A multifunctional picking device

Abstract

The present invention relates to the field of automated picking technology, and more specifically, to a multifunctional picking device comprising a picking assembly, the picking assembly comprising a mounting seat, a first knife seat provided on one side of the mounting seat, a reciprocating cutting blade mounted on the edge of the first knife seat, a collection plate provided on the same side of the mounting seat as the first knife seat, a second knife seat provided at the front end of the first knife seat, a floating blade mounted at the front end of the second knife seat, a blade setting plate provided at the front end of the collection plate, and an electromagnet capable of attracting the floating blade provided at the front end of the blade setting plate at a position directly opposite the floating blade. The present invention can be used for both single-picking tea leaves and efficient general picking using the reciprocating cutting blade, and is versatile and economical and practical.

Description

Technical Field

[0001] The present invention relates to the technical field of picking, and in particular to a multifunctional picking device. Background Art

[0002] In the tea production process, tea picking is of particular importance. It is not only related to the quality, yield and economic benefits of tea, but also to the growth and development of tea trees and the length of their economic life.

[0003] There are two main methods for tea plucking: manual and mechanical. Manual plucking has the advantages of high quality and uniform standards, but its disadvantages are high cost, low efficiency, and difficulty in achieving timely harvests. Mechanical plucking currently relies on a two-person, reciprocating-cutting machine, which significantly reduces labor costs, improves efficiency, and increases economic benefits. Consequently, it has become increasingly popular among tea growers in recent years. However, tea leaves used to make premium teas require a high degree of freshness, typically picking tea buds, one bud and one leaf, or newly emerging shoots with one bud and two leaves. This standard of picking is time-consuming and labor-intensive if performed solely by hand, and is highly seasonal, with most picking occurring in the early stages of spring tea. Using a machine to supplement this method would significantly improve harvest efficiency. For tea growers, using separate automated machines for both manual plucking and the existing reciprocating-cutting method would undoubtedly increase costs. Summary of the Invention

[0004] The present invention aims to provide a multifunctional picking device which can not only pick tea leaves individually but also carry out efficient general picking by means of a reciprocating cutting knife.

[0005] A multifunctional picking device includes a picking component, which includes a mounting seat, a first knife seat is provided on one side of the mounting seat, a reciprocating cutting knife is installed on the edge of the first knife seat, a collecting plate is provided on the same side of the mounting seat opposite to the first knife seat, a second knife seat is provided at the front end of the first knife seat, a floating blade is installed at the front end of the second knife seat, a knife setting plate is provided at the front end of the collecting plate, and an electromagnet that can adsorb the floating blade is provided at a position inside the front end of the knife setting plate opposite to the floating blade.

[0006] The beneficial effects of the present invention are: 1. By setting a reciprocating cutting knife, for ordinary tea leaves, the reciprocating cutting knife can be used for general picking to improve picking efficiency and reduce labor costs. The general picking mentioned in the present invention refers to general picking, which is the same picking method as the two-person reciprocating cutting tea plucking machine used in the prior art; 2. A floating blade is installed at the front end of the second knife seat. When picking famous tea leaves with high requirements for fresh leaf tenderness, individual picking can be carried out by the floating blade to ensure the picking quality; 3. An electromagnet is set at the front end of the knife plate to adsorb the floating blade to pick tea leaves. The electromagnet responds very quickly after being energized, which can ensure the rapid picking of individual tea leaves, thereby improving the efficiency of the entire machine picking; 4. The collection plate is set, when the reciprocating cutter is used to pick tea leaves, it not only collects the tea leaves, making the cut tea leaves not easy to scatter, but also serves to install the knife plate.

[0007] A preferred embodiment of the present invention is that the first knife holder is located on the inner side of the reciprocating cutting knife and has a collecting chamber, a screen allowing tea leaves to pass through is installed in the collecting chamber, and a first collecting port is opened on the mounting seat between the first knife holder and the screen.

[0008] The beneficial effect is that since the tea leaves are generally picked by a reciprocating cutting knife, old leaves and large leaves will be collected, which will affect the quality of the tea. Therefore, a screen is installed in the collection chamber, and the size of the screen is designed to allow the required tea leaves to pass through, which can achieve the purpose of screening out large leaves and old leaves, and the required tea leaves pass through the screen and are collected through the first collection port under the action of negative pressure adsorption.

[0009] A preferred embodiment of the present invention is that a second collecting port is provided on the mounting seat between the collecting plate and the screen.

