CN216415144U - A picking robot for melon and fruit class vegetables - Google Patents

Abstract

The utility model relates to the technical field of fruit picking, and discloses a picking robot for fruits and vegetables, which comprises a vehicle body, wherein a rack is arranged at the upper end of the vehicle body, a mechanical arm is arranged on the rack, a connecting seat is arranged at one end of the rack, an opening is arranged at one end of the connecting seat, the other end of the connecting seat is communicated with the rack, and a screening mechanism is arranged in the rack; screening mechanism is including removing seat and fly leaf, the upper end of removing the seat is equipped with the backup pad, just the upside of backup pad is equipped with the loading board, remove the seat through first spring with backup pad elastic connection, just be equipped with the ejector pin on the removal seat. According to the utility model, by arranging the screening mechanism, after the materials enter the rack, the materials can be screened according to different weights through the screening mechanism, so that the labor intensity of workers is effectively reduced, and the use is more convenient.

Description

A picking robot for melon and fruit class vegetables

Technical Field

The utility model relates to the technical field of melon and fruit picking, in particular to a picking robot for melon and fruit vegetables.

Background

Melons and fruits are one of the essential crops in the agricultural production process, and the melons and fruits are easy to rot after being matured, so that the melons and fruits need to be picked in time. Taking tomatoes as an example, with the expansion of cities and the dramatic increase of urban population, the market demand of fresh tomatoes is increasing day by day, and the scale of greenhouse tomato cultivation is further expanded. Traditional tomato is picked mainly to use the manual work as the owner, has the problem that intensity of labour is big and work efficiency is low, from this, tomato picking robot should be born, and current tomato picking robot though can realize unmanned operation, has reduced people's intensity of labour, but it can't classify to the tomato after picking, if can accomplish the classification of tomato when picking, will further reduce workman's intensity of labour.

SUMMERY OF THE UTILITY MODEL

The utility model provides a picking robot for melon and fruit vegetables, which has the beneficial effect of classifying tomatoes and solves the problem that the existing tomato picking robot cannot classify the tomatoes after picking in the background technology.

The utility model provides the following technical scheme: a picking robot for melon, fruit and vegetable comprises a vehicle body, wherein a rack is arranged at the upper end of the vehicle body, a manipulator is arranged on the rack, a connecting seat is arranged at one end of the rack, an opening is formed at one end of the connecting seat, the other end of the connecting seat is communicated with the rack, and a screening mechanism is arranged in the rack;

screening mechanism is including removing seat and fly leaf, the upper end of removing the seat is equipped with the backup pad, just the upside of backup pad is equipped with the loading board, remove the seat through first spring with backup pad elastic connection, just be equipped with the ejector pin on removing the seat, the one end of ejector pin with loading board flexible connection, just the other end of ejector pin runs through the backup pad with remove the seat, the backup pad through first extension spring with ejector pin elastic connection, just the backup pad with the loading board rotates to be connected, the fly leaf with frame sliding connection, just be equipped with the different kicking blocks of a plurality of height on the fly leaf, still be equipped with in the frame and be used for promoting remove the cylinder of seat motion.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: the lower end of the bearing plate is provided with a fixing hole and a steel wire rope, one end of the steel wire rope is fixed in the fixing hole, the other end of the steel wire rope is fixedly connected with the ejector rod, and the upper end of the bearing plate is provided with a groove which is in a V shape.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: be equipped with adjustment mechanism in the frame, just adjustment mechanism includes rolling axle and regulation pole, the one end of adjusting the pole is stretched out the frame, just adjust the pole pass through the second spring with frame elastic connection, the lower extreme of adjusting the pole is equipped with the rack, the rolling axle with the frame rotates and is connected, the one end of rolling axle be equipped with rack toothing's drive gear.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: one side of the movable plate is provided with a plurality of guide chutes, the end parts of the guide chutes are provided with pipe connectors, the movable plate is elastically connected with the rack through fixing springs, one end of the movable plate is provided with a pull rope, one end of the pull rope, far away from the movable plate, is wound on the winding shaft, and the lower side of the movable plate is provided with a plurality of limiting clamping jaws.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: the upper end of the connecting seat is provided with a baffle, the baffle is rotatably connected with the connecting seat through a rotating shaft, one end of the baffle is provided with a limiting bulge used for limiting the adjusting rod, the baffle is elastically connected with the connecting seat through a connecting spring, and one end of the connecting seat is provided with a guide plate.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: the lower side of the movable plate is provided with a supporting convex rib, and the supporting convex rib is connected with the rack in a sliding manner.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: still be equipped with the limiting plate in the frame, just the limiting plate is located the downside of fly leaf, the limiting plate pass through supporting spring with frame elastic connection, just the upper end of limiting plate is equipped with and is used for right the spacing jack catch carries out spacing latch, one side of limiting plate is equipped with the riser, just the upper end of riser is equipped with the oblique top.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: one side of rolling axle is equipped with straining device, just straining device includes sliding seat and guide pulley, the guide pulley with the sliding seat rotates to be connected, the sliding seat with frame sliding connection, just the one end of sliding seat pass through the second extension spring with frame elastic connection.

