fruits; in addition, the outer side of the cleaning roller 17 is provided with an anti-slip layer, so that the fruit can be prevented from slipping in the cleaning and conveying process; the cleaning drive motor 22 is of a known type, which may be XD-WS37GB 3525.

As shown in fig. 1, the collecting chamber 18 is provided with a protective layer 19 on the lower inner side. This prevents fruit from colliding with the housing 1 and causing damage to the fruit as it falls into the collection chamber 18. The protective layer 19 may be a sponge layer, a rubber layer or a mesh layer, which can reduce the impact force between the fruit and the frame 1.

As shown in the attached figure 1, all the cleaning rollers 17 are arranged in a left-right direction in a left-low-right high-inclination shape. Therefore, the inertia of the fruits can be utilized to facilitate the fruits to move from right to left on the cleaning roller 17, the operation resistance of the cleaning roller 17 is effectively reduced, and the operation load of the cleaning driving motor 22 is saved. According to the needs, the inclination angle of the arrangement and installation of all cleaning rollers 17 should meet the cleaning requirements of fruits, namely, the fruit can be ensured to move on the cleaning rollers 17 and simultaneously can fall into the corresponding collecting cavity 18 from the interval of the adjacent cleaning rollers 17, and the inclination angle of the installation of the fruit cleaning device can be 10 degrees.

As shown in fig. 1 and 2, the fruit conveying assembly comprises a mounting frame 30, a driving wheel 14, a driven wheel 13, a conveying chain 29, a fruit receiving tray 11 and a conveying driving motor 15, the lower part of the mounting frame 30 is fixedly mounted at the upper part of the frame 1, the driven wheel 13 and the driving wheel 14 are mounted at intervals along the vertical direction at the front part of the mounting frame 30, the driven wheel 13 and the driving wheel 14 are in transmission connection through the conveying chain 29, the driving wheel 14 is in transmission connection with an output shaft of the conveying driving motor 15, and the conveying driving motor 15 is fixedly mounted at the upper part of the frame 1 and is electrically connected; the outer sides of the conveying chains 29 are provided with fruit receiving discs 11 capable of bearing fruits at intervals, the left sides of the fruit receiving pipes 10 are provided with mounting holes arranged in the vertical direction, the fruit receiving discs 11 can be positioned in the fruit receiving pipes 10 through the mounting holes, the fruit receiving discs 11 are hinged with the conveying chains 29, and limiting parts 12 capable of supporting the fruit receiving discs 11 are fixedly mounted on the outer sides of the conveying chains 29 corresponding to the mounting positions of the fruit receiving discs 11; the inner side of the fruit receiving plate 11 is provided with a pressure sensor 28, and the pressure sensor 28 is electrically connected with the control unit. When the fruits are cut off from the tree, the fruits fall into the fruit receiving pipe 10 and then fall into the fruit receiving tray 11 to act on the pressure sensor 28, the pressure sensor 28 transmits a signal to the control unit, and the control unit controls the conveying driving motor 15 to rotate to convey the fruits to the sorting box 32 from top to bottom, namely, the conveying driving motor 15 drives the conveying chain 29 to convey the fruits when the fruits fall into the fruit receiving tray 11, so that the phenomenon that the conveying chain 29 continuously rotates when no fruits need to be conveyed is avoided, and the power consumption of the fruit receiving device is saved; connect

fruit bowl

11 and 29 articulated installations of conveying chain together, when connecing fruit bowl 11 to be located and connect fruit pipe 10 inboard, connect fruit bowl 11 seat to be used for holding dress fruit in locating part 12 upper portion, when connecing fruit bowl 11 to accomplish once lie in and connect the fruit pipe 10 outside after fruit is carried, connect fruit bowl 11 to hang down naturally under the effect of gravity, can effectively reduce from this the utility model discloses a structural dimension makes it light and handy convenient at the operation in-process. The pressure sensor 28 is, if desired, of a known type, such as FSR 402; the conveying driving motor 15 is a well-known motor, and the model thereof can be XD-WS37GB 3525; the driven wheel 13 should be located below the fruit shears 9 to ensure that it does not affect the positional adjustment of the fruit shears 9.

As shown in fig. 1 and 2, a buffer layer 27 is arranged on the inner side of the fruit receiving plate 11, and a pressure sensor 28 is fixedly arranged on the upper part of the buffer layer 27. Therefore, the fruit can be prevented from being damaged due to collision with the fruit receiving plate 11 when falling into the fruit receiving plate 11, and the buffer layer 27 can be a sponge layer, a rubber layer or a mesh layer which can reduce the impact force between the fruit and the fruit receiving plate 11 in the prior art according to requirements.

