A fruit picking machine

Abstract

The present application provides a kind of forest fruit harvesting machine, including movable car body, basic support arm, rotating support arm and forest fruit picking assembly, rotating support arm is rotatably connected on basic support arm, forest fruit picking assembly includes first drive mechanism, outer picking assembly and inner picking assembly, inner picking assembly is connected with first drive mechanism and follows first drive mechanism synchronous motion, outer picking assembly 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 first drive mechanism and follows first drive mechanism synchronous motion, 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 assembly and outer picking head rotation, to outer picking head and the forest fruit between inner picking assembly are picked up.This application can greatly reduce the damage to fruit trees, picking efficiency and flexibility are high, can be flexibly adjusted to the fruit diameter of picking, picking angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit picking equipment, and particularly relates to a fruit picking machine. 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 great, 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 experience to the range in which most mature fruit trees can fall, and the picking is not targeted. For example, the unripe fruits are not easy to be shaken to fall 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 machine to solve or at least alleviate the above problems. SUMMARY

[0004] The main purpose of the present application is to provide a fruit picking machine to solve the technical problem that the damage to the fruit trees is too great 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 machine, which comprises a movable vehicle body, a basic support arm, a rotating support arm and a fruit picking assembly, the fruit picking assembly is connected with the rotating support arm, and wherein,

[0006] The basic support arm is connected to the side wall of the movable vehicle body;

[0007] The rotating support arm is rotatably connected to the basic support arm;

[0008] The fruit picking assembly comprises a first 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, and wherein,

[0009] The first driving mechanism is connected to one end of the rotating support arm away from the basic support arm; the inner picking assembly is connected with the first driving mechanism and moves synchronously with the first driving mechanism;

[0010] The outer picking assembly comprises a first wheel-side inner ring gear, a second wheel-side inner ring gear, a reversing assembly and an outer picking head, wherein the first wheel-side inner ring gear is sleeved on the output end of the first driving mechanism and moves synchronously with the first driving mechanism;

[0011] The second wheel-side inner ring gear is sleeved on the periphery of the output end of the first driving mechanism, the reversing assembly is connected between the first wheel-side inner ring gear and the second wheel-side inner ring gear, and the reversing assembly is used for transmitting power of the first wheel-side inner ring gear to the second wheel-side inner ring gear and reversing the rotation directions of the second wheel-side inner ring gear and the first wheel-side inner ring gear;

[0012] The outer picking head is connected with the second wheel-side inner ring gear and moves synchronously with the second wheel-side inner ring gear, and the inner picking assembly and the outer picking head rotate to pick fruits between the outer picking head and the inner picking assembly.

[0013] Preferably, the rotating support arm is rotatably connected to the base support arm through a rotating mechanism, and the rotating mechanism comprises a support frame, a worm mounting frame, a second driving mechanism, a worm and a worm wheel.

[0014] The support frame comprises a fixed part and a support part, the fixed part is fixedly connected to the peripheral wall of the base support arm, and the support part is located below the rotating support arm and has an installation space between the support part and the rotating support arm.

[0015] The worm mounting frame is connected to the support part and located in the installation space, the worm is rotatably mounted on the worm mounting frame, and the worm wheel is fixedly sleeved on the periphery of the rotating support arm and engaged with the worm; the second driving mechanism drives the worm to rotate to drive the worm wheel to rotate, so that the rotating support arm is rotatably connected to the base support arm.

[0016] Preferably, the worm mounting frame comprises an installation bottom plate and two support vertical plates spaced apart along the length direction of the installation bottom plate, the installation bottom plate is connected to the support part, and the worm is rotatably connected between the two support vertical plates.

[0017] Preferably, the support mechanism further comprises a first hinged plate, a hydraulic cylinder and a second hinged plate, wherein

[0018] The first hinged plate is fixed to the side wall of the movable vehicle body and located directly below the base support arm, the second hinged plate is fixed to the outer wall of the base support arm,

[0019] The hydraulic cylinder comprises a connecting end and a driving end arranged oppositely along the extending direction of the hydraulic cylinder, the connecting end is hinged to the first hinged plate, and the driving end is hinged to the second hinged plate.

