CN220528640U

CN220528640U - Beating type pine cone picking robot

Info

Publication number: CN220528640U
Application number: CN202322150271.2U
Authority: CN
Inventors: 牛福永; 欧阳春
Original assignee: Zhongke Fuxin Intelligent Technology Chengdu Co ltd
Current assignee: Zhongke Fuxin Intelligent Technology Chengdu Co ltd
Priority date: 2023-08-10
Filing date: 2023-08-10
Publication date: 2024-02-27
Anticipated expiration: 2033-08-10

Abstract

The utility model discloses a beating pine cone picking robot, wherein a lifting mechanism is arranged at the upper end of a moving mechanism, a rotating mechanism is arranged at the upper end of the lifting mechanism, a pitching mechanism is arranged at the upper end of the rotating mechanism, and a beating mechanism is arranged at the front end of the pitching mechanism; the box body is connected to the top end of the lifting mechanism, and a driving mechanism penetrates through the box body near the rear side in the transverse direction; the connecting flange is arranged at the lower end of the big arm, the big arm is connected at the upper end of the box body through the connecting flange, the front end of the upper side of the big arm is connected with the small arm sleeve, the outer wall of the small arm sleeve, which is close to the upper end of the rear side, is provided with the vision module, and the small arm penetrates forwards inside the small arm sleeve; the beating motor is arranged at the front end of the forearm, the beating arm rod is arranged at the front end of the beating motor, and the technical problems that in the prior art, when pine cones are manually picked, the risk coefficient is high, the labor intensity is high, the working efficiency is low, and the semi-automatic mechanical picking mode needs human intervention in the picking process, so that the damage to tree tissues is large are solved.

Description

Beating type pine cone picking robot

Technical Field

The utility model belongs to the field of agricultural machinery, and particularly relates to a striking pine cone picking robot.

Background

Pine cone is the fruit of pine branch family plant, has pine cone in the ripe back and has high medicinal value and nutritive value, and the mode that the main manual work that relies on in the present domestic pine cone was combined with semi-automatization machinery that picks, has danger coefficient height in the picking process, has not satisfied industry development needs to the great scheduling problem of trees tissue damage, and intelligent pine cone picking robot can be under the complex environment, long-term stable work, has played very big promotion effect to the picking efficiency that improves the pine cone, still will be the necessary trend of future agriculture and forestry development.

The existing pine cone picking technology has the following problems: the picking of pine cone at present still relies on manual picking, and dangerous coefficient is high in picking process, and intensity of labour is big, and work efficiency is low, and manual picking mode has not satisfied the demand of trade development yet, and there is some mechanical equipment that pine cone was picked yet at present, but mostly is semi-automatic vibrating, still needs artificial intervention in the working process to mechanical structure is complicated, and the suitability is lower, because the mode that adopts the vibration realizes picking of pine cone, leads to damaging the root of trees easily in picking the in-process, influences its growth.

Disclosure of Invention

The utility model aims to provide a beating pine cone picking robot which solves the technical problems that in the prior art, the risk coefficient is high, the labor intensity is high and the working efficiency is low when pine cones are manually picked, and the picking mode of a semi-automatic mechanical phase requires human intervention in the picking process, so that the damage to tree tissues is large.

The technical scheme adopted for solving the technical problems is as follows:

the beating pine cone picking robot comprises a moving mechanism and a lifting mechanism, wherein the lifting mechanism is arranged at the upper end of the moving mechanism, a rotating mechanism is arranged at the upper end of the lifting mechanism, a pitching mechanism is arranged at the upper end of the rotating mechanism, and a beating mechanism is arranged at the front end of the pitching mechanism; the swing mechanism includes: the box body is connected to the top end of the lifting mechanism, and the box body is close to the rear side and transversely internally penetrated with the driving mechanism; the pitch mechanism includes: the device comprises a connecting flange, a big arm, a small arm sleeve and a small arm, wherein the connecting flange is arranged at the lower end of the big arm, the big arm is connected to the upper end of a box body through the connecting flange, the front end of the upper side of the big arm is connected with the small arm sleeve, a visual module is arranged on the outer wall of the small arm sleeve, which is close to the upper end of the rear side, and the small arm penetrates forwards inside the small arm sleeve; the striking mechanism comprises: the device comprises a striking motor and a striking arm rod, wherein the striking motor is arranged at the front end of a forearm, and the striking arm rod is arranged at the front end of the striking motor.

