Double-layer folding, gauge and height adjustable fruit and vegetable carrier and fruit and vegetable carrying method

Abstract

The present invention discloses a double-layer folding and unfolding, gauge and height adjustable fruit and vegetable transporter and a fruit and vegetable transporting method. The unfolding platform is horizontally fixed on the unfolding frame, and a plurality of support shafts fixed on the unfolding frame all form a sliding pair with the main frame; the screw rod two of the width self-locking device forms a screw pair with the unfolding platform; the fixed bracket is fixed to the main frame through an L-shaped connecting rod; the moving bracket forms a sliding pair with the fixed bracket; the lower platform and the upper platform are connected by a rotating plate, and the upper platform is connected to the fixed bracket through a gas spring; moving devices are provided at the bottoms of the unfolding frame and the main frame. In the present invention, the extension and folding of the upper and lower platforms and the unfolding platform realize the double-layer folding and unfolding function, expanding the loading volume; the height adjusting device can realize the adjustment and self-locking of the heights of the main frame and the unfolding platform; when the conversion mechanism switches the moving device to the lateral moving state, combined with the width self-locking device, the unfolding and self-locking of the unfolding platform and the adjustable gauge between the two moving devices can be realized.

Description

Technical Field

[0001] The present invention belongs to the field of handling devices, and particularly relates to a double-layer folding, track gauge and height adjustable fruit and vegetable handling vehicle and a fruit and vegetable handling method. Background Art

[0002] The harvesting operation of traditional heading fruits and vegetables is partly completed by manual labor and partly by a heading fruit and vegetable harvesting and handling vehicle. The manual labor method involves hiring two cutters and one carrier. The carrier is responsible for transporting the harvested heading fruits and vegetables through methods such as carrying baskets and shoulder poles. This method has low labor efficiency, high labor intensity, and it is very difficult to complete production and harvesting only by manual labor. The current heading fruit and vegetable harvesting and handling vehicles also have many problems: First, it is inconvenient to adjust the height and width, and the self-locking property is poor; Second, the degree of intelligence is low. Most of them are manually controlled and do not have a following system, making it difficult to meet the field harvesting requirements; Third, they usually only have the function of a collection cylinder or single-layer transmission, with a small storage volume; Fourth, most of them are powered by oil, causing pollution to the environment. Therefore, it is necessary to design a large-field heading fruit and vegetable harvesting and handling vehicle with adjustable track gauge and height and having a following function. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a double-layer folding, track gauge and height adjustable fruit and vegetable handling vehicle and a fruit and vegetable handling method.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The double-layer folding, track gauge and height adjustable fruit and vegetable handling vehicle of the present invention includes a main frame device, an unfolding frame device, a width self-locking device, a height adjusting device, a second platform device and a moving device. The main frame device includes a driving motor, a transmission belt, a transmission shaft, a baffle and a main frame. The two transmission shafts are horizontally spaced, and both form a rotating pair with the top of the main frame, and are connected by a transmission belt, and there is a gap between the transmission belt and the main frame; the housing of the driving motor is fixed on the main frame, and the output shaft is fixed to one of the transmission shafts; the baffle is arranged at the output end of the transmission belt and is hinged to the main frame; the baffle and the main frame are also connected by a pin; a limiting plate is fixed at a position below the baffle on the main frame.

[0006] The unfolding frame device includes an unfolding frame, an unfolding platform and side plates; the unfolding platform is horizontally fixed on the unfolding frame; a plurality of support shafts are fixed on the unfolding frame in parallel and at intervals, and the support shafts are located below the unfolding platform; the main frame is provided with a transverse notch and a plurality of round holes arranged in parallel and at intervals; the unfolding platform extends into the transverse notch, and each support shaft forms a sliding pair with a round hole; the side plates are vertically fixed on the outside of the unfolding platform.

[0007] The second platform device includes an upper platform, a lower platform, gas springs, fixed brackets, movable brackets, triangular top plates, and a collection box. The fixed brackets are located below the main frame and are fixed to the main frame on both sides through L-shaped connecting rods; the movable brackets and the U-shaped grooves formed in the fixed brackets form a sliding pair; the output end of the upper platform is hinged to the lower platform, and an inclined guide plate is fixed to the output end of the upper platform; one ends of two gas springs are respectively hinged to positions below the output end of the upper platform on both sides of the fixed brackets, and the other ends are hinged to positions below the input end of the upper platform on the lower platform, and the two gas springs are arranged in parallel; the lower platform is horizontally arranged; one ends of two parallel and spaced rotating plates are respectively hinged to the U-shaped grooves formed in the middle of the movable brackets, and the other ends are respectively hinged to the lower surface of the lower platform, and the distance between the hinge centers of the two rotating plates and the lower platform is equal to the length of the rotating plates; triangular top plates are fixed to both sides of the fixed brackets, and rollers are hinged to the upper ends of the triangular top plates; a support frame is fixed to the lower surface of the main frame at the position of the output end of the upper platform, and the collection box is placed on the support frame; wherein, the width of the upper platform is greater than the width of the lower platform, and the width of the lower platform is equal to the width of the fixed brackets; in the initial state, the length of the gas spring is at the intermediate value, the upper platform is horizontally placed below the main frame and does not contact the rollers on the triangular top plates on both sides; inclined surfaces are provided at the bottoms of both sides of the output end of the upper platform.

[0008] Movable devices are provided at the bottoms of the main frame and the unfolding frame; the movable devices include caterpillar mechanisms and a plurality of conversion mechanisms arranged at intervals along the traveling direction of the caterpillar mechanisms; the main frame and the unfolding frame respectively form a vertical moving pair with the main brackets of the respective conversion mechanisms on the corresponding sides. The specific connection method is as follows: the upper end of a vertically arranged cylindrical rod one is fixed to the main frame or the unfolding frame; the lower end of a vertically arranged cylindrical rod two is fixed to the main bracket; the lower end of the cylindrical rod one is embedded in the cylindrical hole formed in the cylindrical rod two and forms a sliding pair with the cylindrical rod two; the unfolding frame is connected to one group of the cylindrical rod one and the cylindrical rod two on the corresponding side through a height adjusting device.

[0009] The conversion mechanism includes a servo motor, a main bracket, a first lead screw, a first wedge block, a second wedge block, a first spring, a second spring, a limit block, a moving block, a rolling wheel, a rolling wheel bracket, and a moving bracket. A vertical chute is provided on one side of the vertically arranged main bracket; the moving block is placed in the vertical chute and forms a sliding pair with the main bracket; a vertically arranged first spring is provided in the vertical chute, and the upper end of the first spring is fixed to the upper end of the main bracket; the moving block is located directly below the first spring; columnar holes are provided on both sides of the moving block, and the two second wedge blocks form sliding pairs with the two columnar holes respectively and are connected to the two columnar holes through compression springs; two symmetrically arranged first wedge blocks are fixed at the upper end of the vertical chute of the main bracket, and the lower ends of the two first wedge blocks are inclined inwards; the two first wedge blocks are respectively located directly above the two second wedge blocks, and the upper ends of the two second wedge blocks are inclined outwards; the two limit blocks are respectively fixed to the push rods of the two electromagnetic magnets I; the housings of the two electromagnetic magnets I are symmetrically fixed at the lower end of the main bracket; the top ends of the moving block and the two rolling wheel brackets are connected by a compound hinge; rolling wheels are hinged to the bottom ends of the two rolling wheel brackets, and the middle parts of the two rolling wheel brackets are connected by a second spring; the central axis of the rolling wheel is parallel to the running direction of the track mechanism. The other side of the main bracket forms a rotating pair with the vertically arranged first lead screw, and the first lead screw is coaxially fixed to the output shaft of the servo motor; the housing of the servo motor is fixed to the main bracket; the moving bracket forms a lead screw pair with the first lead screw and is fixed to the inner side of the track bracket in the same-side track mechanism; two symmetrically arranged vertical notches are provided on both sides of the moving block on the main bracket; two turning rods integrally formed on the moving bracket pass through the two vertical notches; in the initial state, the height of the second wedge block is lower than the height of the limit block, the push rod of the electromagnetic magnet I is in the retracted state, the top surfaces of the two turning rods are respectively in contact with the bottom surfaces of the two second wedge blocks, and the lowest position of the rolling wheel is higher than the lowest position of the track mechanism.