As shown in fig. 1, the control unit includes a first control unit 23 and a second control unit 24, a first driving motor 25 and a second driving motor 26 are arranged on the upper portion of the frame 1, the first driving motor 25 is in transmission connection with the first hydraulic cylinder 3, and the second driving motor 26 is in transmission connection with the second hydraulic cylinder 7; the walking assembly comprises a walking wheel 20 and a walking driving motor 21, and the walking driving motor 21 is in transmission connection with the walking wheel 20; the identification probe 8, the first driving motor 25, the second driving motor 26, the walking driving motor 21, the rotary driving motor 4 and the fruit cutter 9 are respectively and electrically connected with the first control unit 23; the conveying drive motor 15, the cleaning drive motor 22 and the pressure sensor 28 are electrically connected to the second control unit 24, respectively. Divide into first the control unit 23 and the second the control unit 24 with the control unit, control corresponding working part respectively by first the control unit 23 and the second the control unit 24, can effectively reduce the operating pressure of the control unit, improve the utility model discloses the operation speed avoids appearing the phenomenon that the operation card is dun. According to the requirement, the first control unit 23 can be a single chip microcomputer in the prior art, and the model of the single chip microcomputer can be STM32F704, and the second control unit 24 can be a single chip microcomputer in the prior art, and the model of the single chip microcomputer can be STC89C52 RC; the walking driving motor 21 is a known technology, the model of the walking driving motor 21 can be XD-WS37GB3525, and the walking driving motor 21 can be electrically connected with the first control unit 23 through a 7A160W two-way direct current motor driving plate; the first driving motor 25 and the second driving motor 26 are both in the prior art, and both models of the first driving motor 25 and the second driving motor 26 can be DM07RB, and both the first driving motor 25 and the second driving motor 26 are electrically connected with the first control unit 23 through a double-L298N motor driving module; the conveying driving motor 15 is a known prior art, the model of the conveying driving motor 15 can be XD-WS37GB3525, and the conveying driving motor 15 can be electrically connected with the second control unit 24 through a 7A160W two-way direct current motor driving plate; the cleaning driving motor 22 is a well-known prior art, and the model thereof can be XD-WS37GB3525, and the cleaning driving motor 22 can be electrically connected with the second control unit 24 through a 7A160W two-way DC motor driving board.

Above technical feature constitutes the utility model discloses a best embodiment, it has stronger adaptability and best implementation effect, can increase and decrease unnecessary technical feature according to actual need, satisfies the demand of different situation.

Claims

1. An automatic fruit picking device is characterized by comprising a rack, a rotary chassis component, a picking component, a fruit conveying component, a control unit, an identification probe, a cleaning component and a walking component, wherein the rotary chassis component is arranged at the upper part of the rack and comprises a chassis and a rotary driving motor, the output shaft of the rotary driving motor faces upwards, and the chassis is fixedly installed with the output shaft of the rotary driving motor; the picking assembly is arranged on the upper portion of the chassis and comprises a driving rod, a driven rod, a fruit shearing knife, a first hydraulic cylinder and a second hydraulic cylinder, the lower portion of the driving rod is hinged and installed with the right side of the upper portion of the chassis, the first hydraulic cylinder is arranged on the left side of the upper portion of the chassis, one end of the first hydraulic cylinder is hinged and installed with the chassis, a piston head of the first hydraulic cylinder is hinged and installed with the driving rod, the driven rod is hinged and installed on the upper portion of the driving rod, the second hydraulic cylinder is arranged between the driven rod and the driving rod, one end of the second hydraulic cylinder is hinged and installed with the driving rod; the fruit cutting device comprises a driven rod, a fruit cutting knife, an identification probe, a fruit receiving pipe, a sorting box and a cleaning assembly, wherein the upper part of the driven rod is fixedly provided with the fruit cutting knife, the upper part of the fruit cutting knife is fixedly provided with the identification probe capable of detecting the operation area of the fruit cutting knife, the lower part of the fruit cutting knife is fixedly provided with the fruit receiving pipe capable of receiving fruits, the upper part of the fruit receiving pipe is fixedly arranged with the lower part of the fruit cutting knife, the lower part of the fruit receiving pipe is fixedly arranged with a rack, the lower part of the rack corresponding to the outlet position of the lower part of the fruit receiving pipe is provided with; the inner side of the lower part of the fruit receiving pipe is provided with a fruit conveying component which can convey fruits to the sorting box from top to bottom one by one along the up-down direction; the lower part of the frame is provided with a walking assembly, the upper part of the frame is provided with a control unit, and the control unit is respectively and electrically connected with the rotating chassis assembly, the picking assembly, the fruit conveying assembly, the identification probe, the cleaning assembly and the walking assembly.

