CN212211985U

CN212211985U - Automatic device of picking of harmless fruit

Info

Publication number: CN212211985U
Application number: CN202020568192.7U
Authority: CN
Inventors: 郑君雄
Original assignee: Shenzhen Feiyan Intelligent Technology Co ltd
Current assignee: Shenzhen Feiyan Intelligent Technology Co ltd
Priority date: 2020-04-16
Filing date: 2020-04-16
Publication date: 2020-12-25
Anticipated expiration: 2030-04-16

Abstract

The utility model discloses an automatic device of picking of harmless fruit, including rotating assembly, the subassembly that sways, flexible subassembly, pick the subassembly, collect subassembly, control assembly and base, rotating assembly locates on the base, sway the rotatory rotating assembly of locating of subassembly on, flexible subassembly is located and is swayd the subassembly tip, collect the subassembly and locate on the base and be connected with picking the subassembly, control assembly locates on the base. The utility model belongs to the technical field of fruit is picked, specifically a can carry out position location to fruit, cut the fruit stalk of fruit, make fruit through the rolling mode landing of spiral in the collecting box, alleviate picking personnel labour, do not harm the automatic device of picking of harmless fruit of fruit.

Description

Automatic device of picking of harmless fruit

Technical Field

The utility model belongs to the technical field of fruit is picked, specifically indicate an automatic device of picking of harmless fruit.

Background

The fruit has arrived ripe season, usually needs artifical manual picking, and the efficiency of artifical picking is very low, and the environment that the fruit was produced is exposing to the sun high temperature and high humidity's environment simultaneously moreover, and the picker is very painstaking, has still increased and reduced the cost that the fruit was picked.

The existing picking robots reduce manual labor, but the picking robots are generally still, namely millions of picking robots, and the picking cost is increased; the location of current picking robot to fruit is inaccurate, causes the damage to fruit, takes the back with fruit moreover and usually for directly dropping to collection device, causes the secondary that is wounded to fruit.

SUMMERY OF THE UTILITY MODEL

To the above situation, for overcoming prior art's defect, the utility model provides an automatic device of picking of harmless fruit can carry out visual position location to fruit, cuts the fruit stalk of fruit, makes fruit pass through the rolling mode landing of spiral in the collecting box, alleviate picking personnel labour, do not harm the automatic device of picking of harmless fruit of fruit.

The utility model adopts the following technical scheme: the utility model provides an automatic device of picking of harmless fruit, includes rotating assembly, sways subassembly, flexible subassembly, picks the subassembly, collects subassembly, control assembly and base, rotating assembly locates on the base, it locates on the rotating assembly to sway the subassembly rotation, flexible subassembly is located and is swayd the subassembly tip, collect the subassembly and locate on the base and be connected with picking the subassembly, control assembly locates on the base.

