A fruit picking device

Abstract

The present application provides a kind of forest fruit picking device, including driving mechanism, outer picking component and inner picking component, inner picking component is connected with driving mechanism and follows driving mechanism synchronous motion, outer picking component includes first wheel edge inner gear ring, second wheel edge inner gear ring, reversing assembly and outer picking head, first wheel edge inner gear ring is sleeved on the output end of driving mechanism and follows driving mechanism synchronous motion, second wheel edge inner gear ring is sleeved on the periphery of the output end of driving mechanism, reversing assembly is used to transmit power to the first wheel edge inner gear ring for second wheel edge inner gear ring and makes the rotating direction of second wheel edge inner gear ring and first wheel edge inner gear ring opposite, outer picking head is connected with second wheel edge inner gear ring and follows second wheel edge inner gear ring synchronous motion, by inner picking component and outer picking head rotation, to outer picking head and the forest fruit between inner picking head are picked up.This application can greatly reduce the damage to fruit trees, applicability, picking efficiency and flexibility are high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit picking device, and particularly relates to a fruit picking device. BACKGROUND

[0002] With the development of agriculture, the planting area of fruit trees is increasing. At present, the picking of fruit trees such as apples, peaches, pears, apricots, pomegranates, tea fruits and walnuts is mainly manual picking, which needs to increase a large amount of labor cost and needs to use tools such as stools, short ladders and bamboo poles, and the picking efficiency is low. Moreover, people need to climb the fruit trees to pick the fruits on the higher branches, and there is a great safety hazard that people will fall from the fruit trees. Alternatively, a device vibration method is used for picking. This method generally clamps the trunk or branch, starts a vibrator to shake the fruits to fall. Although this method can improve the picking efficiency, the damage to the fruit trees is large, and the diameter of the trunk or branch cannot be too large, and the applicability is not high. The vibration frequency and amplitude need to be adjusted according to the experience of different types of fruit trees, and the picking is not targeted. For example, the unripe fruits are not easy to be shaken off under the same vibration frequency and amplitude, and if the vibration frequency and amplitude are too large, the damage to the fruit trees will be greater.

[0003] Therefore, it is necessary to provide a fruit picking device to solve or at least alleviate the above problems. SUMMARY

[0004] The main purpose of the present application is to provide a fruit picking device to solve the technical problem that the damage to the fruit trees is too large and the applicability is not high when the device vibration method is used for picking in the prior art.

[0005] To achieve the above purpose, the present application provides a fruit picking device, which comprises a driving mechanism, an outer picking assembly and an inner picking assembly. The rotation directions of the outer picking assembly and the inner picking assembly are opposite, wherein,

[0006] The inner picking assembly is connected with the driving mechanism and moves synchronously with the driving mechanism;

[0007] The outer picking assembly comprises a first wheel edge inner gear ring, a second wheel edge inner gear ring, a reversing assembly and an outer picking head. The first wheel edge inner gear ring is sleeved on the output end of the driving mechanism and moves synchronously with the driving mechanism;

[0008] The second wheel hub ring is sleeved on the periphery of the output end of the driving mechanism, the second wheel hub ring and the first wheel hub ring are arranged in a spaced manner along the output end of the driving mechanism, and the reversing assembly is connected between the first wheel hub ring and the second wheel hub ring, and is used for transmitting power of the first wheel hub ring to the second wheel hub ring and reversing the rotating directions of the first wheel hub ring and the second wheel hub ring.

[0009] The outer picking head is connected with the second wheel hub ring and moves synchronously with the second wheel hub ring, and rotates through the inner picking assembly and the outer picking head to pick fruits between the outer picking head and the inner picking head.

[0010] Preferably, the reversing assembly comprises a shell, a mounting seat, a first gear and a second gear, wherein the mounting seat, the first wheel hub ring, the first gear and the second gear are arranged in the inner cavity of the shell, the shell is connected with the second wheel hub ring, the mounting seat is connected to the inner wall of the shell and located between the first wheel hub ring and the second wheel hub ring.