[0010] Beneficial effect: When picking individual tea leaves by the floating blade, since large and old leaves will not be picked, the picked tea leaves do not need to pass through the sieve. Therefore, a second collecting port is opened on the mounting base between the collecting plate and the sieve. Through negative pressure adsorption, the tea leaves can be directly collected through the second collecting port.

[0011] A preferred embodiment of the present invention is that a tool alignment groove is opened on the inner side of the tool alignment plate at a position opposite to the floating blade, and an installation groove is opened on the second tool seat, and a tension spring is provided in the installation groove, one end of the tension spring is fixed to the bottom of the installation groove, and the other end of the tension spring is fixed to the floating blade.

[0012] Beneficial effect: The blade groove is set to guide the floating blade when it cuts a single tea leaf. Through the design of the installation groove and the tension spring, the floating blade is adsorbed by the electromagnet to pick the tea leaves. After the electromagnet is powered off, the floating blade can automatically reset for the next picking.

[0013] A preferred embodiment of the present invention is that: an elongated guide hole is opened on the first knife seat, a slider is slidably fitted in the guide hole, a reciprocating cutting knife is installed on the inner side of the slider, and the outer side of the slider is hinged to one end of a connecting rod, the other end of the connecting rod is eccentrically hinged on a crank, and the crank is connected to a cutting knife motor.

[0014] Beneficial effect: The reciprocating cutting and tea picking of the reciprocating cutting knife can be realized through the design of the crank connecting rod.

[0015] A preferred embodiment of the present invention is that: both the first tool holder and the collecting plate are provided with receiving grooves, and both the second tool holder and the tool setting plate can be received in the receiving grooves.

[0016] Beneficial effect: In order to prevent the extended second knife holder and floating blade from affecting the tea picking of the reciprocating cutting knife and causing harm to the tea pickers, the second knife holder and the knife plate can be stored in the storage slot when single picking is not required.

[0017] A preferred embodiment of the present invention is that: a positioning groove is opened on the mounting seat, a plurality of first positioning holes are opened on the side wall of the positioning groove, the end of the collecting plate extends into the positioning groove, a second positioning hole opposite to the first positioning hole is opened at the end of the collecting plate extending into the positioning groove, and a positioning piece is connected in the first positioning hole and the second positioning hole.

[0018] Beneficial effect: By connecting the positioning pieces in the first positioning hole and the second positioning hole, the collection plate can be quickly disassembled and assembled. Since there are multiple first positioning holes, the installation position of the collection plate can be adjusted by connecting the positioning pieces in the second positioning hole and different first positioning holes on the collection plate, that is, the distance between the collection plate and the first knife holder can be adjusted. When a floating blade is required for single picking, the distance between the collection plate and the first knife holder is adjusted to make the distance between the collection plate and the first knife holder as short as possible, thereby making the distance between the second knife holder and the knife plate as short as possible, thereby achieving smooth picking of single tea leaves. When a reciprocating cutting knife is required for tea picking, the distance between the collection plate and the first knife holder is adjusted to increase the distance between the collection plate and the first knife holder to an appropriate position, thereby allowing the tea leaves to be picked to enter the space between the first knife holder and the collection plate, thereby achieving smooth general picking.

[0019] A preferred embodiment of the present invention is that two side edges of the blade setting plate are respectively bent inward to form baffles.

[0020] Beneficial effect: When picking a single tea leaf, the baffle formed by the inward bending of the knife plate blocks and collects the picked tea leaves, preventing the tea leaves from falling between the second knife holder and the knife plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A schematic diagram of a picking assembly in an embodiment of the multifunctional picking device of the present invention;

[0022] Figure 2 This is a structural diagram of the picking component in another perspective of an embodiment of the multifunctional picking device of the present invention;

[0023] Figure 3 A schematic diagram of a multifunctional picking device according to an embodiment of the present invention using a reciprocating cutting knife for picking;

[0024] Figure 4 This is a schematic diagram of a multifunctional picking device according to an embodiment of the present invention when a floating blade is used for picking. DETAILED DESCRIPTION

[0025] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described below are only used to illustrate the present invention and do not limit the scope of protection of the present invention.

[0026] The terms "first", "second" and the like in the specification, claims and embodiments of this application are used to distinguish similar objects rather than to describe a specific order or sequential sequence.