The picking assembly comprises a picking support block, a picking rotary driving motor, a picking support rod, a picking support frame body, a screw support plate, an incomplete screw, a blade, a shearing driving motor, a horizontal positioning camera and a vertical positioning camera, the picking support block is fixedly arranged at the end part of the telescopic assembly, a picking rotary motor groove is arranged on the side wall of the picking support block, the picking rotary driving motor is fixedly arranged in the picking rotary motor groove, the picking support rod is arranged on an output shaft of the picking rotary driving motor, the picking support frame body is arranged at the end part of the picking support rod, the picking support frame body is a square frame body with openings at the top and the bottom, the screw support plates are symmetrically and oppositely arranged at the two ends of the side edge of the upper surface of the picking support frame body, the incomplete screw is rotatably arranged between the screw support plates, an output shaft of the shearing driving motor penetrates through the screw supporting plate to be connected with the incomplete screw, the incomplete screw is arranged on a smooth surface with a half length, a thread and a half length, two groups of screw supporting plates are arranged on the picking supporting frame body, the two groups of screw supporting plates are arranged on two sides of the horizontal upper surface of the picking supporting frame body, the incomplete screw rods are provided with two groups and are arranged symmetrically relative to the center of the picking support frame body, the side wall of the picking support frame body between the two groups of incomplete screw rods is provided with a blade sliding opening, the blade penetrates through the sliding opening of the blade and is arranged between the two groups of incomplete screws, the blade and the two groups of incomplete screws are respectively in threaded connection and sliding connection, the blades are provided with two groups, the blades of the two groups are symmetrically arranged relative to the central line of the picking support frame body, the horizontal positioning camera is arranged on the side surface of the end part of the picking support block, and the vertical positioning camera is arranged on the side surface of the upper surface of the picking support frame body; the picking rotary driving motor rotates to drive the picking support rod to rotate, so that the picking support frame body is driven to swing; when the shearing driving motor rotates, the threads on the incomplete screw rods can drive the blades to slide along the blade sliding openings, the threads are arranged in a central symmetry mode with the threads of the two groups of incomplete screw rods, the two groups of blades are respectively in threaded connection with different incomplete screw rods, when the rotating directions of the two groups of shearing driving motors are opposite from beginning to end, the two groups of blades can be pushed to move symmetrically or oppositely, the opening and closing actions of the two groups of blades are achieved to shear fruit stalks of fruits, the pictures of the fruits can be shot by the horizontal positioning camera and the vertical positioning camera and are transmitted to the control assembly, and the control assembly can obtain the positions of the fruits accurately through analysis.

Further, the base upper surface is equipped with the rotating electrical machines groove, rotating assembly includes rotary driving motor and rotatory supporting seat, rotary driving motor fixes and locates the rotating electrical machines inslot, rotary driving motor's output shaft is vertical up, rotatory supporting seat is located on the rotary driving motor output shaft.

Further, the subassembly that sways includes the swing motor supporting seat, sways driving motor down, sways the arm and sways driving motor on, the vertical rotatory supporting seat upper surface of locating of swing motor supporting seat, sway driving motor fixed locate in the swing motor supporting seat down, it is equipped with two sets ofly with the driving motor symmetry of swaying down to sway the motor supporting seat down, two sets of output shafts that sway driving motor down are the level and set up relatively, two sets of output shaft collineations that sway driving motor down, it locates between two sets of swing motor supporting seats and sways driving motor's output shaft simultaneous connection under two sets of to sway the arm, it is equipped with the motor groove of swaying on the arm top lateral wall to sway, it fixes locating in the motor groove of swaying to sway driving motor on, the output shaft that sways driving motor is.

Further, the telescopic component comprises a telescopic supporting base, a telescopic supporting plate, a telescopic driving motor, a supporting sleeve, a telescopic rod, a rotating screw and a telescopic limiting plate, wherein the telescopic supporting base is vertically and rotatably arranged on an output shaft of the upper swing driving motor, the telescopic supporting plate is vertically arranged on the vertical side wall of the telescopic supporting base, the supporting sleeve and the telescopic driving motor are respectively arranged at two sides of the telescopic supporting plate, the output shaft of the telescopic driving motor is superposed with the axis of the supporting sleeve, the supporting sleeve is a rectangular cavity with an opening at the inner hollow end part, the cross section of the supporting sleeve is arranged in a square frame body, the rotating screw is rotatably arranged at the center of the supporting sleeve, the rotating screw is connected with the output shaft of the telescopic driving motor, the telescopic limiting plate is arranged in a square shape and is the same as, the cylindrical cavity of telescopic link sets up, the telescopic link is located flexible limiting plate and is kept away from flexible backup pad one side on, the telescopic link axle center coincides with the axle center of rotatory screw rod, be equipped with the internal thread in the inside cavity of telescopic link, the internal thread of telescopic link inside meshes with the external screw thread of rotatory screw rod mutually, and when flexible driving motor drove rotatory screw rod rotatory, because flexible limiting plate and telescopic link can not be at the telescope tube internal rotation, the telescopic link will be promoted through the screw thread to the rotatory screw rod and is concertina movement in the backup sleeve.