[0020] Preferably, the second wheel-side inner 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 sleeved on the outer circumferential wall of the output end 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 first driving mechanism 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.

[0021] 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,

[0022] 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, each of the first picking rollers is connected between the first mounting disc and the second mounting disc.

[0023] 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,

[0024] the third mounting disc is sleeved on the outer circumferential wall of the output end of the first driving mechanism and synchronously moves with the first driving mechanism;

[0025] the fourth mounting disc is provided with a second through hole for the centering shaft to penetrate, 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,

[0026] the second picking roller assembly comprises a plurality of second picking rollers arranged at intervals along the circumference of the third mounting disc, each of the second picking rollers is connected between the third mounting disc and the fourth mounting disc, the second picking rollers and the first picking rollers are one-to-one correspondingly arranged, and a picking gap matched with the forest fruits is formed between the second picking rollers and the first picking rollers.

[0027] Preferably, the third mounting disc comprises a first disc body, a plurality of first radial adjusting assemblies arranged in one-to-one correspondence with the second picking rollers, the first radial adjusting assembly comprises a first radial adjusting plate and a first hoop plate, the first hoop plate is provided with a first waist-shaped hole extending along the extension direction of the first radial adjusting plate, and the position of the first radial adjusting plate in the first hoop plate is adjusted by a bolt penetrating through the first waist-shaped hole and abutting against the first radial adjusting plate.

[0028] The fourth mounting disc comprises a second disc body, a plurality of second radial adjusting assemblies arranged in one-to-one correspondence with the second picking rollers, the second radial adjusting assembly comprises a second radial adjusting plate and a second hoop plate, the second hoop plate is provided with a second waist-shaped hole extending along the extension direction of the second radial adjusting plate, and the position of the second radial adjusting plate in the second hoop plate is adjusted by a bolt penetrating through the second waist-shaped hole and abutting against the second radial adjusting plate.

[0029] Preferably, the inner picking assembly and the outer picking assembly both extend in the direction perpendicular to the rotating support arm.

[0030] Preferably, the reversing assembly comprises a mounting seat, a first gear and a second gear, wherein the mounting seat, the first wheel-side inner gear ring, the first gear and the second gear are all arranged in the inner cavity of the first driving mechanism; the mounting seat is connected to the inner wall of the machine shell and located between the first wheel-side inner gear ring and the second wheel-side inner gear ring.

[0031] The first gear and the second gear are both rotatably connected to the mounting seat; wherein the first gear comprises a first meshing section and a second meshing section oppositely arranged along the axial direction of the first gear, the first meshing section and the first wheel-side inner gear ring are meshingly connected; the second gear comprises a third meshing section and a fourth meshing section oppositely arranged along the axial direction of the second gear, the third meshing section and the second meshing section are meshingly connected, and the fourth meshing section and the second wheel-side inner gear ring are meshingly connected.

[0032] Compared with the prior art, the present application has the following beneficial effects:

[0033] The present application provides a kind of forest fruit harvesting machine, including movable car body, basic support arm, rotating support arm and forest fruit picking assembly, rotating support arm is rotatably connected on basic support arm, forest fruit picking assembly includes first drive mechanism, outer picking assembly and inner picking assembly, inner picking assembly is connected with first drive mechanism and follows first drive mechanism synchronous motion, outer picking assembly 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 first drive mechanism and follows first drive mechanism synchronous motion, 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 assembly and outer picking head rotation, to outer picking head and inner picking assembly between forest fruit picking.This application can greatly reduce the injury to fruit trees, picking efficiency and flexibility are high, can be flexibly adjusted to the fruit diameter of picking, picking angle. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to the structures shown in these drawings without creative labor for those skilled in the art.

[0035] Figure 1 It is an overall structure schematic diagram in an embodiment of the present application.