As an alternative of the picking robot for melon, fruit and vegetable of the present invention, wherein: one side of removing the seat is equipped with the extension rod, just the extension rod pass through the screw with it can dismantle the connection to remove the seat.

The utility model has the following beneficial effects:

1. the picking robot for fruits and vegetables comprises a moving seat, a movable plate, a support plate and a screening mechanism, wherein the screening mechanism comprises the moving seat, the movable plate, the support plate and the support plate, tomatoes can fall onto the support plate after entering a rack, the support plate and the support plate can move downwards under the pressure of the tomatoes, a first spring is compressed, a mandril can also move downwards under the pushing of the support plate, the moving seat can be pushed to move through a cylinder, the moving seat can drive the mandril to move together when moving, the heavier the tomatoes are, the more the first spring is compressed, the larger the downward movement amplitude of the mandril is, a plurality of jacking blocks are arranged on the movable plate, the jacking blocks are in a step-shaped arrangement, the mandril can be abutted with the jacking blocks with different heights at different positions, the pushing support plate of the jacking blocks and the mandril deflects, the tomatoes on the support plate can fall off, and relative to the movable plate, the tomato screening is completed by different weight of tomatoes, and the falling positions of the tomatoes are different.

2. The picking robot for melons, fruits and vegetables is provided with the adjusting mechanism which is connected with the movable plate through the pull rope, when the tomatoes are placed into the connecting seat by the manipulator, the tomatoes can be smashed on the baffle, the baffle can be driven to turn over when falling, when the tomatoes with different weights fall onto the baffle, the motion amplitude of the baffle is different, the heavier the tomatoes are, the larger the motion amplitude of the baffle is, the limiting bulge can tilt along with the motion of the baffle, after the limit of the limit bulge is lost, the adjusting rod can move upwards under the action of the second spring and drive the rack to move, the rolling shaft is driven by the rack to unwind, the movable plate can move correspondingly when the rolling shaft is unwound, the relative position between the movable plate and the movable seat can be adjusted in a self-adaptive mode according to different weights of the tomatoes, and the processing speed of the screening mechanism is effectively improved.

3. According to the picking robot for the melons, fruits and vegetables, the tensioning mechanism is arranged, the tensioning mechanism can not only guide the pull rope, but also can work in cooperation with the winding shaft, and when the winding shaft is wound, the movable plate is fixed by the limiting plate and cannot move; at the moment, the sliding seat moves towards the movable plate under the pulling of the pull rope, the second tension spring stores the force, when the movable plate can move, the sliding seat returns to the original position under the pulling of the second tension spring, and the fixed spring at one end of the movable plate is in a force storage state.

Drawings

Fig. 1 is a schematic view of the rack structure of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a cross-sectional view of the housing of the present invention.

FIG. 4 is a schematic view of a movable seat of the present invention.

Fig. 5 is a schematic view of the internal structure of the rack of the present invention.

Fig. 6 is a sectional view of the connecting socket of the present invention.

In the figure: 1. a vehicle body; 2. a frame; 3. a manipulator; 4. a connecting seat; 5. a movable seat; 501. an extension rod; 6. a movable plate; 601. a limiting jaw; 602. supporting the convex ribs; 7. a support plate; 8. a carrier plate; 801. A fixing hole; 802. a wire rope; 803. a groove; 9. a first spring; 10. a top rod; 11. a first tension spring; 12. a top block; 13. a cylinder; 14. a winding shaft; 15. adjusting a rod; 16. a second spring; 17. a rack; 18. a transmission gear; 19. a material guide chute; 20. a pipe interface; 21. fixing the spring; 22. pulling a rope; 23. A baffle plate; 24. a limiting bulge; 25. a connecting spring; 26. a limiting plate; 27. a support spring; 28. limiting latch teeth; 29. a vertical plate; 30. a sliding seat; 31. a guide wheel; 32. a second tension spring; 33. a guide plate.