[0010] Preferably, a UWB device is provided on the main vehicle frame, and the UWB device includes a UWB module and a UWB radio frequency module; the UWB module is carried by the staff, and the signal output end of the UWB radio frequency module is connected to the controller.

[0011] Preferably, the transmission shaft is supported on the bearing support through bearings, and the bearing support is fixed on the main vehicle frame.

[0012] Preferably, the width self-locking device includes a lock sleeve seat, a clamping spring, a lock sleeve, a rocker, a pressure sleeve and a second lead screw; the lock sleeve seat is placed horizontally and fixed to the bottom of the main frame; a stepped hole is provided on the lock sleeve seat; one end of the stepped hole away from the unfolding platform is a frustum-shaped hole, and the other end is a cylindrical hole; the diameter of the frustum-shaped hole at the end away from the unfolding platform is smaller than that of the other end; the lock sleeve is composed of an integrally formed cylindrical rod and a frustum column, the cylindrical rod extends out of the stepped hole and is fixed to the rocker, and the frustum column is embedded in the frustum-shaped hole and coaxially fixed to the second lead screw; the pressure sleeve is threadedly connected to the cylindrical hole of the lock sleeve seat and is sleeved on the optical axis section of the second lead screw; a clamping spring is provided in the frustum-shaped hole, the clamping spring is sleeved on the second lead screw, and both ends are in contact with the frustum column of the lock sleeve and the pressure sleeve respectively and are always in a compressed state; the second lead screw forms a rotating pair with the main frame, and the threaded section of the second lead screw forms a lead screw pair with a nut block one fixed to the lower surface of the unfolding platform.

[0013] Preferably, the height adjustment device includes a rocking rod, a third lead screw, a first ratchet pawl, a second ratchet pawl, a support seat, a ratchet wheel, an electromagnet two and a nut block two; a cylindrical hole is provided in the second cylindrical rod connected to the height adjustment device, and an opening is provided on the side of the cylindrical hole; the vertically arranged third lead screw is placed in the cylindrical hole provided in the second cylindrical rod and forms a rotating pair with the support seat; the support seat is fixed to the first cylindrical rod; the bottom end of the third lead screw is fixed to the ratchet wheel; the rocking rod is arranged horizontally, and a cylindrical sleeve integrally formed at one end of the rocking rod extends into the cylindrical hole of the second cylindrical rod through the opening and forms a rotating pair with the third lead screw; the tails of the first ratchet pawl and the second ratchet pawl both form a cylindrical pair with a connecting shaft fixed to the rocking rod, the heads both extend into the opening, and the middle parts are both connected to the connecting shaft through a tension spring. In the initial state, the heads of the first ratchet pawl and the second ratchet pawl are in the same ratchet groove on the ratchet wheel; the length of the second ratchet pawl is shorter than that of the first ratchet pawl; the first ratchet pawl is located below the second ratchet pawl, and the lower surface of the first ratchet pawl is axially positioned by a shoulder on the connecting shaft; a compression spring is fixed to the lower surface of the rocking rod, and the compression spring is located above the second ratchet pawl; a horizontally arranged electromagnet bracket is fixed to the lower end of the connecting shaft, and an electromagnet two is fixed to the electromagnet bracket; the nut block two forms a ball screw pair with the third lead screw through balls; the bottom end of the corresponding first cylindrical rod is fixed to the nut block two.

[0014] Preferably, the crawler mechanism includes a crawler, a crawler bracket and a driving wheel; there are three driving wheels arranged at intervals, and the driving wheels form a rotating pair with the crawler bracket through driving wheel shafts; the driving wheels at both ends are connected by a crawler, the driving wheel in the middle supports the crawler, and one of the driving wheels at one end is driven by a driving motor.

[0015] The fruit and vegetable handling method of the double-layer folding, gauge and height adjustable fruit and vegetable transporter of the present invention is as follows:

[0016] Step 1. The staff adjusts the height of the main frame through the height adjustment device according to the requirements. The specific process is as follows: When it is necessary to increase the height of the main frame, rotate the rocking bar reciprocally. Among them, when rotating the rocking bar clockwise, the first ratchet pawl abuts against the ratchet wheel and drives the ratchet wheel to rotate clockwise, thereby driving the third lead screw to rotate clockwise. The second nut block moves upward along the third lead screw, thereby driving the corresponding first cylindrical rod to rise, and the main frame rises. When rotating the rocking bar counterclockwise, the second ratchet pawl first jumps into the next ratchet slot along the counterclockwise direction of the ratchet wheel, and then the first ratchet pawl jumps into the next ratchet slot of the ratchet wheel. In this way, the second ratchet pawl and the first ratchet pawl continuously and sequentially jump into the next ratchet tooth along the counterclockwise direction of the ratchet wheel, and the angle of the ratchet wheel rotating counterclockwise can be ensured to be very small each time the rocking bar is rotated counterclockwise. When it is necessary to lower the height of the main frame, the staff holds the main frame and controls the electromagnet 2 to be energized through the controller. The push rod of the electromagnet 2 rises and pushes the first ratchet pawl and the second ratchet pawl to rise until they disengage from the ratchet wheel, and the compression spring is compressed. The staff lowers the main frame to make the second nut block move downward, driving the third lead screw and the ratchet wheel to rotate counterclockwise. After the main frame descends to the appropriate position, the controller controls each electromagnet 2 to be powered off. The push rod of the electromagnet 2 descends and disengages from the first ratchet pawl. At the same time, the restoring force of the compression spring pushes the first ratchet pawl and the second ratchet pawl to move downward until they are embedded in the ratchet slots of the ratchet wheel to complete self-locking.

[0017] Step 2. The controller controls the drive motors of the two crawler mechanisms to rotate synchronously according to the communication signals of the UWB device, and then drives each crawler mechanism to follow the staff to move forward to the field area to be harvested. The staff places the harvested fruits and vegetables on the conveyor belt.

[0018] Step 3. Repeat Step 2. During the repetition process, if fruits and vegetables cannot be continuously placed on the conveyor belt, then execute Step 4.