[0011] The first gear and the second gear are rotatably connected to the mounting seat; wherein the first gear comprises a first meshing segment and a second meshing segment oppositely arranged along the axial direction of the first gear, the first meshing segment is in meshing connection with the first wheel hub ring; the second gear comprises a third meshing segment and a fourth meshing segment oppositely arranged along the axial direction of the second gear, the third meshing segment is in meshing connection with the second meshing segment, and the fourth meshing segment is in meshing connection with the second wheel hub ring.

[0012] Preferably, the mounting seat comprises a connecting block, and first and second support plates arranged in a staggered manner, wherein,

[0013] The connecting block is connected with the inner wall of the shell;

[0014] The first and second support plates are protruded from the inner wall of the connecting block, the first support plate is provided with a first bearing hole for mounting a first bearing, the second support plate is provided with a second bearing hole for mounting a second bearing, the first bearing hole is mounted with the first bearing, the second bearing hole is mounted with the second bearing, the first and second gears are gear shaft structures, the gear shaft of the first gear is mounted in the first bearing hole, and the gear shaft of the second gear is mounted in the second bearing hole.

[0015] Preferably, the shell is in a cylindrical shape, the inner cavity of the shell is in a columnar shape, and the connecting block is in an arc-shaped block shape and is arranged in a matching manner with the inner wall of the shell.

[0016] Preferably, the second wheel-side ring gear comprises an inner sleeve, an outer ring gear and a connecting assembly connected between the inner sleeve and the outer ring gear, the inner sleeve is arranged at the inner side of the outer ring gear and is sleeved on the outer circumferential wall of the output shaft of the driving mechanism through a third bearing, the inner sleeve has a connecting portion and a protruding portion arranged along the extending direction of the inner sleeve, the connecting portion is connected with the connecting assembly, the protruding portion extends from the connecting portion towards the outer picking head, the machine shell is connected with the outer circumferential wall of the protruding portion, and the outer picking head is connected with the end portion of the protruding portion.

[0017] Preferably, the outer picking head comprises a first picking roller assembly, a centering shaft, a first mounting disc and a second mounting disc oppositely arranged at two ends of the first picking roller assembly, wherein,

[0018] the first mounting disc is sleeved on the outer circumferential wall of the protruding portion, the second mounting disc is cantilevered, the second mounting disc is provided with a first through hole for the centering shaft to penetrate, the second mounting disc is sleeved on the outer circumferential wall of the centering shaft, and the first picking roller assembly comprises a plurality of first picking rollers arranged at intervals along the circumference of the first mounting disc, and each first picking roller is connected between the first mounting disc and the second mounting disc.

[0019] Preferably, the inner picking assembly comprises a second picking roller assembly, a third mounting disc and a fourth mounting disc oppositely arranged at two ends of the second picking roller assembly; wherein,

[0020] the third mounting disc is sleeved on the outer circumferential wall of the output end of the driving mechanism and synchronously moves with the driving mechanism; the fourth mounting disc is provided with a second through hole for the centering shaft to penetrate, and the fourth mounting disc is sleeved on the outer circumferential wall of the centering shaft and arranged at the inner side of the second mounting disc;

[0021] the second picking roller assembly comprises a plurality of second picking rollers arranged at intervals along the circumference of the third mounting disc, and each second picking roller is connected between the third mounting disc and the fourth mounting disc, the second picking rollers and the first picking rollers are arranged one by one, and the second picking rollers and the first picking rollers form picking gaps matched with the forest fruits.

[0022] Preferably, the first picking roller and the first mounting disc and the second mounting disc are detachably connected, and / or the second picking roller and the third mounting disc and the fourth mounting disc are detachably connected.