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 a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-5, a picking robot for fruits and vegetables comprises a vehicle body 1, a frame 2 is arranged at the upper end of the vehicle body 1, a manipulator 3 is arranged on the frame 2, a connecting seat 4 is arranged at one end of the frame 2, an opening is arranged at one end of the connecting seat 4, the other end of the connecting seat 4 is communicated with the frame 2, and a screening mechanism is arranged in the frame 2;

screening mechanism is including removing seat 5 and fly leaf 6, the upper end of removing seat 5 is equipped with backup pad 7, and the upside of backup pad 7 is equipped with loading board 8, remove seat 5 through first spring 9 and backup pad 7 elastic connection, and be equipped with ejector pin 10 on removing seat 5, the one end and the 8 flexonics of loading board of ejector pin 10, and the other end of ejector pin 10 runs through backup pad 7 and removes seat 5, backup pad 7 is through first extension spring 11 and ejector pin 10 elastic connection, and backup pad 7 rotates with loading board 8 to be connected, fly leaf 6 and 2 sliding connection of frame, and be equipped with the different kicking blocks 12 of a plurality of height on fly leaf 6, still be equipped with the cylinder 13 that is used for promoting to remove the motion of seat 5 in the frame 2.

The lower end of the bearing plate 8 is provided with a fixing hole 801 and a steel wire 802, one end of the steel wire 802 is fixed in the fixing hole 801, the other end of the steel wire 802 is fixedly connected with the top rod 10, the upper end of the bearing plate 8 is provided with a groove 803, and the groove 803 is in a square-shaped shape.

During operation, the tomatoes are picked by the manipulator 3 and placed into the connecting seat 4, the guide plate 33 is arranged in the connecting seat 4, the tomatoes fall to the screening mechanism through the guide plate 33, the tomatoes can be screened according to different weights through the screening mechanism, the screening mechanism mainly comprises a moving seat 5, a movable plate 6, a supporting plate 7 and a bearing plate 8, the bearing plate 8 is located at the uppermost end of the whole mechanism, the tomatoes fall on the bearing plate 8 after entering the rack 2, one end of the bearing plate 8 is rotatably connected with the supporting plate 7, the other end of the bearing plate is in lap joint with the supporting plate 7, the supporting plate 7 is elastically connected with the moving seat 5, the moving seat 5 is provided with a mandril 10, one end of the mandril 10 penetrates through the moving seat 5, and the other end of the mandril 10 is abutted against the bearing plate 8;

after the tomatoes fall onto the bearing plate 8, under the pressure of the tomatoes, the bearing plate 8 and the supporting plate 7 can move downwards, the first spring 9 is compressed, the bearing plate 8 is abutted against the ejector rod 10, under the pushing action of the bearing plate 8, the ejector rod 10 can also move downwards, the tomatoes with different weights have different pressures, the compression degree of the first spring 9 is different, the heavier the tomatoes are, the more tenacious the first spring 9 is compressed, the larger the downward movement amplitude of the ejector rod 10 is, the movable plate 6 is provided with a plurality of ejector blocks 12, the ejector blocks 12 are arranged in a ladder shape, under normal conditions, one end of the movable plate 6 with the shortest ejector block 12 is close to the cylinder 13, the movable seat 5 can be pushed to move through the cylinder 13, and the ejector rod 10 can be driven by the movable seat 5 during movement;

take the tomato of less weight as an example, when the tomato weight is lighter, the degree that first spring 9 is compressed is less, and the range of ejector pin 10 downstream is also less, along with the promotion of cylinder 13, only move to the one end that cylinder 13 was kept away from to fly leaf 6 to removal seat 5, namely when fly leaf 6 has the one end of highest kicking block 12, the bottom of ejector pin 10 just can be inconsistent with kicking block 12, under the promotion of kicking block 12, ejector pin 10 can the upward movement, and promote loading board 8 and make its upset, along with the upset of loading board 8, the tomato on loading board 8 will drop, for fly leaf 6, the tomato of different weight, its position that drops is different, just so has accomplished the screening of tomato.