[0019] Step 4. Manually pull the lower platform outwards. The gas springs extend, and each rotating plate swings upwards, driving the upper platform and the lower platform to rise. At the same time, the moving bracket slides outwards along the U-shaped chute on the fixed bracket until the upper platform is located below the output end of the conveyor belt and the gas springs are in a fully extended state. Then, pull out the pin, rotate the baffle to be inclined downwards and contact the limit plate. Then, control the driving motor to work through the controller. The driving motor drives the transmission shaft to rotate, and then drives the conveyor belt to rotate, transporting the fruits and vegetables on the conveyor belt to the upper platform through the baffle. After the fruits and vegetables on the conveyor belt are transported, control the driving motor to stop working through the controller. Manually push the lower platform inwards. The gas springs contract, and each rotating plate swings downwards, driving the upper platform and the lower platform to descend. At the same time, the moving bracket slides inwards along the U-shaped chute on the fixed bracket. During the descent of the upper platform and the lower platform, they always maintain a horizontal state. After descending to the lowest position, if the collection box is full of fruits and vegetables, perform Step 5; otherwise, continue to push the lower platform inwards. When the two sides of the upper platform respectively contact the rollers at the upper ends of the two triangular top plates on both sides, the upper platform rotates upwards around the hinge with the lower platform under the action of the two triangular top plates. After the upper platform is tilted, the fruits and vegetables on it slide down along the upper platform under the action of their own gravity and fall into the collection box through the guide plate.

[0020] Step 5. Repeat Step 2. During the repetition, if fruits and vegetables cannot be placed on the conveyor belt continuously, perform Steps 6 to 8.

[0021] Step 6. Control each servo motor to rotate through the controller. The servo motor drives the first lead screw to rotate. The moving bracket drives the crawler mechanism to move upwards along the first lead screw. The turning rods integrally formed on both sides of the moving bracket drive the moving blocks to move upwards to the upper end of the main bracket through the two second wedges. At the same time, the first spring is further compressed. When the inclined surfaces of the two second wedges contact the corresponding inclined surfaces of the first wedges, the two second wedges extend into the corresponding cylindrical holes on the moving blocks. Then, the moving bracket continues to move upwards. When the turning rods on both sides of the moving bracket are higher than the two second wedges, the moving blocks move downwards to the lower end of the main bracket under the action of the restoring force of the first spring and their own gravity. At the same time, the two second wedges extend out under the restoring force of the two first springs. Then, control the two electromagnets I to be energized through the controller. The push rods of the two electromagnets I push the two limit blocks to extend out. At this time, the two limit blocks are respectively located above the two second wedges, preventing the moving blocks from moving upwards. The rollers at the bottom end of the roller bracket contact the ground, and the crawler mechanism does not contact the ground, completing the switching of the moving device from longitudinal movement to lateral movement.

[0022] Step 7: The staff unfolds the unfolding frame through the width self-locking device. The specific process is as follows: Manually rotate the rocker. The rocker drives the second lead screw to rotate through the lock sleeve. The first nut block drives the unfolding platform, the height adjustment device and the moving device at the bottom of the unfolding frame to unfold outward along the second lead screw together. After unfolding, the clamping force of the clamping spring restricts the reverse rotation of the second lead screw to achieve self-locking.

[0023] Step 8: Control the two electromagnets 1 to power off through the controller, and the push rods of the two electromagnets 1 push the two limit blocks to retract; then, control each servo motor to rotate through the controller. The servo motor drives the first lead screw to rotate, so that the moving bracket drives the crawler mechanism to move downward along the first lead screw until the crawler mechanism contacts the ground. When the servo motor continues to rotate, the main bracket drives the moving block to move upward until the inclined surfaces of the two second wedges respectively contact the turning rods on both sides of the moving bracket. The two second wedges extend into the corresponding cylindrical holes on the moving block and cross the turning rods on both sides of the moving bracket. Then, the two second wedges extend under the restoring force of the two first springs. At this time, the rollers at the bottom of the roller bracket do not contact the ground, completing the switching of the moving device from horizontal movement to vertical movement. The staff places the fruits and vegetables on the unfolding platform. When the unfolding platform can no longer place fruits and vegetables, the harvesting operation ends.

[0024] The beneficial effects of the present invention are as follows:

[0025] 1. The present invention has the functions of double - layer folding and unfolding, adjustable gauge and height. When fruits and vegetables can no longer be placed on the upper conveyor belt, the fruits and vegetables are conveyed to the collection box through the second platform device below. When the collection box is full of fruits and vegetables, and the upper conveyor belt and the second platform device can still load fruits and vegetables, and when both the upper conveyor belt and the second platform device are loaded with fruits and vegetables, the unfolding platform can be unfolded from the side to further expand the volume to load more fruits and vegetables, greatly improving the storage volume for a single - departure handling. Among them, when the upper platform of the second platform device slides outwards and unfolds to below the output end of the upper conveyor belt and then folds back to the initial position, due to being driven by a parallelogram mechanism, it can always maintain a horizontal state. When adjusting the height, if the rocking rod rotates clockwise, the first pawl and the second pawl act on the ratchet wheel to ensure that the main frame can only rise unidirectionally. If the rocking rod rotates counter - clockwise, the first pawl and the second pawl alternately engage into the ratchet slots of the ratchet wheel to ensure that the angle of the ratchet wheel rotating counter - clockwise is very small, so as to ensure that the main frame can relatively stably maintain its original height position. And when the electromagnet two pushes the first pawl and the second pawl to rise and disengage from the ratchet wheel, the main frame and the unfolding platform can be lowered. When adjusting the gauge, first, the track mechanism is lifted off the ground through the conversion mechanism, and the rolling wheels in the conversion mechanism touch the ground. The rolling direction of the rolling wheels is horizontal, realizing the switching of the moving device from longitudinal movement to lateral movement, preparing for the unfolding of the unfolding platform, solving the difficulty of the lateral movement of the track mechanism, and reducing the damage to the tracks. Through the width self - locking device, after the unfolding platform of the unfolding frame device is unfolded, the pressing forces at both ends of the clamping spring of the unfolding frame device can limit the reverse rotation of the lead screw one to achieve self - locking. It can be seen that the conversion mechanism, the unfolding frame device and the width self - locking device realize the adjustable gauge between the two track mechanisms and the unfolding of the unfolding platform.

[0026] 2. After the upper platform of the second platform device in the present invention returns to the initial position and is further pushed inwards for a certain distance, it contacts the two rollers on both sides respectively, and under the action of the two triangular top plates, it rotates upwards around the hinge with the lower platform, and can automatically become an inclined state, so that the fruits and vegetables on it slide down under the action of their own gravity and fall into the collection box through the guide plate to complete the collection.

[0027] 3. The present invention is also provided with a UWB device. The controller can control the drive motors of the two track mechanisms to rotate synchronously according to the communication signals of the UWB device, and then drive each track mechanism to follow the staff to move forward to the field area to be harvested, realizing the intelligent following function. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the schematic diagram of the overall structure of the present invention Figure 1 ;

[0029] Figure 2 is the schematic diagram of the overall structure of the present invention Figure 2 ;

[0030] Figure 3 It is a schematic structural diagram of the width self-locking device in the present invention;

[0031] Figure 4 It is a schematic structural diagram of the height adjustment device in the present invention Figure 1 ;

[0032] Figure 5 It is a schematic structural diagram of the height adjustment device in the present invention Figure 2 ;

[0033] Figure 6 It is a schematic structural diagram of the second platform device in the present invention;

[0034] Figure 7 It is a partial schematic structural diagram of the second platform device in the present invention;

[0035] Figure 8 It is a schematic structural diagram of the present invention after removing the unfolded frame device;

[0036] Figure 9 It is a schematic structural diagram of the conversion mechanism in the present invention Figure 1 ;

[0037] Figure 10 It is a schematic structural diagram of the conversion mechanism in the present invention Figure 2 。 Detailed implementation manners

[0038] The present invention will be further described below with reference to the accompanying drawings.

[0039] As Figure 1 shown, the double-layer folding, gauge and height adjustable fruit and vegetable transporter includes a main frame device 1, an unfolded frame device 2, a width self-locking device 3, a height adjustment device 4, a second platform device 5 and a moving device 6.