[0023] Preferably, the tooth number ratio of the first gear and the second gear is 1:1.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] This invention provides a fruit harvesting device, including a drive mechanism, an outer harvesting component, and an inner harvesting component. The inner harvesting component is connected to the drive mechanism and moves synchronously with it. The outer harvesting component includes a first inner gear ring, a second inner gear ring, a reversing component, and an outer harvesting head. The first inner gear ring is fitted onto the output end of the drive mechanism and moves synchronously with it. The second inner gear ring is fitted around the output end of the drive mechanism. The reversing component transmits the power of the first inner gear ring to the second inner gear ring, causing the second inner gear ring and the first inner gear ring to rotate in opposite directions. The outer harvesting head is connected to the second inner gear ring and moves synchronously with it. By rotating the inner harvesting component and the outer harvesting head, the fruit between the outer and inner harvesting heads is harvested. This invention can significantly reduce damage to fruit trees and offers high harvesting efficiency and flexibility. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure in one embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure from another perspective in one embodiment of the present invention;

[0029] Figure 3 This is a cross-sectional view of the overall structure in one embodiment of the present invention;

[0030] Figure 4 for Figure 3 Enlarged diagram of point A in the diagram;

[0031] Figure 5 This is a schematic diagram of the overall structure after removing the casing in one embodiment of the present invention;

[0032] Figure 6 for Figure 5 Enlarged diagram of point B in the image;

[0033] Figure 7 This is a structural diagram of the combination of the second wheel side internal gear ring and the third bearing in one embodiment of the present invention;

[0034] Figure 8 This is a structural diagram of the combination of the second wheel inner gear ring and the third bearing from another perspective in one embodiment of the present invention.

[0035] The objectives, functional characteristics and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings.

[0036] Brief Description of the Drawings:

[0037] 10, drive mechanism; 110, output end of the drive mechanism; 20, outer picking assembly; 210, first wheel-side inner ring gear; 220, second wheel-side inner ring gear; 221, inner sleeve; 2211, connecting portion; 2212, protruding portion; 222, outer ring gear; 223, connecting assembly; 224, third bearing; 231, machine housing; 232, mounting seat; 2321, connecting block; 2322, first support plate; 2323, second support plate; 233, first gear; 234, second gear; 240, outer picking head; 241, first picking roller; 242, centering shaft; 243, first mounting disc; 244, second mounting disc; 30, inner picking assembly; 310, second picking roller; 320, third mounting disc; 330, fourth mounting disc; 340, picking gap. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein merely exemplify the application and do not limit the application.

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0040] It should be noted that all the directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as described in the drawings). If the certain posture changes, the directional indications also change accordingly.

[0041] In addition, the descriptions of “first”, “second” and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0042] Please refer to the accompanyingFigures 1 to 8 The forest fruit picking device in one embodiment of the present application comprises a driving mechanism 10, an outer picking assembly 20, and an inner picking assembly 30, the rotation directions of the outer picking assembly 20 and the inner picking assembly 30 are opposite, wherein the driving mechanism 10 can be a driving motor, a motor, or other structures capable of providing rotary power.

[0043] The inner picking assembly 30 is connected with the driving mechanism 10 and moves synchronously with the driving mechanism 10;

[0044] The outer picking assembly 20 comprises a first wheel-side inner gear ring 210, a second wheel-side inner gear ring 220, a reversing assembly (not marked in the figure), and an outer picking head 240, wherein the first wheel-side inner gear ring 210 is sleeved on the output end 110 of the driving mechanism and moves synchronously with the driving mechanism 10;

[0045] The second wheel-side inner gear ring 220 is sleeved on the periphery of the output end 110 of the driving mechanism, the second wheel-side inner gear ring 220 and the first wheel-side inner gear ring 210 are arranged at intervals along the output end 110 of the driving mechanism, the reversing assembly is connected between the first wheel-side inner gear ring 210 and the second wheel-side inner gear ring 220, and the reversing assembly is used for transmitting the power of the first wheel-side inner gear ring 210 to the second wheel-side inner gear ring 220 and making the rotation directions of the second wheel-side inner gear ring 220 and the first wheel-side inner gear ring 210 opposite; it is worth noting that the second wheel-side inner gear ring 220 is sleeved on the periphery of the output end 110 of the first driving mechanism, that is, the second wheel-side inner gear ring 220 is driven by the reversing assembly, and the output end 110 of the first driving mechanism does not directly drive the second wheel-side inner gear ring 220 to rotate.