The bearing plate 8 is provided with a hook-shaped groove 803, after the tomatoes fall into the groove 803, because one side wall of the groove 803 has a small gradient and the other side wall has a large gradient, the center of gravity of the whole tomato is deviated, and the tomatoes are more easily fallen from the bearing plate 8 along with the turnover of the bearing plate 8, that is, the air cylinder 13 can push the moving seat 5 to move with a small force, so that the moving seat 5 drives the ejector rod 10 to move, and the bearing plate 8 is forced to turn over under the action of the ejector block 12, thereby completing the sorting of the materials.

Example 2

Referring to fig. 3, 5 and 6, this embodiment is a further improvement of embodiment 1, an adjusting mechanism is disposed in the frame 2, and the adjusting mechanism includes a winding shaft 14 and an adjusting rod 15, one end of the adjusting rod 15 extends out of the frame 2, and the adjusting rod 15 is elastically connected to the frame 2 through a second spring 16, a rack 17 is disposed at a lower end of the adjusting rod 15, the winding shaft 14 is rotatably connected to the frame 2, a transmission gear 18 engaged with the rack 17 is disposed at one end of the winding shaft 14, a baffle 23 is disposed at an upper end of the connecting seat 4, and the baffle 23 is rotatably connected to the connecting seat 4 through a rotating shaft, a limiting protrusion 24 for limiting the adjusting rod 15 is disposed at one end of the baffle 23, the baffle 23 is elastically connected to the connecting seat 4 through a connecting spring 25, and a guide plate 33 is disposed at one end of the connecting seat 4.

In order to improve the processing speed and reduce the power consumption, an adjusting mechanism is further arranged in the rack 2, the adjusting mechanism mainly comprises a winding shaft 14, an adjusting rod 15 and a rack 17, the adjusting rod 15 is fixedly connected with the rack 17, a pull rope 22 is fixed on the winding shaft 14, one end of the pull rope 22 is connected with the movable plate 6, when the rack 17 moves upwards, the winding shaft 14 is driven to rotate under the action of a transmission gear 18, the winding shaft 14 is in an unwinding state, the adjusting rod 15 is elastically connected with the rack 2 through a second spring 16, under the normal condition, the second spring 16 can provide an upward force for the adjusting rod 15, but under the action of a limiting protrusion 24, the adjusting rod 15 cannot move;

when the tomatoes are put into the connecting seat 4 by the manipulator, the tomatoes firstly hit the baffle 23, then roll onto the guide plate 33, and finally roll onto the bearing plate 8 through the guide plate 33, the baffle 23 is elastically connected with the connecting seat 4 through the connecting spring 25, the baffle 23 is driven to deflect when the tomatoes fall, when the tomatoes with different weights fall onto the baffle 23, the movement range of the baffle 23 is different, the heavier the tomatoes are, the larger the movement range of the baffle 23 is, the limiting protrusion 24 tilts along with the movement of the baffle 23, after the limitation of the limiting protrusion 24 is lost, the adjusting rod 15 moves upwards under the action of the second spring 16 and drives the rack 17 to move, the rolling shaft 14 unreels under the drive of the rack 17, the movable plate 6 moves in the direction far away from the cylinder 13 under the pull of the fixed spring 21, and under the normal condition, the movable seat 5 is close to one end of the movable plate 6 with the highest top block 12, at this time, the movable seat 5 is kept still, but the movable plate 6 moves in the direction away from the cylinder 13, that is, the heavier the tomatoes are, the more the wind-up shaft 14 unreels, the larger the downward movement amplitude of the ejector rod 10 is, the farther the movement distance of the movable plate 6 is, at this time, the closer the ejector rod 10 is to the end of the movable plate 6 with the shortest ejector block 12, and vice versa, the relative position between the movable plate 6 and the movable seat 5 can be adapted according to the different weights of the tomatoes, and the processing speed is faster;

during actual use, the cylinder 13 only needs to push the moving seat 5 to move for a short distance, and the ejector rod 10 at the lower end of the moving seat 5 can be abutted against the ejector block 12 corresponding to the position of the moving seat, so that the bearing plate 8 is turned over to complete sorting, and the shorter the stroke is, the lower the power consumption of the cylinder 13 is.