[0040] As Figure 2 shown, the main frame device 1 includes a drive motor 1-1, a drive belt 1-2, a drive shaft 1-3, a baffle 1-5 and a main frame 1-6. The two drive shafts 1-3 are arranged horizontally at a distance, and both are rotatably connected to the top of the main frame 1-6 and are connected by a drive belt 1-2, and there is a gap between the drive belt 1-2 and the main frame 1-6; the housing of the drive motor 1-1 is fixed on the main frame 1-6, and the output shaft is fixed to one of the drive shafts 1-3; the baffle 1-5 is arranged at the output end of the drive belt 1-1 and is hinged to the main frame 1-6; the baffle 1-5 and the main frame 1-6 are also connected by a bolt, and the bolt prevents the baffle 1-5 from rotating; a limiting plate is fixed at the position of the main frame 1-6 below the baffle 1-5, which is used to limit the maximum downward swing angle of the baffle 1-5.

[0041] As Figure 2As shown in the figure, the unfolding frame device 2 includes an unfolding frame 2-1, an unfolding platform 2-2, and side plates 2-3. The unfolding platform 2-2 is horizontally fixed on the unfolding frame 2-1. A plurality of support shafts are fixed on the unfolding frame 2-1 in parallel and at intervals, and the support shafts are located below the unfolding platform 2-2. The main frame 1-6 is provided with a transverse notch and a plurality of round holes arranged in parallel and at intervals. The unfolding platform 2-2 extends into the transverse notch, and each support shaft forms a sliding pair with a round hole. The side plates 2-3 are vertically fixed on the outside of the unfolding platform 2-2 to prevent fruits and vegetables from rolling during operation.

[0042] As Figure 6 , Figure 7 and Figure 8 As shown in the figure, the second platform device 5 includes an upper platform 5-1 (with retaining bars provided at the output end and both sides), a lower platform 5-2, gas springs 5-3, fixed brackets 5-4, movable brackets 5-5, triangular top plates 5-6, and a collection box 5-7. The fixed brackets 5-4 are located below the main frame 1-6, and both sides are fixed to the main frame 1-6 through L-shaped connecting rods 5-8. The movable brackets 5-5 form a sliding pair with the U-shaped grooves provided on the fixed brackets 5-4. The output end of the upper platform 5-1 is hinged to the lower platform 5-2, and a guide plate is fixed at the output end of the upper platform 5-1 and is inclined. One ends of two gas springs 5-3 are respectively hinged to both sides of the fixed brackets 5-4 at positions below the output end of the upper platform 5-1, and the other ends are hinged to the lower platform 5-2 at positions below the input end of the upper platform 5-1, and the two gas springs 5-3 are arranged in parallel. The lower platform 5-2 is horizontally arranged. One ends of two parallel and spaced rotating plates are respectively hinged to the U-shaped grooves provided in the middle of the movable brackets 5-5, and the other ends are respectively hinged to the lower surface of the lower platform 5-2, and the hinge centers of the two rotating plates and the lower platform 5-2 are equal to the length of the rotating plates, thereby forming a parallelogram mechanism to ensure that the lower platform 5-2 is always in a horizontal state when the gas springs expand and contract. Triangular top plates 5-6 are fixed on both sides of the fixed brackets 5-4, and rollers are hinged to the upper ends of the triangular top plates 5-6. A support frame 5-9 is fixed on the lower surface of the main frame 1-6 at the position of the output end of the upper platform 5-1, and the collection box 5-7 is placed on the support frame 5-9. Among them, the width of the upper platform 5-1 is greater than the width of the lower platform 5-2, and the width of the lower platform 5-2 is equal to the width of the fixed brackets 5-4. In the initial state, the length of the gas springs 5-3 is at the intermediate value, the upper platform 5-1 is horizontally placed below the main frame 1-6 and does not contact the rollers on both sides of the triangular top plates. The bottom of both sides of the output end of the upper platform 5-1 is provided with inclined surfaces to facilitate the rollers on both sides to contact the lower surfaces of both sides of the upper platform 5-1 during unloading, forming a rolling friction pair.

[0043] As Figure 1 and Figure 2As shown, moving devices 6 are provided at the bottoms of the main frame 1-6 and the deployed frame 2-1; the moving device 6 includes a crawler mechanism and three conversion mechanisms arranged at intervals along the traveling direction of the crawler mechanism; the main frame 1-6 and the deployed frame 2-1 respectively form vertical moving pairs with the main brackets 6-5-1 of the respective conversion mechanisms of the corresponding side moving device 6, and the specific connection method is as follows: the upper end of the vertically arranged first cylindrical rod is fixed to the main frame 1-6 or the deployed frame 2-1; the lower end of the vertically arranged second cylindrical rod 4-7 is fixed to the main bracket 6-5-1; the lower end of the first cylindrical rod is embedded in the cylindrical hole opened in the second cylindrical rod to form a sliding pair with the second cylindrical rod; the deployed frame 2-1 is connected to one group of the first cylindrical rod and the second cylindrical rod on the corresponding side through a height adjusting device 4, and the height adjusting device 4 is used to adjust the heights of the main frame 1-6 and the deployed frame 2-1.

[0044] As Figure 9 and Figure 10As shown in the figure, the conversion mechanism includes a servo motor, a main bracket 6-5-1, a first lead screw 6-5-2, a first wedge block 6-5-3, a second wedge block 6-5-4, a first spring 6-5-5, a second spring 6-5-6, a limit block 6-5-7, a moving block 6-5-8, a rolling wheel 6-5-9, a rolling wheel bracket 6-5-10, and a moving bracket 6-5-11. A vertical chute is provided on one side of the vertically arranged main bracket 6-5-1; the moving block 6-5-8 is placed in the vertical chute and forms a sliding pair with the main bracket 6-5-1; a vertically arranged first spring 6-5-5 is provided in the vertical chute, and the upper end of the first spring 6-5-5 is fixed to the upper end of the main bracket 6-5-1; the moving block 6-5-8 is located directly below the first spring 6-5-5; cylindrical holes are provided on both sides of the moving block 6-5-8, and the two second wedge blocks 6-5-4 respectively form sliding pairs with the two cylindrical holes and are respectively connected to the two cylindrical holes through compression springs; two symmetrically arranged first wedge blocks 6-5-3 are fixed at the upper end of the vertical chute of the main bracket 6-5-1, and the lower ends of the two first wedge blocks 6-5-3 are inclined inwards; the two first wedge blocks 6-5-3 are respectively located directly above the two second wedge blocks 6-5-4, and the upper ends of the two second wedge blocks 6-5-4 are inclined outwards; the two limit blocks 6-5-7 are respectively fixed to the push rods of the two electromagnets 1; the housings of the two electromagnets 1 are symmetrically fixed at the lower end of the main bracket 6-5-1; the moving block 6-5-8 is connected to the tops of the two rolling wheel brackets 6-5-10 through a compound hinge; rolling wheels 6-5-9 are hinged to the bottoms of the two rolling wheel brackets 6-5-10, and the middle parts of the two rolling wheel brackets 6-5-10 are connected through a second spring 6-5-6; the central axis of the rolling wheel 6-5-9 is parallel to the traveling direction of the track mechanism. The other side of the main bracket 6-5-1 forms a rotating pair with the vertically arranged first lead screw 6-5-2, and the first lead screw 6-5-2 is coaxially fixed to the output shaft of the servo motor; the housing of the servo motor is fixed to the main bracket 6-5-1; the moving bracket 6-5-11 forms a lead screw pair with the first lead screw 6-5-2 and is fixed to the inner side of the track bracket 6-2 in the same-side track mechanism; two symmetrically arranged vertical notches are provided on both sides of the main bracket 6-5-1 where the moving block 6-5-8 is located; two turning rods integrally formed on the moving bracket 6-5-11 pass through the two vertical notches; in the initial state, the height of the second wedge block 6-5-4 is lower than the height of the limit block 6-5-7, the push rod of the electromagnet 1 is in the retracted state, the top surfaces of the two turning rods are respectively in contact with the bottom surfaces of the two second wedge blocks 6-5-4, and the lowest position of the rolling wheel 6-5-9 is higher than the lowest position of the track mechanism.