[0046] The outer picking head 240 is connected with the second wheel-side inner gear ring 220 and moves synchronously with the second wheel-side inner gear ring 220, and the outer picking head 240 and the inner picking head are rotated through the inner picking assembly 30 and the outer picking head 240 to pick the forest fruits between the outer picking head 240 and the inner picking head.

[0047] Workflow: when forest fruit picking is needed, the forest fruit picking device of the present application can be lifted (for example, combined with a lifting trolley or in a backpack type) or moved to the target position, the first driving mechanism 10 is started to rotate, the inner picking assembly connected with the output end 110 of the first driving mechanism is driven to rotate, the second wheel-side inner gear ring 210 connected with the output end 110 of the first driving mechanism is driven to rotate, the reversing assembly is driven to rotate, the second wheel-side inner gear ring 220 is driven to rotate through the reversing assembly, and the outer picking head 240 connected with the second wheel-side inner gear ring 220 is driven to rotate, so as to realize picking of the forest fruits between the outer picking head 240 and the inner picking assembly 30.

[0048] As a preferred embodiment, the commutation assembly comprises a housing 231, a mounting base 232, a first gear 233 and a second gear 234, wherein the mounting base 232, the first wheel rim inner ring gear 210, the first gear 233 and the second gear 234 are arranged in the inner cavity of the housing 231, the housing 231 is connected with the second wheel rim inner ring gear 220, the mounting base 232 is connected to the inner wall of the housing 231 and located between the first wheel rim inner ring gear 210 and the second wheel rim inner ring gear 220.

[0049] The first gear 233 and the second gear 234 are rotatably connected to the mounting base 232; wherein the first gear 233 comprises a first meshing section (not marked in the figure) and a second meshing section (not marked in the figure) arranged oppositely along the axial direction of the first gear 233, the first meshing section is meshingly connected with the first wheel rim inner ring gear 210; the second gear 234 comprises a third meshing section (not marked in the figure) and a fourth meshing section (not marked in the figure) arranged oppositely along the axial direction of the second gear 234, the third meshing section is meshingly connected with the second meshing section, and the fourth meshing section is meshingly connected with the second wheel rim inner ring gear 220.

[0050] As a preferred embodiment, the mounting base 232 comprises a connecting block 2321 and first and second support plates 2322 and 2323 arranged staggeredly, wherein,

[0051] The connecting block 2321 is connected to the inner wall of the housing 231;

[0052] The first and second support plates 2322 and 2323 are protruded from the inner wall of the connecting block 2321, the first support plate 2322 is provided with a first bearing hole (not marked in the figure) for mounting a first bearing, the second support plate 2323 is provided with a second bearing hole (not marked in the figure) for mounting a second bearing, the first gear 233 and the second gear 234 are gear shaft structures, the gear shaft of the first gear 233 is mounted in the first bearing hole, and the gear shaft of the second gear 234 is mounted in the second bearing hole.

[0053] Further, the housing 231 is in a cylindrical shape, the inner cavity of the housing 231 is in a columnar shape, and the connecting block 2321 is in an arc-shaped block shape and is arranged in matching with the inner wall of the housing 231.