[0036] Figure 2 It is an enlarged schematic diagram of C in Figure 1

[0037] Figure 3 It is an enlarged schematic diagram of D in Figure 1

[0038] Figure 4 It is an overall structure schematic diagram in another view in an embodiment of the present application.

[0039] Figure 5 It is an overall structure schematic diagram in another view in an embodiment of the present application.

[0040] Figure 6 It is an enlarged schematic diagram of E in Figure 5

[0041] Figure 7 It is an overall structure schematic diagram in an embodiment of the present application.

[0042] Figure 8 It is an overall structure schematic diagram in another view in an embodiment of the present application.

[0043] ​​​Figure 9 A sectional view of the overall structure in an embodiment of the present application;

[0044] Figure 10 A sectional view of the overall structure in an embodiment of the present application; Figure 9 An enlarged view of A in FIG. 1;

[0045] Figure 11 A schematic view of the overall structure in an embodiment of the present application without the casing;

[0046] Figure 12 A sectional view of the overall structure in an embodiment of the present application; Figure 11 An enlarged view of B in FIG. 1;

[0047] Figure 13 A combined structure view of the second wheel-side inner ring gear and the third bearing in an embodiment of the present application;

[0048] Figure 14 A combined structure view of the second wheel-side inner ring gear and the third bearing in an embodiment of the present application from another perspective.

[0049] The purposes, functional features and advantages of the present application will be further explained with reference to the embodiments and the accompanying drawings.

[0050] Explanation of the reference signs:

[0051] 1, fruit picking assembly; 10, first driving mechanism; 110, output end of the first driving mechanism; 20, outer picking assembly; 210, first wheel-side inner ring gear; 220, second wheel-side inner ring gear; 221, inner sleeve; 2211, connecting part; 2212, protruding part; 222, outer ring gear; 223, connecting assembly; 224, third bearing; 231, casing; 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;

[0052] 30, inner picking assembly; 310, second picking roller; 320, third mounting disc; 321, first disc body; 322, first radial adjustment assembly; 3221, first radial adjustment plate; 3222, first hoop plate; 330, fourth mounting disc; 331, second disc body; 332, second radial adjustment assembly; 3321, second radial adjustment plate; 3322, second hoop plate; 340, picking gap; 40, movable vehicle body; 50, base support arm; 60, rotating support arm; 70, rotating mechanism; 710, support frame; 711, fixed part; 712, support part; 713, mounting space; 720, worm mounting frame; 721, mounting bottom plate; 722, support vertical plate; 730, worm; 740, worm gear; 80, support mechanism; 810, first hinged plate; 820, hydraulic cylinder; 830, second hinged plate. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are merely exemplary and do not limit the present application.

[0054] 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 other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0055] It should be noted that all the directionality 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 components in a certain specific posture (as described in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0056] In addition, the description of “first”, “second” and the like in the present application is 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 with “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 a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, 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.

[0057] Please refer to the drawings Figures 1 to 14In an embodiment, the fruit picking machine comprises a movable vehicle body 40, a base support arm 50, a rotating support arm 60, and a fruit picking assembly 1, wherein the fruit picking assembly 1 is connected to the rotating support arm 60; the movable vehicle body 40 can reach a target picking position by controlling the moving position of the movable vehicle body 40; the movable vehicle body 40 can adopt an existing mature technology, which is not described herein.

[0058] The base support arm 50 is connected to the side wall of the movable vehicle body 40; specifically, the base support arm 50 can be fixedly connected to the side wall of the movable vehicle body 40, or can be hingedly connected to the movable vehicle body 40 and then supported by the support mechanism 80 described below; in addition, the base support arm 50 and the rotating support arm 50 preferably adopt an upwardly inclined extension form to adapt to the height of the fruit tree. In the overall height adjustment mode, the height of the movable vehicle body 40 can be changed, or the base support arm 50 can be set in a length-adjustable manner to adapt to the height of different fruit trees or different height positions of the same fruit tree.

[0059] The rotating support arm 60 is rotatably connected to the base support arm 50; as a preferred example, the base support arm 50 and the rotating support arm 60 both adopt a tubular form, as shown in Figure 1 The rotating support arm 60 can extend into the base support arm 50 and rotate in the base support arm 50.