[0045] Among them, the drive motor 1-1, the servo motor, the electromagnet 1, the electromagnet 2 4-8, and the drive motor of the track mechanism are all controlled by the controller 7-2.

[0046] As a preferred embodiment, asFigure 1 As shown, a UWB device 7 is provided on the main frame 1-6. As Figure 2 shown, the UWB device 7 includes a UWB module and a UWB radio frequency module 7-1; the UWB module is carried by the staff; the UWB radio frequency module 7-1 is used to receive the UWB wireless signal sent by the UWB module, and the signal output end of the UWB radio frequency module 7-1 is connected to the controller, and the controller processes the data received by the UWB radio frequency module 7-1 to realize the function of the main frame 1-6 intelligently following the staff.

[0047] As a preferred embodiment, the transmission shaft 1-3 is supported on the bearing support 1-4 through bearings, and the bearing support 1-4 is fixed on the main frame 1-6.

[0048] As a preferred embodiment, as Figure 3 shown, the width self-locking device 3 includes a lock sleeve seat 3-1, a clamping spring 3-2, a lock sleeve 3-3, a rocker 3-4, a pressing sleeve 3-5 and a second lead screw 3-6. The lock sleeve seat 3-1 is placed horizontally and fixed to the bottom of the main frame 1-6; a stepped hole is provided on the lock sleeve seat 3-1; one end of the stepped hole away from the deployment platform 2-2 is a frustum-shaped hole, and the other end is a cylindrical hole; the diameter of the frustum-shaped hole at the end away from the deployment platform 2-2 is smaller than that of the other end; the lock sleeve 3-3 is composed of an integrally formed cylindrical rod and a frustum-shaped column, the cylindrical rod extends out of the stepped hole and is fixed to the rocker 3-4, and the frustum-shaped column is embedded in the frustum-shaped hole and coaxially fixed to the second lead screw 3-6; the pressing sleeve 3-5 is threadedly connected to the cylindrical hole of the lock sleeve seat 3-1 and is sleeved on the optical axis section of the second lead screw 3-6; a clamping spring 3-2 is provided in the frustum-shaped hole, the clamping spring 3-2 is sleeved on the second lead screw 3-6, and the two ends are respectively in contact with the frustum-shaped column of the lock sleeve 3-3 and the pressing sleeve 3-5 and are always in a compressed state, and the purpose of self-locking is achieved through the acting forces at both ends of the clamping spring 3-2. The second lead screw 3-6 forms a rotational pair with the main frame 1-6, and the threaded section of the second lead screw 3-6 forms a lead screw pair with the nut block one fixed to the lower surface of the deployment platform 2-2.

[0049] As a preferred embodiment, as Figure 4 and Figure 5As shown in the figure, the height adjusting device 4 includes a rocking lever 4-1, a third lead screw 4-2, a first pawl 4-3, a second pawl 4-4, a support seat 4-5, a ratchet wheel 4-6, a second electromagnet 4-8, and a second nut block 4-9. The second cylindrical rod connected to the height adjusting device 4 is provided with a cylindrical hole, and an opening is provided on the side of the cylindrical hole; the vertically arranged third lead screw 4-2 is placed in the cylindrical hole provided in the second cylindrical rod and forms a rotating pair with the support seat 4-5; the support seat 4-5 is fixed on the first cylindrical rod; the bottom end of the third lead screw 4-2 is fixed to the ratchet wheel 4-6; the rocking lever 4-1 is horizontally arranged, and a cylindrical sleeve integrally formed at one end of the rocking lever 4-1 extends into the cylindrical hole of the second cylindrical rod through the opening and forms a rotating pair with the third lead screw 4-2; the tails of the first pawl 4-3 and the second pawl 4-4 both form a cylindrical pair with a connecting shaft fixed on the rocking lever 4-1, the heads both extend into the opening, and the middle parts are both connected to the connecting shaft through a tension spring. In the initial state, the heads of the first pawl 4-3 and the second pawl 4-4 are in the same ratchet groove on the ratchet wheel 4-6; the length of the second pawl 4-4 is shorter than the length of the first pawl 4-3; the first pawl 4-3 is located below the second pawl 4-4, and the lower surface of the first pawl 4-3 is axially positioned by a shoulder on the connecting shaft; a compression spring is fixed on the lower surface of the rocking lever 4-1, and the compression spring is located above the second pawl 4-4; a horizontally arranged electromagnet bracket 4-10 is fixed to the lower end of the connecting shaft, and a second electromagnet 4-8 is fixed on the electromagnet bracket 4-10. The second electromagnet 4-8 is used to push the first pawl 4-3 and the second pawl 4-4; the second nut block 4-9 forms a ball screw pair with the third lead screw 4-2 through balls; the bottom end of the corresponding first cylindrical rod is fixed to the second nut block 4-9.

[0050] As a preferred embodiment, the crawler mechanism includes a crawler 6-1, a crawler bracket 6-2, and a drive wheel 6-3; there are three drive wheels 6-3 arranged at intervals, and the drive wheels 6-3 form a rotating pair with the crawler bracket 6-2 through drive wheel shafts; the drive wheels 6-3 at both ends are connected by the crawler 6-1, the drive wheel 6-3 in the middle supports the crawler 6-1, and one of the drive wheels 6-3 at one end is driven by a drive motor.

[0051] The fruit and vegetable handling method of the present invention is as follows:

[0052] Step 1. The staff adjusts the height of the main frame 1-6 through the height adjustment device 4 according to the requirements. The specific process is as follows: When it is necessary to increase the height of the main frame 1-6, rotate the rocking bar 4-1 reciprocally; among them, when rotating the rocking bar 4-1 clockwise (viewed from top to bottom), the first pawl 4-3 abuts against the ratchet wheel 4-6 and drives the ratchet wheel 4-6 to rotate clockwise, thereby driving the lead screw three 4-2 to rotate clockwise, and the nut block two 4-9 moves upward along the lead screw three 4-2, thereby driving the corresponding cylindrical rod one to rise, and the main frame 1-6 rises; when rotating the rocking bar 4-1 counterclockwise, the second pawl 4-4 first jumps into the next ratchet slot of the ratchet wheel 4-6 in the counterclockwise direction, and then the first pawl 4-3 jumps into the next ratchet slot of the ratchet wheel 4-6. In this way, the second pawl 4-4 and the first pawl 4-3 continuously and sequentially jump into the next ratchet tooth of the ratchet wheel 4-6 in the counterclockwise direction, and the angle of the ratchet wheel 4-6 rotating counterclockwise can be ensured to be very small each time the rocking bar 4-1 is rotated counterclockwise; when it is necessary to decrease the height of the main frame 1-6, the staff holds the main frame 1-6 and controls the electromagnet two 4-8 to be energized through the controller. The push rod of the electromagnet two 4-8 rises and pushes the first pawl 4-3 and the second pawl 4-4 to rise until they are disengaged from the ratchet wheel 4-6, and the compression spring is compressed. The staff lowers the main frame 1-6 to make the nut block two 4-9 move downward, driving the lead screw three 4-2 and the ratchet wheel 4-6 to rotate counterclockwise. After the main frame 1-6 descends in place, the controller controls each electromagnet two 4-8 to be powered off. The push rod of the electromagnet two 4-8 descends and is disengaged from the first pawl 4-3. At the same time, the restoring force of the compression spring pushes the first pawl 4-3 and the second pawl 4-4 to move downward until they are embedded in the ratchet slots of the ratchet wheel 4-6 to complete self-locking.