Furthermore, the collecting component comprises a conical connecting bucket, a telescopic threaded pipe, a buffering spiral pipe and a collecting box, the collecting box is arranged on the upper surface of the base, the buffering spiral pipe is arranged on the side wall of the collecting box, the buffering spiral pipe is arranged in a horizontal spiral hollow tubular shape, the conical connecting bucket is arranged at the bottom of the picking supporting frame body and is communicated with the interior of the picking supporting frame body, the conical connecting bucket is arranged in an inverted conical cavity with an opening at the bottom, the telescopic threaded pipe is arranged between the top end of the buffering spiral pipe and the bottom end of the picking supporting frame body, the telescopic threaded pipe is a hollow threaded pipe with elasticity and can be flexibly deformed, the conical connecting bucket, the telescopic threaded pipe and the buffering spiral pipe can guide fruits falling from the picking supporting frame body into the collecting box, and when the fruits enter the conical connecting bucket from the picking supporting frame body, the conical connecting bucket is in a V-, be favorable to the collection of fruit more, fruit gets into and enters into the buffering spiral pipe in-process from flexible screwed pipe, and the fruit is followed vertical whereabouts gradually and is become the horizontal roll to at the spiral roll in-process, because frictional force's existence, the roll speed of fruit also can reduce gradually, will roll into collection incasement with slower speed level at last, can avoid directly falling the tumble injury that causes.

Furthermore, the upper surface of the base is provided with a control groove, the control assembly comprises a controller and a power supply, the controller and the power supply are arranged in the control groove, the controller is in electric signal connection with the rotary driving motor, the lower swing driving motor, the upper swing driving motor, the telescopic driving motor, the picking rotary driving motor, the shearing driving motor, the horizontal positioning camera and the vertical positioning camera, and the controller, the rotary driving motor, the lower swing driving motor, the upper swing driving motor, the telescopic driving motor, the picking rotary driving motor, the shearing driving motor, the horizontal positioning camera and the vertical positioning camera are electrically connected with the power supply; four corners of the lower surface of the base are provided with movable wheels.

Adopt above-mentioned structure the utility model discloses the beneficial effect who gains as follows: the utility model provides a nondestructive automatic fruit picking device, a horizontal positioning camera and a vertical positioning camera are arranged on a picking assembly, the position of fruit can be positioned, a controller controls a rotary driving motor, a lower swing driving motor, an upper swing driving motor, a telescopic driving motor and a picking rotary driving motor, the picking assembly is moved under the fruit, then two groups of blades which are oppositely arranged are driven by a cutting driving motor to cut fruit stalks of the fruit, and the automatic nondestructive picking of the fruit is realized; the fruit is sheared the back and through in can the rolling mode landing collection case of spiral, has avoided traditional picking equipment to drop perpendicularly and has caused the fruit tumble injury, and this device is a simple structure, uses manpower sparingly, improves and picks efficiency and can not harm the high-efficient equipment of picking of fruit.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic fruit picking device of the present invention;

FIG. 2 is a schematic structural view of a swing component of a rotating component of the automatic fruit picking device without damage;

FIG. 3 is a schematic view of a picking assembly of the automatic fruit picking device without damage;

FIG. 4 is a schematic view of the internal structure of the picking assembly of the automatic fruit picking device of the present invention;

figure 5 is the utility model discloses a flexible subassembly sectional view of automatic harvesting device of harmless fruit.

Wherein, 1, a rotating component, 2, a swinging component, 3, a telescopic component, 4, a picking component, 5, a collecting component, 6, a control component, 7, a base, 8, a picking supporting block, 9, a picking rotary driving motor, 10, a picking supporting rod, 11, a picking supporting frame body, 12, a screw supporting plate, 13, an incomplete screw, 14, a blade, 15, a shearing driving motor, 16, a horizontal positioning camera, 17, a vertical positioning camera, 18, a picking rotary motor groove, 19, a rotary motor groove, 20, a rotary driving motor, 21, a rotary supporting seat, 22, a swinging motor supporting seat, 23, a lower swinging driving motor, 24, a swinging arm, 25, an upper swinging driving motor, 26, a swinging motor groove, 27, a telescopic supporting base, 28, a telescopic supporting plate, 29, a telescopic driving motor, 30, a supporting sleeve, 31, a telescopic rod, 32 and a rotary screw, 33. the device comprises a telescopic limit plate 34, a telescopic threaded pipe 35, a buffer spiral pipe 36, a collection box 37, a control groove 38, a controller 39, a power supply 40, a moving wheel 41, a blade sliding opening 42 and a conical connection hopper.