[0027] The present invention is further described in detail below through preferred specific embodiments:

[0028] Reference numerals in the drawings of the specification include: picking assembly 1, mounting base 101, first positioning hole 1011, first connecting bolt 1012, positioning groove 1013, second collecting port 1014, sealing plate 1015, return spring 1016, mounting block 1017, tea leaf through hole 1018, collecting plate 102, second connecting bolt 1021, mounting boss 1022, first knife holder 103, screen 1031, guide hole 1032, slider 1033, connecting rod 1034, third connecting bolt 1035, reciprocating cutter 104, second knife holder 105, floating blade 1051, knife setting plate 106, baffle 1061;

[0029] Moving assembly 2, rotating cylinder 201, first telescopic cylinder 202, second telescopic cylinder 203, first motor 204, second motor 205, second motor output shaft 2051, first connecting rod 206, first linear bearing 207, second linear bearing 208, second connecting rod 209;

[0030] Collection assembly 3, collection tube 301, collection box 302;

[0031] Frame 4, chassis 401, and running wheels 402.

[0032] As attached Figure 1 and attached Figure 2As shown: A multifunctional picking device disclosed in this embodiment includes a picking component 1, which includes a mounting seat 101, a first knife seat 103 is provided on one side of the mounting seat 101, a reciprocating cutting knife 104 is installed on the edge of the first knife seat 103 on the first knife seat 103, and a collecting plate 102 is provided on the same side of the mounting seat 101 and opposite to the first knife seat 103. In this embodiment, the specific installation method of the collecting plate 102 is to open a positioning groove 1013 on the mounting seat 101, and to fix it on the fixed position. The side wall of the positioning groove 1013 is provided with a plurality of first positioning holes 1011, preferably two in this embodiment, and the end of the collecting plate 102 extends into the positioning groove 1013, specifically, the end of the collecting plate 102 has a mounting boss 1022, and the end of the collecting plate 102 extending into the positioning groove 1013, that is, the mounting boss 1022 is provided with a second positioning hole opposite to the first positioning hole 1011, and a positioning member is connected in the first positioning hole 1011 and the second positioning hole. The positioning member in this embodiment is specifically a first connecting bolt 1012.

[0033] In this embodiment, as shown in the attached Figure 3 As shown, the transmission structure of the reciprocating cutter 104 is: an elongated guide hole 1032 is opened on the first knife seat 103, and a slider 1033 is slidably fitted in the guide hole 1032. The reciprocating cutter 104 is mounted on the inner side of the slider 1033, and the outer side of the slider 1033 is hinged to one end of a connecting rod 1034, and the other end of the connecting rod 1034 is eccentrically hinged on a crank (not shown in the figure), and the crank is connected to a cutter motor (not shown in the figure). Specifically, a casing or a power mounting plate can be installed on the side of the mounting seat 101, and the transmission structures such as the cutter motor, the reducer and the crank can be assembled in the casing, which will not be repeated here.

[0034] In this embodiment, the first blade holder 103 is provided with a collection chamber located inside the reciprocating cutting blade 104. A screen 1031 is installed in the collection chamber to allow tea leaves to pass through. A first collection port (not shown) is provided on the mounting base 101 between the first blade holder 103 and the screen 1031. Furthermore, a second collection port 1014 is provided on the mounting base 101 between the collection plate 102 and the screen 1031.

[0035] A second blade holder 105 is provided at the front end of the first blade holder 103, and a floating blade 1051 is mounted at the front end of the second blade holder 105. In this embodiment, the floating blade 1051 is specifically designed as follows: a mounting slot is defined in the second blade holder 105, within which a tension spring is disposed. One end of the tension spring is secured to the bottom of the slot, while the other end of the tension spring is secured to the floating blade 1051. In this embodiment, because the floating blade 1051 is mounted at the front end of the second blade holder 105, the dimensions of the second blade holder 105 and the blade alignment plate 106 are smaller than those of the first blade holder 103 and the collection plate 102, and the length is moderate, meeting the requirements for individual tea picking, i.e., for single tea picking.

[0036] A blade setting plate 106 is provided at the front end of the collecting plate 102. The two sides of the blade setting plate 106 are bent inward to form baffles 1061. A blade setting groove is provided on the inner side of the blade setting plate 106, directly opposite the floating blade 1051. An electromagnet capable of attracting the floating blade 1051 is provided inside the front end of the blade setting plate 106, that is, at the lower part of the blade setting groove, directly opposite the floating blade 1051. A wire hole is provided on the blade setting plate 106 for installing the wire of the electromagnet.