[0060] The fruit picking assembly 1 comprises a first driving mechanism 10, an outer picking assembly 20, and an inner picking assembly 30, wherein the rotation directions of the outer picking assembly 20 and the inner picking assembly 30 are opposite.

[0061] The first driving mechanism 10 is connected to the rotating support arm 60 at an end away from the base support arm 50; the inner picking assembly 30 is connected to the first driving mechanism 10 and moves synchronously with the first driving mechanism 10; preferably, the first driving mechanism adopts a driving motor, and the driving motor has a housing 231.

[0062] The outer picking assembly 20 comprises a first wheel-side inner ring gear 210, a second wheel-side inner ring gear 220, a reversing assembly (not shown in the figure), and an outer picking head 240, wherein the first wheel-side inner ring gear 210 is sleeved on the output end 110 of the first driving mechanism 10 and moves synchronously with the first driving mechanism 10;

[0063] The second wheel hub inner ring 220 is sleeved on the periphery of the output end 110 of the first driving mechanism, the reversing assembly is connected between the first wheel hub inner ring 210 and the second wheel hub inner ring 220, and the reversing assembly is used for transmitting power of the first wheel hub inner ring 210 to the second wheel hub inner ring 220 and reversing the rotating directions of the second wheel hub inner ring 220 and the first wheel hub inner ring 210. It should be noted that the second wheel hub inner ring 220 is sleeved on the periphery of the output end 110 of the first driving mechanism, that is, the second wheel hub inner 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 hub inner ring 220 to rotate.

[0064] The outer picking head 240 is connected with the second wheel hub inner ring 220 and moves synchronously with the second wheel hub inner ring 220, and rotates through the inner picking assembly 30 and the outer picking head 240 to pick fruits between the outer picking head 240 and the inner picking assembly 30.

[0065] Workflow: when fruit picking is needed, the movable vehicle body 40 is controlled to move under the target fruit tree, 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 hub inner 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 hub inner ring 220 is driven to rotate through the reversing assembly, and the outer picking head 240 connected with the second wheel hub inner ring 220 is driven to rotate, so that fruits between the outer picking head 240 and the inner picking assembly 30 are picked.

[0066] As a preferred embodiment, the rotating support arm 60 is rotatably connected to the base support arm 50 through a rotating mechanism 70, the rotating mechanism 70 comprises a support frame 710, a worm mounting frame 720, a second driving mechanism (not shown in the figure), a worm 730 and a worm wheel 740; wherein,

[0067] The support frame 710 comprises a fixed part 711 and a support part 712, the fixed part 711 is fixedly connected with the outer peripheral wall of the base support arm 50, the support part 712 is located below the rotating support arm 60, and the support part 712 has a mounting space 713 between the rotating support arm 60;

[0068] The worm mounting frame 720 is connected to the support part 712 and located in the mounting space 713, the worm 730 is rotatably mounted on the worm mounting frame 720, the worm gear 740 is fixedly sleeved on the outer periphery of the rotating support arm 60 and engaged with the worm 730; the second driving mechanism drives the worm 730 to rotate to drive the worm gear 740 to rotate, so as to drive the rotating support arm 60 to be rotatably connected to the base support arm 50.

[0069] Specifically, when the picking angle of the fruit picking assembly 1 needs to be adjusted, the rotating angle of the fruit picking assembly 1 around the base support arm 50 can be realized by the rotating mechanism 70, the second driving mechanism is started to drive the worm 730 to rotate to drive the worm gear 740 to rotate, so as to drive the rotating support arm 60 to be rotatably connected to the base support arm 50. Since the fruit picking assembly 1 is connected to the rotating support arm 60, the whole fruit picking assembly 1 can be rotated, thereby increasing the picking angle range and improving the picking applicability.