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-5, the technical scheme adopted by the utility model is as follows: the utility model provides an automatic device of picking of harmless fruit, includes rotating assembly 1, sways subassembly 2, flexible subassembly 3, picks subassembly 4, collects subassembly 5, control assembly 6 and base 7, rotating assembly 1 locates on base 7, it locates on rotating assembly 1 to sway subassembly 2 rotation, flexible subassembly 3 locates 2 tip of swaying subassembly, collect subassembly 5 locate on base 7 and with pick subassembly 4 and be connected, control assembly 6 locates on base 7.

The picking assembly 4 comprises a picking support block 8, a picking rotary driving motor 9, a picking support rod 10, a picking support frame body 11, a screw support plate 12, an incomplete screw 13, a blade 14, a shearing driving motor 15, a horizontal positioning camera 16 and a vertical positioning camera 17, the picking support block 8 is fixedly arranged at the end part of the telescopic assembly 3, a picking rotary motor groove 18 is arranged on the side wall of the picking support block 8, the picking rotary driving motor 9 is fixedly arranged in the picking rotary motor groove 18, the picking support rod 10 is arranged on the output shaft of the picking rotary driving motor 9, the picking support frame body 11 is arranged at the end part of the picking support rod 10, the picking support frame body 11 is a square frame body with openings at the top and the bottom, the screw support plates 12 are symmetrically and oppositely arranged at two ends of the side edge of the upper surface of the picking support frame body 11, and the, the shearing driving motor 15 is arranged on the outer side wall of the end part of the screw supporting plate 12, the output shaft of the shearing driving motor 15 penetrates through the screw supporting plate 12 and is connected with the incomplete screw 13, the incomplete screw 13 has a half length with threads and a half length with a smooth surface, the screw supporting plate 12 is provided with two groups, the two groups of screw supporting plates 12 are arranged on two sides of the horizontal upper surface of the picking supporting frame body 11, the incomplete screw 13 is provided with two groups and is symmetrically arranged around the center of the picking supporting frame body 11, the side wall of the picking supporting frame body 11 between the two groups of incomplete screw 13 is provided with a blade sliding opening 41, the blade 14 penetrates through the blade sliding opening 41 and is arranged between the two groups of incomplete screw 13, the blade 14 and the two groups of incomplete screw 13 are respectively in threaded connection and sliding connection, the blade 14 is provided with two groups, the two groups, the horizontal positioning camera 16 is arranged on the side surface of the end part of the picking support block 8, and the vertical positioning camera 17 is arranged on the side surface of the upper surface of the picking support frame body 11.

The upper surface of the base 7 is provided with a rotating motor groove 19, the rotating assembly 1 comprises a rotating driving motor 20 and a rotating supporting seat 21, the rotating driving motor 20 is fixedly arranged in the rotating motor groove 19, an output shaft of the rotating driving motor 20 faces upwards vertically, and the rotating supporting seat 21 is arranged on an output shaft of the rotating driving motor 20.

The swing component 2 comprises a swing motor supporting seat 22, a lower swing driving motor 23, a swing arm 24 and an upper swing driving motor 25, the swing motor support seat 22 is vertically arranged on the upper surface of the rotary support seat 21, the lower swing drive motor 23 is fixedly arranged in the swing motor support seat 22, two groups of lower swing motor supporting seats 22 and two groups of lower swing driving motors 23 are symmetrically arranged, output shafts of the two groups of lower swing driving motors 23 are horizontally arranged oppositely, the output shafts of the two groups of lower swing driving motors 23 are collinear, the swing arm 24 is arranged between the two groups of swing motor supporting seats 22 and is simultaneously connected with the output shafts of the two groups of lower swing driving motors 23, the swing arm 24 is provided with a swing motor groove 26 on the side wall of the top end, the upper swing drive motor 25 is fixedly arranged in the swing motor groove 26, and the output shaft of the upper swing drive motor 25 is horizontally arranged.