According to the striking pine cone picking robot, one side of the lifting mechanism is provided with the receiving mechanism.

The utility model relates to a beating pine cone picking robot, which comprises a base, a supporting hinge, supporting arm rods, a lifting sleeve and lifting arm rods, wherein the base is arranged at the upper end of a moving mechanism, the bottom of the lifting sleeve is provided with the supporting hinge, the lifting sleeve is connected to the outer wall of the upper end of the base close to the front side through the supporting hinge at the bottom, the outer wall of the rear end of the lifting sleeve close to the lower side is connected with the supporting arm rods, the lower end of the supporting arm rods is connected to the outer wall of the upper end of the base close to the rear side through the supporting hinge, the outer wall of the front end of the lifting sleeve close to the upper side and the lower side is provided with a clamping mechanism, and the lifting arm rods upwards penetrate through the lifting sleeve.

According to the beating pine cone picking robot, the crawler-type moving structure is adopted by the moving mechanism, and compared with wheel-type moving, the crawler-type moving mechanism has the advantages of large contact area with the ground, small unit pressure on the ground, strong adhesive force and small turning radius.

According to the striking pine cone picking robot disclosed by the utility model, the core component part of the vision module adopts the binocular camera, the image acquisition mode of the binocular camera is from bottom to top, the distance between the vision module and the pine cone is two to four meters, and the binocular camera can acquire RGB (red, green and blue) images and depth information of the pine cone in real time.

According to the striking pine cone picking robot disclosed by the utility model, the top end of the striking arm rod is connected with the output shaft of the striking motor through the reducing cross clamp, the outer part of the striking arm rod is sleeved with the rubber sleeve, the striking motor can drive the striking arm rod to rotate through the reducing cross clamp, and the striking arm rod realizes the picking operation of pine cones in a rotary striking mode.

According to the striking pine cone picking robot, the mechanical arm of the pitching mechanism adopts the joint type mechanical arm with high redundancy freedom degree, the mechanical arm is designed with seven freedom degrees, and the width of the base is smaller than the width between the crawler-type moving structures.

The utility model relates to a beating pine cone picking robot, which comprises an installation U-shaped frame, support rods and a picking net bag, wherein the support rods are arranged on the right side of the installation U-shaped frame, the support rods are fixedly connected with the installation U-shaped frame in a welding mode, and the picking net bag is arranged on the inner sides of the two support rods.

According to the striking pine cone picking robot, the U-shaped mounting frame is of a U-shaped structure, four mounting holes are formed in the U-shaped mounting frame, screws penetrate through the mounting holes of the U-shaped mounting frame, and the U-shaped mounting frame is mounted and fixed on the lifting mechanism through the screws.

According to the striking pine cone picking robot, the picking net bag is of a conical structure, the picking net bag is woven by nylon ropes, and two side edges of the picking net bag are fixedly connected with the supporting rods.

The utility model has the beneficial effects that:

1. the high-efficiency picking of the pine cone is realized by adopting a rotary beating mode, and the accurate and high-efficiency picking in a complex woodland environment can be realized; the continuous picking operation of pine cones is realized, the functions of rapid identification, positioning, picking, platform movement and the like can be performed, and on the basis of meeting the strength and rigidity requirements, the device also meets the minimum quality requirement;

2. the end effector and the seven-degree-of-freedom joint type mechanical arm suitable for continuous picking are adopted, the setting and the design of clamping force are not needed, the picking principle is that the pine cone is picked in a mode that the beating arm lever is used for beating branches where the pine cone is located, the problem that errors exist in positioning of the end effector caused by coupling motion of the mechanical arm can be effectively overcome in the picking process by the beating arm lever, the picking operation can be continuously and efficiently carried out, a control system of the beating pine cone picking robot is based on an open robot control idea, a distributed control strategy is adopted, the control system is composed of an upper computer and a lower computer, the lower computer is composed of a mechanical arm controller and a single chip microcomputer, and therefore the whole beating pine cone picking robot can flexibly and accurately finish the picking operation on pine cones.