[0054] As a preferred embodiment, the second wheel-side inner ring gear 220 comprises an inner sleeve 221, an outer ring gear 222, and a connecting assembly 223 (for example, a connecting steel plate) connected between the inner sleeve 221 and the outer ring gear 222, the inner sleeve 221 is arranged at the inner side of the outer ring gear 222 and is sleeved on the outer circumferential wall of the output shaft of the driving mechanism 10 through a third bearing 224, the inner sleeve 221 has a connecting portion 2211 and a protruding portion 2212 arranged along the extending direction of the inner sleeve 221, the connecting portion 2211 is connected with the connecting assembly 223, the protruding portion 2212 extends from the connecting portion 2211 towards the outer picking head 240, the shell 231 is connected with the outer circumferential wall of the protruding portion 2212, and the outer picking head 240 is connected with the end portion of the protruding portion 2212. It is worth noting that the inner sleeve 221 is arranged at the inner side of the outer ring gear 222 and is sleeved on the outer circumferential wall of the output shaft of the driving mechanism 10 through the third bearing 224, and the outer ring gear 222 is engaged with the second gear 234, so that the driving mechanism 10 does not directly drive the second wheel-side inner ring gear 220 to rotate, but drives the first wheel-side inner ring gear 210 to rotate through the driving mechanism 10, drives the first gear 233 to rotate through the first wheel-side inner ring gear 210, drives the second gear 234 to rotate through the first gear 233, and drives the second wheel-side inner ring gear 220 to rotate through the second gear 234.

[0055] As a preferred embodiment, the outer picking head 240 comprises a first picking roller assembly (not marked in the figure), a centering shaft 242, a first mounting disc 243 and a second mounting disc 244 arranged at opposite ends of the first picking roller assembly, wherein,

[0056] the first mounting disc 243 is sleeved on the outer circumferential wall of the protruding portion 2212, the second mounting disc 244 is cantilevered, the second mounting disc 244 is provided with a first through hole for the centering shaft 242 to penetrate, the second mounting disc 244 is sleeved on the outer circumferential wall of the centering shaft 242, the first picking roller assembly comprises a plurality of first picking rollers 241 arranged at intervals along the circumference of the first mounting disc 243, and each first picking roller 241 is connected between the first mounting disc 243 and the second mounting disc 244.

[0057] As another preferred embodiment, the inner picking assembly 30 comprises a second picking roller assembly (not marked in the figure), a third mounting disc 320 and a fourth mounting disc 330 arranged at opposite ends of the second picking roller assembly; wherein,

[0058] The third mounting disc 320 is sleeved on the outer peripheral wall of the output end 110 of the driving mechanism and moves synchronously with the driving mechanism 10; the fourth mounting disc 330 is provided with a second through hole through which the centering shaft 242 penetrates, and the fourth mounting disc 330 is sleeved on the outer peripheral wall of the centering shaft 242 and is located on the inner side of the second mounting disc 244;

[0059] The second picking roller assembly includes a plurality of second picking rollers 310 arranged at intervals in the circumferential direction of the third mounting disc 320, each of the second picking rollers 310 being connected between the third mounting disc 320 and the fourth mounting disc 330, the second picking rollers 310 and the first picking rollers 241 being arranged one-to-one, and a picking gap 340 matching the forest fruits being formed between the second picking rollers 310 and the first picking rollers 241.

[0060] Further, the first picking roller 241 and the first mounting disc 243 and the second mounting disc 244 are detachably connected, and / or the second picking roller 310 and the third mounting disc 320 and the fourth mounting disc 330 are detachably connected. Through the detachable connection, it is convenient to disassemble and assemble, for example, it is convenient for later maintenance. In other embodiments, the first picking roller 241 and the first mounting disc 243 and the second mounting disc 244 can also be integrally formed, and the second picking roller 310 and the third mounting disc 320 and the fourth mounting disc 330 can also be integrally formed.