The telescopic component 3 comprises a telescopic supporting base 27, a telescopic supporting plate 28, a telescopic driving motor 29, a supporting sleeve 30, a telescopic rod 31, a rotary screw rod 32 and a telescopic limiting plate 33, the telescopic supporting base 27 is vertically and rotatably arranged on an output shaft of the upper swing driving motor 25, the telescopic supporting plate 28 is vertically arranged on a vertical side wall of the telescopic supporting base 27, the supporting sleeve 30 and the telescopic driving motor 29 are respectively arranged at two sides of the telescopic supporting plate 28, an output shaft of the telescopic driving motor 29 is superposed with an axis of the supporting sleeve 30, the supporting sleeve 30 is a rectangular cavity with an opening at the inner hollow end part, the cross section of the supporting sleeve 30 is a square frame body, the rotary screw rod 32 is rotatably arranged at the center of the supporting sleeve 30, the rotary screw rod 32 is connected with the output shaft of the telescopic driving motor 29, the telescopic limiting plate 33 is a square body and is identical to the cross, the cylindrical cavity of telescopic link 31 sets up, telescopic link 31 is located flexible limiting plate 33 and is kept away from flexible backup pad 28 one side on, the axle center coincidence of telescopic link 31 axle center and rotatory screw rod 32, be equipped with the internal thread in the inside cavity of telescopic link 31, the internal thread of telescopic link 31 inside meshes with the external screw thread of rotatory screw rod 32 mutually, and when flexible driving motor 29 drove rotatory screw rod 32 rotatory, because flexible limiting plate 33 and telescopic link 31 can not be at the telescope tube internal rotation, rotatory screw rod 32 will be through screw thread promotion telescopic link 31 be concertina movement in support sleeve 30.

Collecting component 5 includes toper connecting bucket 42, flexible screwed pipe 34, buffering spiral pipe 35 and collecting box 36, the collecting box 36 is located the base 7 upper surface, buffering spiral pipe 35 is located on the 36 lateral walls of collecting box, buffering spiral pipe 35 is horizontal spiral cavity tubulose setting, toper connecting bucket 42 is located and is plucked 11 bottoms of braced frame and with pluck the inside intercommunication of braced frame 11, toper connecting bucket 42 is the setting of bottom open-ended obconic cavity, flexible screwed pipe 34 is for having the hollow screwed pipe that elasticity can stretch out and draw back the deformation.

The upper surface of the base 7 is provided with a control groove 37, the control assembly 6 comprises a controller 38 and a power supply 39, the controller 38 and the power supply 39 are arranged in the control groove 37, the controller 38 is in electric signal connection with the rotary driving motor 20, the lower swing driving motor 23, the upper swing driving motor 25, the telescopic driving motor 29, the picking rotary driving motor 9, the shearing driving motor 15, the horizontal positioning camera 16 and the vertical positioning camera 17, and the controller 38, the rotary driving motor 20, the lower swing driving motor 23, the upper swing driving motor 25, the telescopic driving motor 29, the picking rotary driving motor 9, the shearing driving motor 15, the horizontal positioning camera 16 and the vertical positioning camera 17 are electrically connected with the power supply 39; four corners of the lower surface of the base 7 are provided with movable wheels 40.