3. Through the setting of access device, when beating the arm and beating the pine cone that picks and fall down, will be received by the access string bag on the access device to a great extent has avoided the pine cone scatter ground of picking, and then makes the picking of pine cone more high-efficient, has avoided still needing to pick up the time waste that the pine cone caused, and then has improved the efficiency that the pine cone was picked to beating formula pine cone picking robot.

Drawings

The utility model will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic diagram of an embodiment of the present utility model;

FIG. 2 is a schematic view of a removing and accessing mechanism according to an embodiment of the present utility model;

FIG. 3 is a side view of an embodiment of the present utility model;

FIG. 4 is a schematic view of a partially enlarged construction of an embodiment of the present utility model;

fig. 5 is a schematic view of a structure of a pick-up mechanism according to an embodiment of the present utility model.

In the figure: 1. a moving mechanism; 2. a lifting mechanism; 3. a clamping mechanism; 4. a slewing mechanism; 5. a vision module; 6. a pitch mechanism; 7. a striking mechanism; 8. a base; 9. a support hinge; 10. a support arm; 11. lifting the sleeve; 12. a lifting arm; 13. a driving mechanism; 14. a case; 15. a connecting flange; 16. a large arm; 17. a forearm sleeve; 18. a forearm; 19. a striking motor; 20. striking the arm; 21. a receiving mechanism; 22. installing a U-shaped frame; 23. a support rod; 24. and (5) receiving the net bag.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1-5, a beating pine cone picking robot comprises a moving mechanism 1 and a lifting mechanism 2, wherein the lifting mechanism 2 is arranged at the upper end of the moving mechanism 1, one side of the lifting mechanism 2 is provided with a receiving mechanism 21, the moving mechanism 1 adopts a crawler type moving design, the moving mechanism 1 adopts crawler type moving, compared with wheel type moving, has the advantages of large contact area with the ground, smaller unit pressure to the ground, strong adhesive force and small turning radius, the upper end of the lifting mechanism 2 is provided with a turning mechanism 4, the upper end of the turning mechanism 4 is provided with a pitching mechanism 6, the front end of the pitching mechanism 6 is provided with a beating mechanism 7, the lifting mechanism 2 comprises a base 8, a supporting hinge 9, a supporting arm rod 10, a lifting sleeve 11 and a lifting arm rod 12, a mechanical arm of the pitching mechanism 6 adopts a joint type mechanical arm with high redundancy degree of freedom, and the mechanical arm is of seven degree of freedom design, the base 8 is arranged at the upper end of the moving mechanism 1, the normal movement of the moving mechanism 1 on the ground is not affected, the base 8 is arranged at the upper end of the moving mechanism 1, the bottom of the lifting sleeve 11 is provided with a supporting hinge 9, the lifting sleeve 11 is connected to the outer wall of the upper end of the base 8 close to the front side through the supporting hinge 9 at the bottom, the lifting sleeve 11 is connected to the outer wall of the lower rear end close to the lower side, the lower end of the supporting arm 10 is connected to the outer wall of the upper end of the base 8 close to the rear side through the supporting hinge 9, the clamping mechanism 3 is arranged on the outer wall of the front end of the lifting sleeve 11 close to the upper side and the lower side, the lifting arm 12 penetrates upwards in the lifting sleeve 11, the slewing mechanism 4 comprises a driving mechanism 13 and a box 14, the box 14 is connected to the top end of the lifting arm 12, the box 14 penetrates in the lateral inner portion close to the rear side and penetrates through the driving mechanism 13, the pitching mechanism 6 comprises a connecting flange 15, big arm 16, forearm sleeve 17 and forearm 18, flange 15 sets up the lower extreme at big arm 16, big arm 16 passes through flange 15 to be connected in the upper end of box 14, big arm 16 upside front end is connected with forearm sleeve 17, be provided with vision module 5 on the outer wall of the downside upper end that forearm sleeve 17 is close to, the core component part of vision module 5 adopts the binocular camera, the image acquisition mode of binocular camera is from bottom to top, the distance of vision module 5 apart from the pine cone is two to four meters, binocular camera can acquire RGB image and the depth information of pine cone fruit in real time, the inside of forearm sleeve 17 has run through forearm 18 forward.