[0037] In this embodiment, a receiving groove is provided on both the first tool holder 103 and the collecting plate 102, and both the second tool holder 105 and the tool setting plate 106 can be stored in the receiving groove. In the multifunctional picking device of this embodiment, the receiving groove includes a first receiving groove for storing the second tool holder 105 and a second receiving groove for storing the collecting plate 102. A first threaded hole is provided on the second tool holder 105, and a second threaded hole is provided on the wall of the first receiving groove. The second tool holder 105 is fixed by threading a third connecting bolt 1035 into the first threaded hole and the second threaded hole. A third threaded hole is provided on the tool setting plate 106, and a fourth threaded hole is provided on the wall of the second receiving groove. The tool setting plate 106 is fixed by threading a second connecting bolt 1021 into the third threaded hole and the fourth threaded hole.

[0038] As attached Figure 2As shown, a accommodating cavity is further provided inside the mounting seat 101, and the accommodating cavity is communicated with the second receiving groove. The collecting plate 102 passes through the entire second receiving groove, and the inner end can be extended into the accommodating cavity. The end of the collecting plate 102 extended into the accommodating cavity has a first downward inclined surface. A mounting block 1017, a return spring 1016 and a sealing plate 1015 are provided in the accommodating cavity from bottom to top. The return spring 1016 is a compression spring. The lower part of the mounting block 1017 is fixed to the bottom wall of the accommodating cavity, the upper part of the mounting block 1017 is fixed to the lower end of the return spring 1016, and the upper end of the return spring 1016 is fixed to the lower part of the sealing plate 1015. The upper part of the sealing plate 1015 has a second inclined surface that can be offset against the first inclined surface. A through hole is provided on the sealing plate 1015, and a tea collecting hole is provided on the side wall of the accommodating cavity, and the tea collecting hole is connected to the collection tube 301 in the collection assembly 3. Specifically, when the floating blade 1051 is used for single picking, the outer ends of the collecting plate 102 and the second knife seat 105 are both extended out of the second receiving groove and the first receiving groove. At this time, the first inclined surface of the inner end of the collecting plate 102 does not abut the second inclined surface of the sealing plate 1015. The sealing plate 1015 is in the highest position under the action of the reset spring 1016. At this time, the through hole on the sealing plate 1015 is opposite to the second collecting port 1014, so that the second collecting port 1014, the through hole and the tea collection hole are connected, so that the single picked tea leaves can enter the collection tube 301 through the second collecting port 1014, the through hole and the tea collection hole, and enter the collection box 302 under the action of negative pressure adsorption. When the floating blade 1051 is no longer needed, the collected tea leaves will be put into the collection box 302. The collecting plate 102 is pushed into the second receiving groove. Since the second receiving groove and the accommodating cavity are connected, the inner end of the collecting plate 102 will gradually extend into the accommodating cavity, so that the first inclined surface and the second inclined surface are counteracted, forcing the sealing plate 1015 to overcome the force of the reset spring 1016 and move downward until the through hole on the sealing plate 1015 is connected with the first collecting hole. At this time, the collecting plate 102 is also completely received in the second receiving groove. After the first collecting port, the through hole and the tea collection hole are connected, the tea leaves picked by the reciprocating cutting knife 104 and initially screened by the screen 1031 can pass through the first collecting port, the through hole and the tea collection hole, enter the collection tube 301, and enter the collection box 302 under the action of negative pressure adsorption to achieve collection. In the design of this embodiment, the sealing plate 1015 acts as a valve, which is used to connect the first collecting port or the second collecting port 1014 with the tea collection hole, and through the cooperation of the first inclined surface of the collecting plate 102 and the second inclined surface of the sealing plate 1015, as well as the cooperation of the reset spring 1016, the collecting plate 102 can be stored or pulled out to realize the up and down movement of the sealing plate 1015, without the need for an additional power source. The collecting plate 102 itself acts as a power source, and the design structure is simple and ingenious.

[0039] As attached Figure 3 and attached Figure 4As shown, in this embodiment, the multifunctional picking device further includes a frame 4 , and the frame 4 includes a chassis 401 and walking wheels 402 located at the lower part of the chassis 401 .

[0040] The multifunctional picking device of this embodiment further includes a collection assembly 3, which includes a collection pipe 301 and a collection box 302 connected to the collection pipe 301. A vacuum pump is provided laterally to the collection box 302. Both the collection box 302 and the vacuum pump are located on top of the chassis 401. The collection pipe 301 includes a horizontal flexible hose and a vertical rigid tube, and the hose is connected to the tea collection hole.