When the device is used specifically, the device is moved to the side of a fruit tree, the horizontal positioning camera 16 and the vertical positioning camera 17 transmit the shot pictures to the controller 38, the controller 38 calculates the relative spatial position of the picking assembly 4 and the fruit through graphic analysis, then the controller 38 transmits electric signals to the rotary driving motor 20, the lower swing driving motor 23, the upper swing driving motor 25, the telescopic driving motor 29 and the picking rotary driving motor 9, the rotary motor rotates to drive the rotary supporting base 21 to rotate, the swing wall and the supporting sleeve 30 are aligned with the fruit, then the lower swing driving motor 23 and the upper swing driving motor 25 rotate to drive the swing arm 24 and the supporting sleeve 30 to rotate, so that the end part of the telescopic rod 31 is close to the fruit, then the telescopic driving motor 29 rotates to drive the rotary screw rod 32 to rotate, and the rotary screw rod 32 can push the telescopic rod 31 to further approach the fruit, picking rotation driving motor 9 simultaneously rotates and drives picking braced frame 11 rotatory, embolia the fruit in the middle of the material braced frame, then two sets of shearing driving motor 15 are rotatory to opposite direction, promote two sets of blades 14 to central relative motion, when two sets of blades 14 meet, alright with cutting off the fruit stalk of fruit, the fruit gets into buffering spiral pipe 35 through flexible screwed pipe 34, after the fruit gets into buffering spiral pipe 35, the motion of fruit becomes spiral slant decurrent spiral roll, because the existence of rolling frictional force, the fruit will be slower and slower at the rolling in-process speed, at last in collecting box 36 with the horizontal landing of slower speed, can not damaged by the tumble.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

The present invention and the embodiments thereof have been described above, but the description is not limited thereto, and the embodiment shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should understand that they should not be limited to the embodiments described above, and that they can design the similar structure and embodiments without departing from the spirit of the invention.

Claims

1. The utility model provides a harmless automatic device of picking of fruit which characterized in that: including rotating assembly, swing subassembly, flexible subassembly, picking subassembly, collection subassembly, control assembly and base, rotating assembly locates on the base, swing the rotatory rotating assembly of locating of subassembly on, flexible subassembly is located the subassembly tip that sways, collect the subassembly and locate on the base and be connected with the picking subassembly, control assembly locates on the base.

2. The automatic fruit picking device without damage according to claim 1, characterized in that: the picking assembly comprises a picking support block, a picking rotary driving motor, a picking support rod, a picking support frame body, a screw support plate, an incomplete screw, a blade, a shearing driving motor, a horizontal positioning camera and a vertical positioning camera, the picking support block is fixedly arranged at the end part of the telescopic assembly, a picking rotary motor groove is arranged on the side wall of the picking support block, the picking rotary driving motor is fixedly arranged in the picking rotary motor groove, the picking support rod is arranged on an output shaft of the picking rotary driving motor, the picking support frame body is arranged at the end part of the picking support rod, the picking support frame body is a square frame body with openings at the top and the bottom, the screw support plates are symmetrically and oppositely arranged at the two ends of the side edge of the upper surface of the picking support frame body, the incomplete screw is rotatably arranged between the screw support plates, an output shaft of the shearing driving motor penetrates through the screw supporting plate to be connected with the incomplete screw, the incomplete screw is arranged on a smooth surface with a half length, a thread and a half length, two groups of screw supporting plates are arranged on the picking supporting frame body, the two groups of screw supporting plates are arranged on two sides of the horizontal upper surface of the picking supporting frame body, the incomplete screw rods are provided with two groups and are arranged symmetrically relative to the center of the picking support frame body, the side wall of the picking support frame body between the two groups of incomplete screw rods is provided with a blade sliding opening, the blade penetrates through the sliding opening of the blade and is arranged between the two groups of incomplete screws, the blade and the two groups of incomplete screws are respectively in threaded connection and sliding connection, the blades are provided with two groups, the blades of the two groups are symmetrically arranged relative to the central line of the picking support frame body, the horizontal positioning camera is arranged on the side face of the end part of the picking supporting block, and the vertical positioning camera is arranged on the side face of the upper surface of the picking supporting frame body.