[0061] Further, the number of teeth of the first gear 233 and the second gear 234 is 1:1. In a preferred example, the number of teeth of the first gear and the number of teeth of the second gear is 1:1, the number of teeth of the first wheel rim inner tooth ring 210 and the number of teeth of the second wheel rim inner tooth ring 220 is 1:1, and the number of teeth of the first wheel rim inner tooth ring 210 is greater than the number of teeth of the first gear 233, the number of teeth of the second wheel rim inner tooth ring 220 is greater than the number of teeth of the second gear 234, the driving mechanism 10 is a driving motor, and the driving motor is connected to the first wheel rim inner tooth ring 210 and the second wheel rim inner tooth ring 220. Figure 4As shown, the rotation speed of the driving motor is same as that of the first wheel rim inner ring 210, and after acceleration through the first gear 233, the second gear 234 is driven to rotate, the rotation speed of the second gear 234 is same as that of the first gear 233, but the rotation direction is opposite, the second gear 234 and the second wheel rim inner ring 220 are engaged, the speed is reduced and the rotation speed of the second wheel rim inner ring 220 is consistent with that of the driving motor. Since the inner picking assembly 30 is connected with the driving mechanism 10 and synchronously moves with the driving mechanism 10, the outer picking head 240 is connected with the second wheel rim inner ring 220 and synchronously moves with the second wheel rim inner ring 220, thus the rotation direction of the outer picking assembly 20 and the inner picking assembly 30 can be opposite and also can rotate at the same speed, which is more helpful for picking forest fruits. In other embodiments, the person skilled in the art can also determine the tooth ratio of the first gear 233 and the second gear 234 according to the difference in rotation speed of the outer picking assembly 20 and the inner picking assembly 30 as needed.

[0062] Workflow: When picking forest fruits, the forest fruit picking device of the present application can be lifted (for example, combined with a lifting trolley or in a backpack) or moved to the target position, the driving motor is started to rotate, the third mounting disc 320 connected to the output shaft of the driving motor is driven to rotate, thereby driving the second picking roller assembly to rotate, at the same time driving the first wheel rim inner ring 210 to rotate, the first wheel rim inner ring 210 drives the first gear 233 to rotate, the first gear 233 drives the second gear 234 to rotate, the second gear 234 drives the second wheel rim inner ring 220 to rotate, thereby driving the first mounting disc 243 of the second wheel rim inner ring 220 to rotate, thereby driving the first picking roller assembly to rotate, through the reversing action of the first gear 233 and the second gear 234, the rotation direction of the first picking roller assembly and the second picking roller assembly is opposite, forming a relative extrusion structure, for example, when picking tea fruits, the forest fruit picking device can be lifted below the tea fruits, the first picking roller assembly and the second picking roller assembly rotate, at this time, the forest fruits between the first picking roller assembly and the second picking roller assembly can be easily extruded and picked out, with high picking efficiency.