Example 3

Referring to fig. 3 and fig. 5, in this embodiment, a plurality of material guiding slots 19 are formed in one side of the movable plate 6, a pipe connector 20 is formed at an end of each material guiding slot 19, the movable plate 6 is elastically connected to the frame 2 through a fixing spring 21, a pull rope 22 is formed at one end of the movable plate 6, one end of the pull rope 22, which is far away from the movable plate 6, is wound on the winding shaft 14, a plurality of limiting claws 601 are formed at a lower side of the movable plate 6, a supporting rib 602 is formed at a lower side of the movable plate 6, and the supporting rib 602 is slidably connected to the frame 2.

The movable plate 6 is slidably connected with the frame 2 through the supporting ribs 602, a material guiding groove 19 is arranged on one side of the movable plate 6, the positions and the number of the material guiding grooves 19 correspond to the top blocks 12 one by one, meanwhile, the material guiding groove 19 and the movable plate 6 move synchronously, a pipe connector 20 is arranged at one end of the material guiding groove 19, when the pipe connector is actually used, a pipeline is installed on the pipe connector 20, and the sorted materials can move to a designated position through the pipeline.

Example 4

Referring to fig. 5, in this embodiment, a limiting plate 26 is further disposed in the frame 2, the limiting plate 26 is located at the lower side of the movable plate 6, the limiting plate 26 is elastically connected to the frame 2 through a supporting spring 27, a limiting latch 28 for limiting the limiting pawl 601 is disposed at the upper end of the limiting plate 26, a vertical plate 29 is disposed at one side of the limiting plate 26, and an inclined top is disposed at the upper end of the vertical plate 29. One side of the movable seat 5 is provided with an extension rod 501, and the extension rod 501 is detachably connected with the movable seat 5 through a screw.

A limiting plate 26 for limiting the movable plate 6 is arranged at the lower end of the frame 2, a limiting latch 28 is arranged on the limiting plate 26, a limiting pawl 601 corresponding to the limiting latch 28 is arranged at the lower side of the movable plate 6, when the winding shaft 14 is unwound, the movable plate 6 moves, when the movable plate 6 stops moving, the movable plate 6 can be limited by the limiting plate 26 with the limiting latch 28 to keep the movable plate stationary, a vertical plate 29 is arranged on the limiting plate 26, the top end of the vertical plate 29 is inclined, an extension rod 501 corresponding to the vertical plate 29 is arranged on the movable seat 5, when the movable seat 5 moves, the ejector rod 10 on the movable seat 5 will firstly collide with the ejector block 12, when the bearing plate 8 is turned over, the movable seat 5 will also move for a certain distance, at this time, the extension rod 501 collides with the vertical plate 29, under the push of the extension rod 501, the vertical plate 29 and the limiting latch 26 move downwards, the limiting pawl 28 on the limiting plate 26 is separated from the limiting pawl 601 at the lower side of the movable plate 6, the movable plate 6 returns to the original position by the pulling of the pulling rope 22.

Example 5

Referring to fig. 3, this embodiment is a further improvement of embodiment 1, a tensioning mechanism is disposed on one side of the winding shaft 14, and the tensioning mechanism includes a sliding seat 30 and a guide wheel 31, the guide wheel 31 is rotatably connected to the sliding seat 30, the sliding seat 30 is slidably connected to the frame 2, and one end of the sliding seat 30 is elastically connected to the frame 2 through a second tension spring 32.

When the tomatoes roll off from the baffle plate 23, the baffle plate 23 returns to the original position, the limiting protrusion 24 presses the adjusting rod 15 back to the original position again, the winding shaft 14 winds up the tomatoes under the driving of the adjusting rod 15 and the rack 17, however, the movable plate 6 is fixed by the limiting plate 26 and cannot move, in order to enable the winding to continue, a tensioning mechanism is arranged in the rack 2, the tensioning mechanism not only can guide the pull rope 22, but also can work in cooperation with the winding shaft 14, when the winding shaft 14 winds up, the sliding seat 30 moves towards the movable plate 6, at this time, the force of the second tension spring 32 is accumulated, when the movable plate 6 can move, the sliding seat 30 returns to the original position under the pulling of the second tension spring 32, and the fixing spring 21 at one end of the movable plate 6 is in the force accumulation state.