3. The automatic fruit picking device without damage according to claim 2, characterized in that: the base upper surface is equipped with the rotating electrical machines groove, rotating assembly includes rotary driving motor and rotatory supporting seat, the fixed rotating electrical machines inslot that locates of rotary driving motor, rotary driving motor's output shaft is vertical up, rotatory supporting seat is located on the rotary driving motor output shaft.

4. The automatic fruit picking device without damage according to claim 3, characterized in that: the swing assembly comprises a swing motor supporting seat, a lower swing driving motor, a swing arm and an upper swing driving motor, the swing motor supporting seat is vertically arranged on the upper surface of a rotary supporting seat, the lower swing driving motor is fixedly arranged in the swing motor supporting seat, the lower swing motor supporting seat and the lower swing driving motor are symmetrically arranged in two groups, two groups of output shafts of the lower swing driving motor are horizontally arranged relatively, two groups of output shafts of the lower swing driving motor are collinear, the swing arm is arranged between the two groups of swing motor supporting seats and is simultaneously connected with the two groups of output shafts of the lower swing driving motor, a swing motor groove is formed in the side wall of the top end of the swing arm, the upper swing driving motor is fixedly arranged in the swing motor groove, and the output shaft of the upper swing driving motor is horizontally arranged.

5. The automatic fruit picking device without damage according to claim 4, characterized in that: the telescopic component comprises a telescopic supporting base, a telescopic supporting plate, a telescopic driving motor, a supporting sleeve, a telescopic rod, a rotating screw rod and a telescopic limiting plate, wherein the telescopic supporting base is vertically and rotatably arranged on an output shaft of the upper swing driving motor, the telescopic supporting plate is vertically arranged on the vertical side wall of the telescopic supporting base, the supporting sleeve and the telescopic driving motor are respectively arranged on two sides of the telescopic supporting plate, the output shaft of the telescopic driving motor is superposed with the axis of the supporting sleeve, the supporting sleeve is arranged in a rectangular cavity with an opening at the hollow end part, the section of the supporting sleeve is arranged in a square frame body, the rotating screw rod is rotatably arranged in the center of the supporting sleeve, the rotating screw rod is connected with the output shaft of the telescopic driving motor, the telescopic limiting plate is arranged in a square shape and is the same as the section, the telescopic rod is arranged on one side, away from the telescopic supporting plate, of the telescopic limiting plate, the axis of the telescopic rod coincides with the axis of the rotary screw rod, an internal thread is arranged in the hollow cavity inside the telescopic rod, and the internal thread inside the telescopic rod is meshed with the external thread of the rotary screw rod.

6. The automatic fruit picking device without damage according to claim 5, characterized in that: the collecting component comprises a tapered connecting bucket, a telescopic threaded pipe, a buffering spiral pipe and a collecting box, the collecting box is arranged on the upper surface of the base, the buffering spiral pipe is arranged on the side wall of the collecting box, the buffering spiral pipe is in the shape of a horizontal spiral hollow pipe, the tapered connecting bucket is arranged at the bottom of the picking supporting frame body and communicated with the inside of the picking supporting frame body, the tapered connecting bucket is arranged in the shape of an inverted cone cavity with an opening at the bottom, the telescopic threaded pipe is arranged between the top end of the buffering spiral pipe and the bottom opening of the tapered connecting bucket, and the telescopic threaded pipe can stretch and deform for having elasticity.

7. The automatic fruit picking device without damage according to claim 6, characterized in that: the upper surface of the base is provided with a control groove, the control assembly comprises a controller and a power supply, the controller and the power supply are arranged in the control groove, the controller is in electric signal connection with the rotary driving motor, the lower swing driving motor, the upper swing driving motor, the telescopic driving motor, the picking rotary driving motor, the shearing driving motor, the horizontal positioning camera and the vertical positioning camera, and the controller, the rotary driving motor, the lower swing driving motor, the upper swing driving motor, the telescopic driving motor, the picking rotary driving motor, the shearing driving motor, the horizontal positioning camera and the vertical positioning camera are electrically connected with the power supply; four corners of the lower surface of the base are provided with movable wheels.