[0063] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A fruit harvesting device, characterized in that, It includes a drive mechanism, an outer picking assembly, and an inner picking assembly, wherein the outer picking assembly and the inner picking assembly rotate in opposite directions. The inner picking component is connected to the drive mechanism and moves synchronously with the drive mechanism; The external picking assembly includes a first wheel side internal gear ring, a second wheel side internal gear ring, a reversing assembly, and an external picking head, wherein the first wheel side internal gear ring is sleeved on the output end of the drive mechanism and moves synchronously with the drive mechanism; The second wheel-side internal gear ring is sleeved around the output end of the drive mechanism. The second wheel-side internal gear ring and the first wheel-side internal gear ring are arranged at intervals along the output end of the drive mechanism. The reversing component is connected between the first wheel-side internal gear ring and the second wheel-side internal gear ring. The reversing component is used to transmit the power of the first wheel-side internal gear ring to the second wheel-side internal gear ring and make the rotation directions of the second wheel-side internal gear ring and the first wheel-side internal gear ring opposite. The outer picking head is connected to the second inner toothed ring and moves synchronously with the second inner toothed ring. The inner picking assembly and the outer picking head rotate to pick the fruit between the outer picking head and the inner picking assembly. The reversing assembly includes a housing, a mounting base, a first gear, and a second gear, wherein... The mounting base, the first wheel-side internal gear ring, the first gear, and the second gear are all disposed in the inner cavity of the housing. The housing is connected to the second wheel-side internal gear ring, and the mounting base is connected to the inner wall of the housing and located between the first wheel-side internal gear ring and the second wheel-side internal gear ring. Both the first gear and the second gear are rotatably connected to the mounting base; wherein, the first gear includes a first meshing section and a second meshing section arranged opposite to each other along its own axial direction, and the first meshing section is meshed with the first wheel-side internal gear ring; the second gear includes a third meshing section and a fourth meshing section arranged opposite to each other along its own axial direction, the third meshing section is meshed with the second meshing section, and the fourth meshing section is meshed with the second wheel-side internal gear ring; The mounting base includes a connecting block, and a first support plate and a second support plate arranged in a staggered manner, wherein... The connecting block is connected to the inner wall of the housing; Both the first support plate and the second support plate protrude from the inner wall of the connecting block. The first support plate has a first bearing hole for mounting the first bearing, and the second support plate has a second bearing hole for mounting the second bearing. The first bearing hole is fitted with the first bearing, and the second bearing hole is fitted with the second bearing. Both the first gear and the second gear are gear shaft structures. The gear shaft of the first gear is installed in the first bearing hole, and the gear shaft of the second gear is installed in the second bearing hole. The second wheel-side internal gear ring includes an inner sleeve, an outer gear ring, and a connecting assembly connecting the inner sleeve and the outer gear ring. The inner sleeve is disposed inside the outer gear ring and sleeved on the outer peripheral wall of the output shaft of the drive mechanism through a third bearing. The inner sleeve has a connecting portion and a protruding portion arranged along its own extension direction. The connecting portion is connected to the connecting assembly. The protruding portion extends from the connecting portion toward the outer picking head. The housing is connected to the outer peripheral wall of the protruding portion. The outer picking head is connected to the end of the protruding portion.

2. The fruit harvesting device according to claim 1, characterized in that, The housing is cylindrical, the inner cavity of the housing is cylindrical, and the connecting block is arc-shaped and matched with the inner wall of the housing.

3. The fruit harvesting device according to claim 1, characterized in that, The outer picking head includes a first picking roller assembly, a centering shaft, and a first mounting plate and a second mounting plate disposed opposite to each other at both ends of the first picking roller assembly, wherein... The first mounting plate is sleeved on the outer peripheral wall of the protrusion, the second mounting plate is cantilevered, the second mounting plate has a first through hole for the centering shaft to pass through, the second mounting plate is sleeved on the outer peripheral wall of the centering shaft, and the first picking roller assembly includes multiple first picking rollers arranged circumferentially along the first mounting plate, each first picking roller is connected between the first mounting plate and the second mounting plate.

4. The fruit harvesting device according to claim 3, characterized in that, The inner picking assembly includes a second picking roller assembly, a third mounting plate and a fourth mounting plate disposed opposite each other at both ends of the second picking roller assembly; wherein, The third mounting plate is sleeved on the outer peripheral wall of the output end of the drive mechanism and moves synchronously with the drive mechanism; the fourth mounting plate has a second through hole for the centering shaft to pass through, and the fourth mounting plate is sleeved on the outer peripheral wall of the centering shaft and located inside the second mounting plate; The second picking roller assembly includes multiple second picking rollers arranged circumferentially along the third mounting plate. Each second picking roller is connected between the third mounting plate and the fourth mounting plate. The second picking rollers and the first picking rollers are arranged in a one-to-one correspondence, and a picking gap matching the fruit is formed between the second picking rollers and the first picking rollers.

5. The fruit harvesting device according to claim 4, characterized in that, The first picking roller and the first mounting plate and the second mounting plate are detachably connected, and / or the second picking roller and the third mounting plate and the fourth mounting plate are detachably connected.

6. The fruit harvesting device according to claim 1, characterized in that, The ratio of the number of teeth of the first gear to the number of teeth of the second gear is 1:1.

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