[0041] The multifunctional picking device of this embodiment also includes a moving component 2, which includes a rotating cylinder 201 installed on the upper part of the chassis 401 and located on the side of the collecting box 302. The output shaft of the rotating cylinder 201 is vertically arranged, and a first seat body is provided on the output shaft of the rotating cylinder 201. The first seat body is fixed to the cylinder body of the vertical first telescopic cylinder 202 on the upper part of the first seat body. A second seat body is provided at the end of the piston rod of the first telescopic cylinder 202. A first guide shaft is provided between the first seat body and the second seat body. A first linear bearing 207 is slidably fitted on the first guide shaft. One end of the first linear bearing 207 is fixed to the second seat body. A horizontal second telescopic cylinder 203 is installed on the second seat body. A third seat body is provided at the end of the piston rod of the second telescopic cylinder 203. A water pump is provided between the second seat body and the third seat body. A flat second guide shaft is slidably fitted with a second linear bearing 208 on the second guide shaft, one end of the second linear bearing 208 is fixed to the third base body, a first motor 204 is mounted on the third base body, the output shaft of the first motor 204 is horizontally arranged, and is in the same direction as the piston rod of the second telescopic cylinder 203, the end of the output shaft of the first motor 204 is connected to the second connecting rod 209, the second connecting rod 209 is arranged along a vertical plane, a fourth base body is provided at the end of the second connecting rod 209, a second motor 205 is mounted on the fourth base body, the second motor output shaft 2051 is perpendicular to the second connecting rod 209, a first connecting rod 206 perpendicular to it is provided at the end of the second motor output shaft 2051, the first connecting rod 206 is arranged along a vertical plane, and the end of the first connection end is connected to the upper part of the mounting seat 101.

[0042] Through the design structure of the above-mentioned moving component 2, the entire picking component 1 can be rotated in the horizontal plane by rotating the cylinder 201, the height of the picking component 1 can be adjusted in the vertical direction by setting the first telescopic cylinder 202, and the horizontal position of the picking component 1 can be adjusted by setting the second telescopic cylinder 203. Figure 3As shown, by setting the first motor 204, the picking assembly 1 can be swung along a vertical plane perpendicular to the direction of the piston rod of the second telescopic cylinder 203, so that when the reciprocating cutter 104 is needed to pick tea leaves, the entire picking assembly 1 can be driven to swing so that the blade of the reciprocating cutter 104 is in the horizontal direction, so that the tea leaves can be picked smoothly. Figure 4 As shown, by setting a second motor 205, the entire picking assembly 1 can be driven to swing along a vertical plane parallel to the setting direction of the second telescopic cylinder 203, so that when using the floating blade 1051 for single picking, the picking assembly 1 can be tilted downward as a whole, so that the second knife seat 105 and the knife plate 106 can be extended into the top of the tea branch, and the tender tea buds, one leaf and one bud, or two leaves and one bud can be located between the floating blade 1051 and the knife plate 106, so that the floating blade 1051 can successfully complete the single picking.

[0043] This embodiment further includes a first camera mounted on the machine body and a second camera mounted on the mounting base 101, as well as a controller mounted on the machine body. Specifically, the controller may be a single-chip microcomputer. The first camera is used to collect road surface information, and the controller controls the movement of the running wheels 402 based on the collected road surface information. The second camera is used to collect image information of the tea trees. During single-pick tea, the controller identifies the distribution location of the tea leaves to be picked based on the collected tea tree image information. Based on the distribution location of the tea leaves to be picked, the controller controls the rotating cylinder 201, the first telescopic cylinder 202, the second telescopic cylinder 203, and the second motor 205 to move the picking assembly 1 to the picking position. The controller then controls the electromagnet to energize, attracting the floating blade 1051 to complete the cutting and picking. During general picking, the controller identifies information such as the height and width of the tea trees based on the collected tea tree image information, controls the rotary cylinder 201 to rotate a certain angle, the first telescopic cylinder 202 to extend to an appropriate height, and the second telescopic cylinder 203 to extend to an appropriate length, and controls the first motor 204 to rotate, thereby driving the picking component 1 to swing, so that the reciprocating cutting knife 104 is horizontal, and general picking can be carried out.