[0053] Step 2. The controller controls the drive motors of the two crawler mechanisms to rotate synchronously according to the communication signal of the UWB device 7, and then drives each crawler mechanism to follow the staff to move forward to the field area to be harvested. The staff places the harvested fruits and vegetables on the conveyor belt 1-2.

[0054] Step 3. Repeat Step 2. During the repetition process, if fruits and vegetables cannot be continuously placed on the conveyor belt 1-2, then execute Step 4.

[0055] Step 4. Manually pull the lower platform 5-2 outwards. The gas springs 5-3 extend, and each rotating plate 5-9 swings upwards, driving the upper platform 5-1 and the lower platform 5-2 to rise. At the same time, the moving bracket 5-5 slides outwards along the U-shaped chute on the fixed bracket 5-4 until the upper platform 5-1 is located below the output end of the conveyor belt 1-2, and the gas springs 5-3 are in a fully extended state. Then, pull out the pin, rotate the baffle 1-5 to be inclined downwards and contact the limit plate. Then, control the drive motor 1-1 to work through the controller. The drive motor 1-1 drives the drive shaft 1-3 to rotate, thereby driving the conveyor belt 1-2 to rotate, and transporting the fruits and vegetables on the conveyor belt 1-2 to the upper platform 5-1 through the baffle 1-5. After the fruits and vegetables on the conveyor belt 1-2 are transported, control the drive motor 1-1 to stop working through the controller. Manually push the lower platform 5-2 inwards. The gas springs 5-3 contract, and each rotating plate 5-9 swings downwards, driving the upper platform 5-1 and the lower platform 5-2 to descend. At the same time, the moving bracket 5-5 slides inwards along the U-shaped chute on the fixed bracket 5-4. During the descent of the upper platform 5-1 and the lower platform 5-2, they always maintain a horizontal state. After descending to the lowest position, if the collection box 5-7 is full of fruits and vegetables, execute Step 5, otherwise continue to push the lower platform 5-2 inwards. When the two sides of the upper platform 5-1 respectively contact the rollers at the upper ends of the two triangular top plates 5-6, the upper platform 5-1 rotates upwards around the hinge with the lower platform 5-2 under the action of the two triangular top plates 5-6. After the upper platform 5-1 is tilted, the fruits and vegetables on it slide down along the upper platform 5-1 under the action of their own gravity and fall into the collection box 5-7 through the guide plate.

[0056] Step 5. Repeat Step 2. During the repetition, if fruits and vegetables cannot be placed on the conveyor belt 1-2 anymore, execute Steps 6 to 8.

[0057] Step 6: Control the rotation of each servo motor through the controller. The servo motor drives the first lead screw 6-5-2 to rotate, and the moving bracket 6-5-11 drives the crawler mechanism to move upward along the first lead screw 6-5-2. The turning rods integrally formed on both sides of the moving bracket 6-5-11 drive the moving block 6-5-8 to move upward to the upper end of the main bracket 6-5-1 through two second wedges 6-5-4, and at the same time, the first spring 6-5-5 is further compressed; when the inclined surfaces of the two second wedges 6-5-4 come into contact with the inclined surfaces of the corresponding first wedges 6-5-3, the two second wedges 6-5-4 extend into the corresponding columnar holes on the moving block 6-5-8; then, the moving bracket 6-5-11 continues to move upward. When the turning rods on both sides of the moving bracket 6-5-11 are higher than the two second wedges 6-5-4, the moving block 6-5-8 moves downward to the lower end of the main bracket 6-5-1 under the action of the restoring force of the first spring 6-5-5 and its own gravity, and at the same time, the two second wedges 6-5-4 extend out under the restoring force of the two first springs; then, control the energization of the two first electromagnets through the controller. The push rods of the two first electromagnets push the two limit blocks 6-5-7 to extend. At this time, the two limit blocks 6-5-7 are respectively located above the two second wedges 6-5-4, preventing the moving block 6-5-8 from moving upward. The rollers 6-5-9 at the bottom of the roller bracket 6-5-10 are in contact with the ground, and the crawler mechanism is not in contact with the ground, completing the switching of the moving device 6 from longitudinal (the walking direction of the crawler mechanism) movement to lateral (perpendicular to the walking direction of the crawler mechanism) movement, facilitating the unfolding work of the unfolding platform 2-2.

[0058] Step 7: The staff unfolds the frame 2-1 through the width self-locking device 3. The specific process is as follows: Manually rotate the rocker 3-4. The rocker 3-4 drives the second lead screw 3-6 to rotate through the lock sleeve 3-3. The first nut block drives the unfolding platform 2-2, the height adjusting device 4, and the moving device 6 at the bottom of the unfolding frame 2-1 to unfold outward along the second lead screw 3-6. After unfolding, the pressing force of the clamping spring 3-2 restricts the reverse rotation of the second lead screw 3-6 to achieve self-locking.

[0059] Step 8. Control the two electromagnets I to cut off power through the controller, and the push rods of the two electromagnets I push the two limit blocks 6-5-7 to retract; then, control each servo motor to rotate through the controller. The servo motor drives the lead screw I 6-5-2 to rotate, so that the moving bracket 6-5-11 drives the crawler mechanism to move downward along the lead screw I 6-5-2 until the crawler mechanism contacts the ground. When the servo motor continues to rotate, the main bracket 6-5-1 drives the moving block 6-5-8 to move upward until the inclined surfaces of the two second wedge blocks 6-5-4 respectively contact the turning rods on both sides of the moving bracket 6-5-11. The two second wedge blocks 6-5-4 extend into the corresponding columnar holes on the moving block 6-5-8 and cross the turning rods on both sides of the moving bracket 6-5-11. Then, the two second wedge blocks 6-5-4 extend under the restoring force of the two first springs. At this time, the rollers 6-5-9 at the bottom of the roller bracket 6-5-10 do not contact the ground, completing the switching of the moving device 6 from horizontal movement to vertical movement. The staff places the fruits and vegetables on the unfolding platform 2-2. When the unfolding platform 2-2 can no longer place fruits and vegetables, the harvesting operation ends.