It should be noted that: according to the novel impact pine cone picking robot, the growth characteristics of pine cones and the defects of the existing picking modes of the picking robot are studied, the novel impact pine cone picking robot is used for achieving efficient picking of pine cones in a rotary impact mode, accurate and efficient picking in complex woodland environments can be achieved, continuous picking operation of pine cones is achieved, rapid identification, positioning, picking, platform moving and other functions can be achieved, and on the basis that strength and rigidity requirements are met, the novel impact pine cone picking robot also meets minimum quality requirements.

In the preferred embodiment of the utility model, the striking mechanism 7 comprises a striking motor 19 and a striking arm lever 20, the striking motor 19 is arranged at the front end of the forearm 18, the striking arm lever 20 is arranged at the front end of the striking motor 19, the top end of the striking arm lever 20 is connected with the output shaft of the striking motor 19 through a reducing cross clamp, a rubber sleeve is sleeved outside the striking arm lever 20, the striking motor 19 can drive the striking arm lever 20 to rotate through the reducing cross clamp, and the striking arm lever 20 realizes the picking operation of pine cones in a rotary striking mode.

It should be noted that the utility model designs an end effector and a seven-degree-of-freedom joint type mechanical arm suitable for continuous picking, the designed end effector adopts a non-clamping mechanism, the setting and design of clamping force are avoided, the seven-picking principle is to realize the picking of the pine cone by beating the arm lever to beat the branch where the pine cone is located, the designed beating arm lever can effectively overcome the problem of error in positioning of the end effector caused by the coupling motion of the mechanical arm in the picking process, the picking operation can be continuously and efficiently carried out, and because the beating pine cone picking robot adopts a rotary beating picking mode, a pine cone picking robot collision dynamics model is established based on a Lagrange equation, the minimum collision moment of the picking robot and the driving moment required by keeping the original motion law after collision are obtained by analysis, the rationality and the practicability of the structural design are verified, the Ansys Workbench is used for carrying out finite element analysis on the supporting joint with the most concentrated stress, and analyzing whether the strength and the deformation of the material meet the picking requirement or not, the structure shows that the safety coefficient of the optimized material is 1.5771, the maximum deformation is 5.2mm, the stress distribution is reasonable, the design requirement is met, the control system of the striking pine cone picking robot is based on the control idea of the open robot, the control system is composed of an upper computer and a lower computer, the upper computer is composed of a mechanical arm controller and a single chip microcomputer, and therefore the whole striking pine cone picking robot can flexibly and highly accurately finish picking operation on pine cones

In the preferred embodiment of the utility model, the receiving mechanism 21 comprises a mounting U-shaped frame 22, supporting rods 23 and a receiving net bag 24, the supporting rods 23 are arranged on the right side of the mounting U-shaped frame 22, the supporting rods 23 are fixedly connected with the mounting U-shaped frame 22 in a welding mode, the receiving net bags 24 are arranged on the inner sides of the two supporting rods 23, the mounting U-shaped frame 22 is of a U-shaped structure, four mounting holes are formed in the mounting U-shaped frame 22, screws are inserted into the mounting holes of the mounting U-shaped frame 22, the mounting U-shaped frame 22 is fixedly arranged on the lifting mechanism 2 through the screws, the receiving net bag 24 is of a conical structure, the receiving net bag 24 is woven by nylon ropes, two side edges of the receiving net bag 24 are fixedly connected with the supporting rods 23, and when the pine cones picked by the beating arm rods 20 fall down, the receiving net bag 24 on the receiving device 21 is received, so that the pine cones picked up are prevented from falling down to a great extent, the pine cones are more efficiently picked up, the pine cones are prevented from being wasted by the machine, and the pine cone picking efficiency is further improved.