[0070] Further, the worm mounting frame 720 comprises a mounting bottom plate 721 and two support vertical plates 722 spaced apart along the length direction of the mounting bottom plate 721, the mounting bottom plate 721 is connected to the support part 712, and the worm 730 is rotatably connected between the two support vertical plates 722. Further, a bearing hole for bearing installation can be formed in each support vertical plate 722, and a bearing for worm 730 installation is installed in the bearing hole, so as to realize the rotatable connection of the worm 730 between the two support vertical plates 722.

[0071] As another preferred embodiment, a support mechanism 80 for supporting the base support arm 50 is further included, the support mechanism 80 comprises a first hinged plate 810, a hydraulic cylinder 820 and a second hinged plate 830, wherein the first hinged plate 810 is fixed on the side wall of the movable vehicle body 40 and located directly below the base support arm 50, the second hinged plate 830 is fixed on the outer wall of the base support arm 50, and the hydraulic cylinder 820 comprises a connecting end (not marked in the figure) and a driving end (not marked in the figure) oppositely arranged along the extension direction thereof, the connecting end is hinged with the first hinged plate 810, and the driving end is hinged with the second hinged plate 830.

[0072] Specifically, by arranging the support mechanism 80, the overall strength of the base support arm 50 can be improved. In another preferable example, the base support arm 50 is hinged with the movable vehicle body 40, and by controlling the extension stroke of the driving end of the hydraulic cylinder 820, the included angle between the base support arm 50 and the side wall of the movable vehicle body 40 can be adjusted, so as to adjust the overall picking height within a certain range.

[0073] 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 end 110 of the driving mechanism 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 first driving mechanism 10 is connected with the outer circumferential wall of the protruding portion 2212, and the outer picking head 240 is connected with the end of the protruding portion 2212.

[0074] 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.

[0075] 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 two ends of the first picking roller assembly respectively, wherein,

[0076] 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.

[0077] Further, 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 two ends of the second picking roller assembly respectively; wherein,

[0078] the third mounting disc 320 is sleeved on the outer circumferential wall of the output end 110 of the first driving mechanism and moves synchronously with the first driving mechanism 10;

[0079] The fourth mounting disc 330 is provided with a second through hole for the centering shaft 242 to pass through, and the fourth mounting disc 330 is sleeved on the outer circumferential wall of the centering shaft 242 and located on the inner side of the second mounting disc 244,

[0080] The second picking roller assembly includes a plurality of second picking rollers 310 arranged at intervals along the circumference of the third mounting disc 320, each of the second picking rollers 310 is connected between the third mounting disc 320 and the fourth mounting disc 330, the second picking rollers 310 and the first picking rollers 241 are arranged one by one, and the second picking rollers 310 and the first picking rollers 241 form picking gaps 340 matched with the forest fruits.

[0081] 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.

[0082] Further, the tooth number ratio of the first gear 233 and the second gear 234 is 1:1. In a preferred example, the first tooth number and the second tooth number ratio is 1:1, the tooth number ratio of the first wheel edge inner tooth ring 210 and the second wheel edge inner tooth ring 220 is 1:1, and the tooth number of the first wheel edge inner tooth ring 210 is greater than the tooth number of the first gear 233, the tooth number of the second wheel edge inner tooth ring 220 is greater than the tooth number of the second gear 234, the driving mechanism is a driving motor, and in combination Figure 10As shown, the rotation speed of the driving motor is same as that of the first wheel rim inner ring 210, and the second gear 234 is driven to rotate after acceleration by the first gear 233, 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 and moves synchronously with the driving mechanism, the outer picking head 240 is connected with the second wheel rim inner ring 220 and moves synchronously with the second wheel rim inner ring 220, so that the rotation direction of the outer picking assembly 20 and the inner picking assembly 30 is opposite and they can rotate at the same speed, which is more helpful for picking forest fruits. In other embodiments, the 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.

[0083] As a preferred embodiment, the third mounting disc 320 comprises a first disc body 321 and a plurality of first radial adjustment assemblies 322 corresponding to the second picking roller 310, the first radial adjustment assembly 322 comprises a first radial adjustment plate 3221 and a first hoop plate 3222, the first hoop plate 3222 is provided with a first waist-shaped hole (not marked in the figure) extending along the extension direction of the first radial adjustment plate 3221, and the first waist-shaped hole is penetrated by a bolt abutting against the first radial adjustment plate 3221 to adjust the position of the first radial adjustment plate 3221 in the first hoop plate 3222.