Claims

1. A double-layer folding, gauge and height adjustable fruit and vegetable transporter, comprising a main frame device, a height adjustment device and a moving device, characterized in that: It also includes an unfolding frame device, a width self-locking device, and a second platform device; the main frame device includes a driving motor, a transmission belt, a transmission shaft, a baffle, and a main frame; the two transmission shafts are arranged horizontally at a certain distance, and both form a rotating pair with the top of the main frame, and are connected by a transmission belt, and there is a gap between the transmission belt and the main frame; the housing of the driving motor is fixed on the main frame, and the output shaft is fixed to one of the transmission shafts; the baffle is arranged at the output end of the transmission belt and is hinged to the main frame; the baffle and the main frame are also connected by a bolt; a limiting plate is fixed at the position of the main frame below the baffle; The unfolding frame device includes an unfolding frame, an unfolding platform, and side plates; the unfolding platform is horizontally fixed on the unfolding frame; a plurality of support shafts are fixed on the unfolding frame in parallel and at a certain distance, and the support shafts are located below the unfolding platform; the main frame is provided with a horizontal notch and a plurality of circular holes arranged in parallel and at a certain distance; the unfolding platform extends into the horizontal notch, and each support shaft forms a sliding pair with a circular hole; the side plates are vertically fixed on the outside of the unfolding platform; The second platform device includes an upper platform, a lower platform, gas springs, fixed brackets, movable brackets, triangular top plates, and a collection box; the fixed brackets are located below the main frame, and both sides are fixed to the main frame through L-shaped connecting rods; the movable brackets form a sliding pair with the U-shaped grooves opened in the fixed brackets; the output end of the upper platform is hinged to the lower platform, and an inclined guide plate is fixed at the output end of the upper platform; one end of each of the two gas springs is respectively hinged to both sides of the fixed bracket at a position below the output end of the upper platform, and the other end is hinged to the lower platform at a position below the input end of the upper platform, and the two gas springs are arranged in parallel; the lower platform is horizontally arranged; one end of each of the two parallel and spaced rotating plates is hinged to the U-shaped groove opened in the middle of the movable bracket, and the other end is hinged to the lower surface of the lower platform, and the distance from the hinge center of the two rotating plates to the lower platform is equal to the length of the rotating plates; triangular top plates are fixed on both sides of the fixed bracket, and rollers are hinged to the upper ends of the triangular top plates; a support frame is fixed on the lower surface of the main frame at the position of the output end of the upper platform, and the collection box is placed on the support frame; among them, the width of the upper platform is greater than the width of the lower platform, and the width of the lower platform is equal to the width of the fixed bracket; in the initial state, the length of the gas spring is at the middle value, the upper platform is horizontally placed below the main frame and does not contact the rollers on the triangular top plates on both sides; inclined surfaces are provided at both bottoms of the output end of the upper platform; Moving devices are provided at the bottoms of the main frame and the unfolding frame; the moving device includes a crawler mechanism and a plurality of conversion mechanisms arranged at intervals along the walking direction of the crawler mechanism; the main frame and the unfolding frame respectively form a vertical moving pair with the main brackets of the corresponding side moving device's conversion mechanisms. The specific connection method is as follows: the upper end of a vertically arranged cylindrical rod one is fixed to the main frame or the unfolding frame; the lower end of a vertically arranged cylindrical rod two is fixed to the main bracket; the lower end of the cylindrical rod one is embedded in the cylindrical hole opened in the cylindrical rod two and forms a sliding pair with the cylindrical rod two; the unfolding frame is connected to one group of the cylindrical rod one and the cylindrical rod two on the corresponding side through a height adjusting device; The conversion mechanism includes a servo motor, a main bracket, a first lead screw, a first wedge block, a second wedge block, a first spring, a second spring, a limit block, a moving block, a rolling wheel, a rolling wheel bracket and a moving bracket; a vertical chute is provided on one side of the vertically arranged main bracket; the moving block is placed in the vertical chute and forms a sliding pair with the main bracket; a vertically arranged first spring is provided in the vertical chute, and the upper end of the first spring is fixed to the upper end of the main bracket; the moving block is located directly below the first spring; columnar holes are provided on both sides of the moving block, and the two second wedge blocks form sliding pairs with the two columnar holes respectively and are connected to the two columnar holes through compression springs respectively; two symmetrically arranged first wedge blocks are fixed at the upper end of the vertical chute of the main bracket, and the lower ends of the two first wedge blocks are inclined inwards; the two first wedge blocks are respectively located directly above the two second wedge blocks, and the upper ends of the two second wedge blocks are inclined outwards; the two limit blocks are respectively fixed to the push rods of the two electromagnetic magnets I; the housings of the two electromagnetic magnets I are symmetrically fixed at the lower end of the main bracket; the moving block is connected to the tops of the two rolling wheel brackets through a compound hinge; rolling wheels are hinged to the bottoms of the two rolling wheel brackets respectively, and the middle parts of the two rolling wheel brackets are connected through a second spring; the central axis of the rolling wheel is parallel to the running direction of the crawler mechanism; the other side of the main bracket forms a rotating pair with the vertically arranged first lead screw, and the first lead screw is coaxially fixed to the output shaft of the servo motor; the housing of the servo motor is fixed to the main bracket; the moving bracket forms a lead screw pair with the first lead screw and is fixed to the inner side of the crawler bracket in the same-side crawler mechanism; two symmetrically arranged vertical notches are provided on the main bracket on both sides of the moving block; two turning rods integrally formed on the moving bracket pass through the two vertical notches; in the initial state, the height of the second wedge block is lower than the height of the limit block, the push rod of the electromagnetic magnet I is in the retracted state, the top surfaces of the two turning rods are respectively in contact with the bottom surfaces of the two second wedge blocks, and the lowest position of the rolling wheel is higher than the lowest position of the crawler mechanism.

2. The double-layer folding, gauge and height adjustable fruit and vegetable transporter according to claim 1, wherein: A UWB device is provided on the main vehicle frame, and the UWB device includes a UWB module and a UWB radio frequency module; the UWB module is carried by the staff, and the signal output end of the UWB radio frequency module is connected to the controller.

3. The double-layer folding, gauge and height adjustable fruit and vegetable transporter according to claim 1, characterized in that: The transmission shaft is supported on the bearing support through a bearing, and the bearing support is fixed on the main vehicle frame.

4. The double-layer foldable, gauge and height adjustable fruit and vegetable transporter according to claim 2 or 3, characterized in that: The width self-locking device includes a lock sleeve seat, a clamping spring, a lock sleeve, a rocker, a pressing sleeve and a second lead screw; the lock sleeve seat is placed horizontally and fixed at the bottom of the main frame; a stepped hole is provided on the lock sleeve seat; one end of the stepped hole far away from the unfolding platform is a frustum-shaped hole, and the other end is a cylindrical hole; the diameter of the frustum-shaped hole at the end far away from the unfolding platform is smaller than that of the other end; the lock sleeve is composed of an integrally formed cylindrical rod and a frustum-shaped column, the cylindrical rod extends out of the stepped hole and is fixed to the rocker, the frustum-shaped column is embedded in the frustum-shaped hole and is coaxially fixed to the second lead screw; the pressing sleeve is threadedly connected to the cylindrical hole of the lock sleeve seat and is sleeved on the optical axis section of the second lead screw; a clamping spring is arranged in the frustum-shaped hole, the clamping spring is sleeved on the second lead screw, and both ends are respectively in contact with the frustum-shaped column of the lock sleeve and the pressing sleeve, and is in a compressed state; the second lead screw and the main frame form a rotating pair, and the threaded section of the second lead screw and a first nut block fixed to the lower surface of the unfolding platform form a lead screw pair.