What needs to be explained is through the setting of getting the device, when beating the arm and beating the pine cone that picks and fall down, will be received by getting the string bag that gets on the device to a great extent avoided the pine cone that picks to scatter and fall one ground, and then make the picking of pine cone more high-efficient, avoided still having need to pick up the time waste that the pine cone caused, and then improved the efficiency that beating pine cone picking robot picked the pine cone.

The working principle and the using flow of the utility model are as follows: after the utility model is installed, the novel impact pine cone picking robot recognizes and positions pine cones through the vision module 5 and feeds back to the main control module in real time, the impact pine cone picking robot moves to a designated position through the moving module, the pitching mechanism 6 and the revolving mechanism 4 regulate the pose of the mechanical arm, the beating arm lever 20 of the beating mechanism 7 beats branches of the pine cones and picks the pine cones, the supporting arm lever 10 stretches to the vertical position of the lifting arm lever 12 and the base 8 during specific picking, the picking robot is converted into a working state from an initial state, the clamping mechanism 3 clamps the trunk of the pine cones, the lifting arm lever 12 lifts through target pine cone height information, the revolving mechanism 4 and the pitching mechanism 6 regulate according to the pine cone position information, the beating mechanism 7 finishes beating the branches of the pine cones according to the growth characteristics and actual picking requirements of the pine cones, the gripping mechanism 3 and the beating mechanism 7 of the picking robot can damage the surface cell tissue of the tree in the working process, the thigh beating arm rod 20 and the gripping manipulator are wrapped by soft rubber materials at the contact position of the trunk and the branch so as to reduce the damage to the surface tissue of the tree in the working process, the beating pine cone picking robot adopts a distributed control strategy, an upper computer is responsible for the real-time receiving and processing of images, the identification and the position calibration of fruits, the calculation of the kinematics of each mechanical arm, the receiving and the processing of signals of an attitude sensor and an ultrasonic obstacle avoidance sensor, a lower computer is responsible for the receiving and the processing of the signals of a motor driving each mechanical arm, and in the specific working process, firstly equipment initialization and system self-inspection are carried out, then the upper computer sends movement instructions to each joint of the mechanical arm through an MT260 movement control card, the vision module 5 is used for collecting images, the upper computer is used for carrying out preliminary identification of pine cones and positioning of target pine cones through image information collected by the binocular cameras, then the upper computer is used for sending an instruction to the clamping mechanism 3 through the single chip microcomputer, the pressure sensor is used for feeding back an electric signal to the single chip microcomputer so as to ensure that the clamping mechanism 3 can realize stable clamping, then the upper computer is used for accurately identifying and positioning the pine cones and branches where the pine cones are located through the vision module 5, the pine cone pose information is imported into a basic coordinate system of the pine cone picking robot through image processing, a control instruction is sent to the motion control card through kinematic calculation of the upper computer, all joints of the mechanical arm are controlled to move, then the upper computer is used for judging whether the mechanical arm of the pine cone picking robot moves to a designated position through a feedback signal of the gesture sensor, the upper computer is used for sending a picking command to the end effector through the motion control card, then the upper computer is used for sequencing the target fruits through a track planning algorithm, picking of the next target is carried out, picking of the pine cone is carried out, the next target picking is carried out, the pine cone picking robot is hit in a working space, the upper computer is used for sending an initial instruction to the final motion position of the mechanical arm.

Solving the problems in the automatic process of the woodland operation by the technical means of mechanical structure design, control algorithm, image processing and the like Key problems of robot sensing, positioning, motion planning, accurate picking and the like, and realizes efficient automatic picking of forest products such as pine cones and the like And (5) collecting.

In the description of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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

It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims.