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.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (9)

1. The utility model provides a picking robot for melon and fruit class vegetables, includes automobile body (1), its characterized in that: a rack (2) is arranged at the upper end of the vehicle body (1), a manipulator (3) is arranged on the rack (2), a connecting seat (4) is arranged at one end of the rack (2), an opening is formed in one end of the connecting seat (4), the other end of the connecting seat (4) is communicated with the rack (2), and a screening mechanism is arranged in the rack (2);

the screening mechanism comprises a moving seat (5) and a movable plate (6), a supporting plate (7) is arranged at the upper end of the moving seat (5), a bearing plate (8) is arranged on the upper side of the supporting plate (7), the moving seat (5) is elastically connected with the supporting plate (7) through a first spring (9), a push rod (10) is arranged on the moving seat (5), one end of the push rod (10) is flexibly connected with the bearing plate (8), the other end of the push rod (10) penetrates through the supporting plate (7) and the moving seat (5), the supporting plate (7) is elastically connected with the push rod (10) through a first tension spring (11), the supporting plate (7) is rotatably connected with the bearing plate (8), the movable plate (6) is slidably connected with the rack (2), and a plurality of top blocks (12) with different heights are arranged on the movable plate (6), and an air cylinder (13) for pushing the movable seat (5) to move is further arranged in the rack (2).

2. A picking robot for melon and fruit vegetables, according to claim 1, characterized in that: the lower end of the bearing plate (8) is provided with a fixing hole (801) and a steel wire rope (802), one end of the steel wire rope (802) is fixed in the fixing hole (801), the other end of the steel wire rope (802) is fixedly connected with the ejector rod (10), the upper end of the bearing plate (8) is provided with a groove (803), and the groove (803) is in a V shape.

3. A picking robot for melon and fruit vegetables, according to claim 1, characterized in that: be equipped with adjustment mechanism in frame (2), just adjustment mechanism includes rolling axle (14) and adjusts pole (15), the one end of adjusting pole (15) is stretched out frame (2), just adjust pole (15) through second spring (16) with frame (2) elastic connection, the lower extreme of adjusting pole (15) is equipped with rack (17), rolling axle (14) with frame (2) rotate to be connected, the one end of rolling axle (14) be equipped with drive gear (18) of rack (17) meshing.

4. A picking robot for melon and fruit vegetables, according to claim 3, characterized in that: one side of fly leaf (6) is equipped with a plurality of baffle box (19), just the tip of baffle box (19) is equipped with pipe connector mouth (20), fly leaf (6) through fixed spring (21) with frame (2) elastic connection, just the one end of fly leaf (6) is equipped with stay cord (22), stay cord (22) are kept away from the one end of fly leaf (6) is around connecing on rolling axle (14), the downside of fly leaf (6) is equipped with a plurality of spacing jack catch (601).

5. A picking robot for melon and fruit vegetables, according to claim 3, characterized in that: the upper end of connecting seat (4) is equipped with baffle (23), just baffle (23) through the pivot with connecting seat (4) rotate to be connected, the one end of baffle (23) be equipped with be used for right adjust pole (15) and carry out spacing protruding (24), just baffle (23) through connecting spring (25) with connecting seat (4) elastic connection, the one end of connecting seat (4) is equipped with deflector (33).

6. A picking robot for melon and fruit vegetables, according to claim 1, characterized in that: the lower side of the movable plate (6) is provided with a supporting convex rib (602), and the supporting convex rib (602) is connected with the rack (2) in a sliding manner.

7. A picking robot for melon and fruit vegetables, according to claim 4, characterized in that: still be equipped with limiting plate (26) in frame (2), just limiting plate (26) are located the downside of fly leaf (6), limiting plate (26) through supporting spring (27) with frame (2) elastic connection, just the upper end of limiting plate (26) is equipped with and is used for right spacing jack catch (28) are carried out spacing to spacing jack catch (601), one side of limiting plate (26) is equipped with riser (29), just the upper end of riser (29) is equipped with the oblique top.

8. A picking robot for melon and fruit vegetables, according to claim 4, characterized in that: one side of rolling axle (14) is equipped with straining device, just straining device includes sliding seat (30) and guide pulley (31), guide pulley (31) with sliding seat (30) rotate to be connected, sliding seat (30) with frame (2) sliding connection, just the one end of sliding seat (30) pass through second extension spring (32) with frame (2) elastic connection.

9. A picking robot for melon and fruit vegetables, according to claim 1, characterized in that: one side of removing seat (5) is equipped with extension rod (501), just extension rod (501) pass through the screw with it can dismantle the connection to remove seat (5).

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