[0044] In this embodiment, the camera can be a binocular camera. The camera captures tea tree image information, and the controller identifies the distribution location of tea leaves, both of which are conventional techniques. For example, the controller controls the binocular camera to perform a shooting operation to obtain image information of the tea tree currently to be plucked. The controller processes the tea tree image information using a built-in algorithm to identify the distribution location of tea leaves to be plucked. This image recognition technique is conventional. For example, based on shape features, the shape model is used to identify the distribution location of tea leaves and non-tea leaves. The three-dimensional coordinates of the target tea leaves in the binocular camera coordinate system are converted to correspond to the coordinates of the location of the floating blade 1051. The controller then controls the electromagnet to energize based on the correspondence between the three-dimensional coordinates of the target tea leaves and the coordinates of the location of the floating blade 1051. The algorithm used by the controller to process the distribution location of tea leaves can be a grayscale threshold segmentation method to segment and obtain grayscale images representing the stems, old leaves, and young leaves to be plucked, respectively. Each grayscale image is converted into a corresponding digital image through digital signal processing. The stems, old leaves, and young leaves to be plucked are stored in different arrays, thereby obtaining the three-dimensional coordinates of each young leaf to be plucked in the binocular camera coordinate system. Similarly, the controller controlling the movement of each robotic arm also falls within the scope of the existing technology, so it will not be described in detail.

[0045] The preferred embodiment of the present application is described in detail above in conjunction with the accompanying drawings. Typical well-known structures and common knowledge technologies in the preferred embodiment are not described in detail here. Ordinary technicians in the relevant field can, under the inspiration given by this embodiment, improve and implement the technical solution of the present invention in combination with their own abilities. Some typical well-known structures, well-known methods or common knowledge technologies should not become obstacles for ordinary technicians in the relevant field to implement this application.

[0046] The scope of protection required by this application shall be based on the contents of its claims, and the contents recorded in the invention content, specific implementation methods and drawings in the specification shall be used to interpret the claims.

[0047] Within the technical concept of this application, several modifications may be made to the specific implementation methods of this application, and these modified specific implementation methods should also be considered to be within the scope of protection of this application.

Claims

1. A multifunctional picking device, comprising a picking assembly, characterized in that: The picking assembly includes a mounting seat, a first knife seat is provided on one side of the mounting seat, a reciprocating cutting knife is installed on the edge of the first knife seat on the first knife seat, a collecting plate is provided on the same side of the mounting seat and opposite to the first knife seat, a second knife seat is provided at the front end of the first knife seat, a floating blade is installed at the front end of the second knife seat, a knife setting plate is provided at the front end of the collecting plate, and an electromagnet that can absorb the floating blade is provided at a position inside the front end of the knife setting plate and opposite to the floating blade; a collecting chamber is opened on the inner side of the reciprocating cutting knife of the first knife seat, and a sieve that allows tea leaves to pass through is installed in the collecting chamber. A net is provided, and a first collecting port is provided on the mounting seat between the first knife seat and the screen; a knife alignment groove is provided on the inner side of the knife alignment plate at a position opposite to the floating blade, and a mounting groove is provided on the second knife seat, and a tension spring is provided in the mounting groove, one end of the tension spring fixes the bottom of the mounting groove, and the other end of the tension spring is fixed to the floating blade; a positioning groove is provided on the mounting seat, and a plurality of first positioning holes are provided on the side wall of the positioning groove, the end of the collecting plate extends into the positioning groove, and a second positioning hole which can be opposite to the first positioning hole is provided at the end of the collecting plate extending into the positioning groove, and a positioning piece is connected in the first positioning hole and the second positioning hole.

2. The multifunctional picking device according to claim 1, characterized in that: A second collecting port is provided on the mounting seat between the collecting plate and the screen.

3. The multifunctional picking device according to claim 1, characterized in that: An elongated guide hole is provided on the first knife seat, a slider is slidably fitted in the guide hole, a reciprocating cutting knife is mounted on the inner side of the slider, one end of a connecting rod is hinged on the outer side of the slider, the other end of the connecting rod is eccentrically hinged on a crank, and the crank is connected to a cutting knife motor.

4. The multifunctional picking device according to claim 1, characterized in that: The first tool holder and the collecting plate are both provided with receiving grooves, and the second tool holder and the tool setting plate can be received in the receiving grooves.

5. The multifunctional picking device according to claim 1, characterized in that: The two side edges of the blade setting plate are respectively bent inward to form baffles.

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