5. The double-layer folding, gauge and height adjustable fruit and vegetable transporter according to claim 4, characterized in that: The height adjustment device includes a rocking rod, a third lead screw, a first pawl, a second pawl, a support seat, a ratchet wheel, an electromagnet II and a second nut block; a cylindrical hole is provided on the cylindrical rod II connected to the height adjustment device, and an opening is provided on the side of the cylindrical hole; the vertically arranged third lead screw is placed in the cylindrical hole provided on the cylindrical rod II and forms a rotating pair with the support seat; the support seat is fixed on the cylindrical rod I; the bottom end of the third lead screw is fixed to the ratchet wheel; the rocking rod is arranged horizontally, and a cylindrical sleeve integrally formed at one end of the rocking rod extends into the cylindrical hole of the cylindrical rod II through the opening and forms a rotating pair with the third lead screw; the tails of the first pawl and the second pawl both form a cylindrical pair with a connecting shaft fixed on the rocking rod, the heads both extend into the opening, and the middle parts are both connected to the connecting shaft through a tension spring. In the initial state, the heads of the first pawl and the second pawl are in the same ratchet slot on the ratchet wheel; the length of the second pawl is shorter than that of the first pawl; the first pawl is located below the second pawl, and the lower surface of the first pawl is axially positioned by the shoulder on the connecting shaft; a compression spring is fixed on the lower surface of the rocking rod, and the compression spring is located above the second pawl; a horizontally arranged electromagnet bracket is fixed to the lower end of the connecting shaft, and an electromagnet II is fixed on the electromagnet bracket; the second nut block forms a ball screw pair with the third lead screw through balls; the bottom end of the corresponding cylindrical rod I is fixed to the second nut block.

6. The double-layer folding, gauge and height adjustable fruit and vegetable transporter according to claim 1, characterized in that: The crawler mechanism includes a crawler, a crawler support and a driving wheel; there are three driving wheels arranged at intervals, and the driving wheels form a rotating pair with the crawler support through driving wheel shafts; the driving wheels at both ends are connected by a crawler, the driving wheel in the middle supports the crawler, and one of the driving wheels at one end is driven by a driving motor.

7. The fruit and vegetable handling method of the double-layer folding, gauge and height adjustable fruit and vegetable carrier according to claim 5, characterized in that: Specifically as follows: Step 1. The staff adjusts the height of the main frame through the height adjustment device according to the requirements. The specific process is as follows: When it is necessary to increase the height of the main frame, rotate the rocking bar reciprocally. Among them, when rotating the rocking bar clockwise, the first pawl abuts against the ratchet wheel and drives the ratchet wheel to rotate clockwise, thereby driving the third lead screw to rotate clockwise. The second nut block moves upward along the third lead screw, thereby driving the corresponding first cylindrical rod to rise, and the main frame rises. When rotating the rocking bar counterclockwise, the second pawl first jumps into the next ratchet groove along the counterclockwise direction of the ratchet wheel, and then the first pawl jumps into the next ratchet groove of the ratchet wheel. In this way, the second pawl and the first pawl continuously and sequentially jump into the next ratchet tooth along the counterclockwise direction of the ratchet wheel. When it is necessary to lower the height of the main frame, the staff holds the main frame and controls the electromagnet II to be energized through the controller. The push rod of the electromagnet II rises and pushes the first pawl and the second pawl to rise until they are disengaged from the ratchet wheel, and the compression spring is compressed. The staff allows the main frame to descend, causing the second nut block to move downward, driving the third lead screw and the ratchet wheel to rotate counterclockwise. After the main frame descends in place, the controller controls each electromagnet II to be powered off. The push rod of the electromagnet II descends and disengages from the first pawl. At the same time, the restoring force of the compression spring pushes the first pawl and the second pawl to move downward until they are embedded in the ratchet groove of the ratchet wheel to complete self-locking. Step 2. The controller controls the drive motors of the two crawler mechanisms to rotate synchronously according to the communication signals of the UWB device, and then drives each crawler mechanism to follow the staff to move forward to the field area to be harvested. The staff places the harvested fruits and vegetables on the conveyor belt. Step 3. Repeat Step 2. During the repetition process, if fruits and vegetables cannot be continuously placed on the conveyor belt, then execute Step 4. Step 4. Manually pull the lower platform outwards. Each gas spring extends, and each rotating plate swings upward and drives the upper platform and the lower platform to rise. At the same time, the moving bracket slides outwards along the U-shaped chute on the fixed bracket until the upper platform is located below the output end of the conveyor belt, and each gas spring is in a fully extended state. Then, pull out the pin and rotate the baffle to be inclined downward and contact the limit plate. Then, control the drive motor to work through the controller. The drive motor drives the transmission shaft to rotate, thereby driving the conveyor belt to rotate, and transports the fruits and vegetables on the conveyor belt to the upper platform through the baffle. After the fruits and vegetables on the conveyor belt are transported, control the drive motor to stop working through the controller. Manually push the lower platform inwards. Each gas spring contracts, and each rotating plate swings downward and drives the upper platform and the lower platform to descend. At the same time, the moving bracket slides inwards along the U-shaped chute on the fixed bracket. The upper platform and the lower platform always maintain a horizontal state during the descending process. After descending to the lowest position, if the collection box is full of fruits and vegetables, then execute Step 5. Otherwise, continue to push the lower platform inwards. When the two sides of the upper platform respectively contact the rollers at the upper ends of the two triangular top plates, the upper platform rotates upward around the hinge with the lower platform under the action of the two triangular top plates. After the upper platform is tilted, the fruits and vegetables on it slide down along the upper platform under the action of their own gravity and fall into the collection box through the guide plate. Step 5: Repeat Step 2. During the repetition, if fruits and vegetables can no longer be placed on the conveyor belt, then execute Steps 6 to 8; Step 6: Control the rotation of each servo motor through the controller. The servo motor drives the first lead screw to rotate, and the moving bracket drives the crawler mechanism to move upward along the first lead screw. The turning rods integrally formed on both sides of the moving bracket drive the moving blocks to move upward to the upper end of the main bracket through two second wedges. At the same time, the first spring is further compressed. When the inclined surfaces of the two second wedges come into contact with the inclined surfaces of the corresponding first wedges, the two second wedges extend into the corresponding cylindrical holes on the moving blocks. Then, when the moving bracket continues to move upward and the turning rods on both sides of the moving bracket are higher than the two second wedges, the moving blocks move downward to the lower end of the main bracket under the action of the restoring force of the first spring and their own gravity. At the same time, the two second wedges extend under the restoring force of the two first springs. Then, control the energization of the two electromagnets I through the controller, and the push rods of the two electromagnets I push the two limit blocks to extend. At this time, the two limit blocks are respectively located above the two second wedges to prevent the moving blocks from moving upward. The rollers at the bottom end of the roller bracket are in contact with the ground, and the crawler mechanism is not in contact with the ground; Step 7: The staff unfolds the vehicle frame through the width self-locking device. The specific process is as follows: Manually rotate the rocker. The rocker drives the second lead screw to rotate through the lock sleeve. The first nut block drives the unfolding platform, the height adjustment device, and the moving device at the bottom of the unfolding vehicle frame to unfold outward along the second lead screw. After unfolding, the clamping spring presses to limit the reverse rotation of the second lead screw to achieve self-locking; Step 8: Control the power-off of the two electromagnets I through the controller, and the push rods of the two electromagnets I push the two limit blocks to retract. Then, control the rotation of each servo motor through the controller. The servo motor drives the first lead screw to rotate, so that the moving bracket drives the crawler mechanism to move downward along the first lead screw until the crawler mechanism contacts the ground. When the servo motor continues to rotate, the main bracket drives the moving block to move upward until the inclined surfaces of the two second wedges respectively contact the turning rods on both sides of the moving bracket. The two second wedges extend into the corresponding cylindrical holes on the moving blocks and cross over the turning rods on both sides of the moving bracket. Then, the two second wedges extend under the restoring force of the two first springs. At this time, the rollers at the bottom end of the roller bracket are not in contact with the ground, and the staff places the fruits and vegetables on the unfolding platform. When fruits and vegetables can no longer be placed on the unfolding platform, the harvesting operation ends.

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