2. An automatic fruit picking device according to claim 1, characterized in that the cleaning assembly comprises cleaning rollers, a driving gear, a cleaning driving motor and mounting plates, two mounting plates are fixedly mounted in the sorting box corresponding to the outlet position of the lower part of the fruit receiving pipe and are arranged in the front-rear direction at intervals, the mounting plates are arranged in the left-right direction, at least two cleaning rollers are arranged in the front-rear direction at intervals between the two mounting plates in the left-right direction, the driving gear is fixedly mounted at the front part of each cleaning roller, all the driving gears are connected with the cleaning driving motor through chains in a transmission manner, and the cleaning driving motor is fixedly mounted at the left part of the frame; the inner sides of the lower parts of the sorting boxes corresponding to the positions between every two adjacent cleaning rollers are provided with collecting cavities with upward openings.

3. The automatic fruit picking apparatus of claim 2, wherein the lower interior side of the collection chamber is provided with a protective coating.

4. The automatic fruit picking device according to claim 2 or 3, wherein all cleaning rollers are arranged in a left-right direction in a left-lower-right-higher inclined manner.

5. The automatic fruit picking device according to claim 1, 2 or 3, wherein the fruit conveying assembly comprises a mounting frame, a driving wheel, a driven wheel, a conveying chain, a fruit receiving tray and a conveying driving motor, the lower part of the mounting frame is fixedly arranged at the upper part of the frame, the driven wheel and the driving wheel are arranged at intervals along the vertical direction at the front part of the mounting frame, the driven wheel and the driving wheel are connected together through the conveying chain, the driving wheel is connected with an output shaft of the conveying driving motor in a transmission manner, and the conveying driving motor is fixedly arranged at the upper part of the frame and electrically connected with the control unit; the outer sides of the conveying chains are provided with fruit receiving discs capable of bearing fruits at intervals, the left sides of the fruit receiving pipes are provided with mounting holes arranged in the vertical direction, the fruit receiving discs can be positioned in the fruit receiving pipes through the mounting holes, the fruit receiving discs are hinged with the conveying chains and mounted together, and limiting parts capable of supporting the fruit receiving discs are fixedly mounted on the outer sides of the conveying chains corresponding to the mounting positions of the fruit receiving discs; the inner side of the fruit receiving disc is provided with a pressure sensor which is electrically connected with the control unit.

6. The automatic fruit picking device according to claim 4, wherein the fruit conveying assembly comprises a mounting frame, a driving wheel, a driven wheel, a conveying chain, a fruit receiving tray and a conveying driving motor, the lower part of the mounting frame is fixedly mounted at the upper part of the rack, the driven wheel and the driving wheel are mounted at intervals in the vertical direction at the front part of the mounting frame, the driven wheel and the driving wheel are connected together through the conveying chain, the driving wheel is connected with an output shaft of the conveying driving motor in a transmission manner, and the conveying driving motor is fixedly mounted at the upper part of the rack and electrically connected with the control unit; the outer sides of the conveying chains are provided with fruit receiving discs capable of bearing fruits at intervals, the left sides of the fruit receiving pipes are provided with mounting holes arranged in the vertical direction, the fruit receiving discs can be positioned in the fruit receiving pipes through the mounting holes, the fruit receiving discs are hinged with the conveying chains and mounted together, and limiting parts capable of supporting the fruit receiving discs are fixedly mounted on the outer sides of the conveying chains corresponding to the mounting positions of the fruit receiving discs; the inner side of the fruit receiving disc is provided with a pressure sensor which is electrically connected with the control unit.

7. The automatic fruit picking device of claim 5, wherein a buffer layer is provided inside the fruit receiving tray, and the pressure sensor is fixedly installed at the upper part of the buffer layer.

8. The automatic fruit picking device of claim 6, wherein a buffer layer is provided inside the fruit receiving tray, and the pressure sensor is fixedly installed at the upper part of the buffer layer.

9. The automatic fruit picking device of claim 5, wherein the control unit comprises a first control unit and a second control unit, the upper portion of the frame is provided with a first driving motor and a second driving motor, the first driving motor is in transmission connection with the first hydraulic cylinder, and the second driving motor is in transmission connection with the second hydraulic cylinder; the walking assembly comprises a walking wheel and a walking driving motor, and the walking driving motor is in transmission connection with the walking wheel; the identification probe, the first driving motor, the second driving motor, the walking driving motor, the rotating driving motor and the fruit cutter are respectively and electrically connected with the first control unit; the conveying driving motor, the cleaning driving motor and the pressure sensor are respectively and electrically connected with the second control unit.

10. The automatic fruit picking device of claim 6, 7 or 8, wherein the control unit comprises a first control unit and a second control unit, the upper part of the frame is provided with a first driving motor and a second driving motor, the first driving motor is connected with the first hydraulic cylinder in a transmission way, and the second driving motor is connected with the second hydraulic cylinder in a transmission way; the walking assembly comprises a walking wheel and a walking driving motor, and the walking driving motor is in transmission connection with the walking wheel; the identification probe, the first driving motor, the second driving motor, the walking driving motor, the rotating driving motor and the fruit cutter are respectively and electrically connected with the first control unit; the conveying driving motor, the cleaning driving motor and the pressure sensor are respectively and electrically connected with the second control unit.