Claims

1. The beating type pine cone picking robot is characterized by comprising a moving mechanism (1) and a lifting mechanism (2), wherein the lifting mechanism (2) is arranged at the upper end of the moving mechanism (1), a slewing mechanism (4) is arranged at the upper end of the lifting mechanism (2), a pitching mechanism (6) is arranged at the upper end of the slewing mechanism (4), and a beating mechanism (7) is arranged at the front end of the pitching mechanism (6); the slewing mechanism (4) comprises: the box body (14) is connected to the top end of the lifting mechanism (2), and the driving mechanism (13) penetrates through the inside of the box body (14) near the rear side in the transverse direction; the pitch mechanism (6) comprises: the device comprises a connecting flange (15), a big arm (16), a small arm sleeve (17) and a small arm (18), wherein the connecting flange (15) is arranged at the lower end of the big arm (16), the big arm (16) is connected to the upper end of a box body (14) through the connecting flange (15), the front end of the upper side of the big arm (16) is connected with the small arm sleeve (17), a vision module (5) is arranged on the outer wall of the small arm sleeve (17) close to the upper end of the rear side, and the small arm (18) penetrates forwards inside the small arm sleeve (17); the striking mechanism (7) comprises: the device comprises a striking motor (19) and a striking arm lever (20), wherein the striking motor (19) is arranged at the front end of a forearm (18), and the striking arm lever (20) is arranged at the front end of the striking motor (19).

2. The beating pine cone picking robot as claimed in claim 1, wherein a pick-up mechanism (21) is provided at one side of the lifting mechanism (2).

3. The beating pine cone picking robot according to claim 1, wherein the lifting mechanism (2) comprises a base (8), a supporting hinge (9), a supporting arm rod (10), a lifting sleeve (11) and a lifting arm rod (12), the base (8) is arranged at the upper end of the moving mechanism (1), the supporting hinge (9) is arranged at the bottom of the lifting sleeve (11), the lifting sleeve (11) is connected to the outer wall of the upper end of the base (8) close to the front side through the supporting hinge (9) at the bottom, the supporting arm rod (10) is connected to the outer wall of the rear end of the lifting sleeve (11) close to the lower side, the lower end of the supporting arm rod (10) is connected to the outer wall of the upper end of the base (8) close to the rear side through the supporting hinge (9), the clamping mechanism (3) is arranged on the outer wall of the front end of the lifting sleeve (11) close to the upper side and the lower side, and the lifting arm rod (12) is penetrated upwards inside the lifting sleeve (11).

4. A beating pine cone picking robot as claimed in claim 3 wherein said moving mechanism (1) adopts a crawler-type moving structure.

5. The beating pine cone picking robot according to claim 1, wherein the core component of the vision module (5) adopts a binocular camera, the image acquisition mode of the binocular camera is from bottom to top, the distance between the vision module (5) and the pine cone is two to four meters, and the binocular camera can acquire RGB images and depth information of the pine cone in real time.

6. The beating type pine cone picking robot according to claim 1, wherein the top end of the beating arm rod (20) is connected with an output shaft of the beating motor (19) through a different-diameter cross clamp, a rubber sleeve is sleeved outside the beating arm rod (20), the beating motor (19) can drive the beating arm rod (20) to rotate through the different-diameter cross clamp, and the beating arm rod (20) achieves a pine cone picking operation in a rotary beating mode.

7. The beating pine cone picking robot as defined in claim 4, wherein the mechanical arm of the pitching mechanism (6) is an articulated mechanical arm with high redundancy degree of freedom, the mechanical arm is designed with seven degrees of freedom, and the width of the base (8) is smaller than the width between crawler-type moving structures.

8. The beating pine cone picking robot according to claim 2, wherein the picking mechanism (21) comprises a U-shaped mounting frame (22), support rods (23) and a picking net bag (24), the support rods (23) are arranged on the right side of the U-shaped mounting frame (22), the support rods (23) are fixedly connected with the U-shaped mounting frame (22) in a welding mode, and the inner sides of the two support rods (23) are provided with the picking net bag (24).

9. The striking pine cone picking robot as claimed in claim 8, wherein the installation U-shaped frame (22) is of a U-shaped structure, four installation holes are formed in the installation U-shaped frame (22), screws are inserted into the installation holes of the installation U-shaped frame (22), and the installation U-shaped frame (22) is fixed on the lifting mechanism (2) through screw installation.

10. The beating pine cone picking robot as set forth in claim 9, wherein the picking net bag (24) is of a conical structure, the picking net bag (24) is woven by nylon ropes, and two sides of the picking net bag (24) are fixedly connected with the supporting rods (23).