[0084] The fourth mounting disc 330 comprises a second disc body 331 and a plurality of second radial adjustment assemblies 332 corresponding to the second picking roller 310, the second radial adjustment assembly 332 comprises a second radial adjustment plate 3321 and a second hoop plate 3322, the second hoop plate 3322 is provided with a second waist-shaped hole (not marked in the figure) extending along the extension direction of the second radial adjustment plate 3321, and the second waist-shaped hole is penetrated by a bolt abutting against the second radial adjustment plate 3321 to adjust the position of the second radial adjustment plate 3321 in the second hoop plate 3322.

[0085] Specifically, by setting the first radial adjustment assembly 322 and the second radial adjustment assembly 332, when it is necessary to adjust different types of fruit trees, for example, from camellia oleifera fruit to apple picking (i.e. from small fruit diameter to large fruit diameter picking), at this time, the first radial adjustment plate 3221 can be adjusted inward along the radial direction of the first disc body 321, and the second radial adjustment plate 3321 can be adjusted inward along the radial direction of the second disc body 331, so that the interval distance between the first picking roller 241 and the second picking roller 310 can be adjusted, and then the adjustment of adapting to the change of different fruit diameter sizes is realized. After adjustment, the first radial adjustment plate 3221 is locked by abutting against the first radial adjustment plate 3221 through the bolt penetrating the first waist-shaped hole, and the second radial adjustment plate 3321 is locked by abutting against the second radial adjustment plate 3321 through the bolt penetrating the second waist-shaped hole, so as to complete the adjustment.

[0086] As a preferred embodiment, the reversing assembly comprises a mounting seat 232, a first gear 233 and a second gear 234, wherein the mounting seat 232, the first wheel side inner ring gear 210, the first gear 233 and the second gear 234 are all arranged in the inner cavity of the first driving mechanism 10; the mounting seat 232 is connected to the inner wall of the machine shell 231 and located between the first wheel side inner ring gear 210 and the second wheel side inner ring gear 220.

[0087] The first gear 233 and the second gear 234 are both rotatably connected to the mounting seat 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) oppositely arranged along the axial direction of the first gear 233, the first meshing section is meshingly connected with the first wheel side 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) oppositely arranged 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 side inner ring gear 220.

[0088] As a preferred embodiment, the mounting seat 232 comprises a connecting block 2321, a first support plate 2322 and a second support plate 2323, wherein the connecting block 2321 is connected with the inner wall of the machine shell 231, the first support plate 2322 and the second support plate 2323 are both protruded on the inner wall of the connecting block 2321, the first support plate 2322 is provided with a first bearing hole for installing a first bearing, the second support plate 2323 is provided with a second bearing hole for installing a second bearing, the first bearing hole is installed with the first bearing, and the second bearing hole is installed with the second bearing, the first gear 233 and the second gear 234 are both gear shaft structures, the gear shaft of the first gear 233 is installed in the first bearing hole, and the gear shaft of the second gear 234 is installed in the second bearing hole.

[0089] Further, the inner picking assembly 30 and the outer picking assembly 20 both extend in the direction perpendicular to the rotating support arm 60.

[0090] Workflow: When picking fruits, the fruit picking machine can be moved to the target position, the first driving mechanism 10 is started to rotate, the third mounting disc 320 connected to the output end 110 of the first driving mechanism is rotated, and the second picking roller assembly is rotated, and the first rim inner ring gear 210 is rotated, the first rim inner ring gear 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 rim inner ring gear 220 to rotate, and the first mounting disc 243 connected to the second rim inner ring gear 220 is rotated, and the first picking roller assembly is rotated, and the first gear 233 and the second gear 234 change the direction of rotation, so that the rotation directions of the first picking roller assembly and the second picking roller assembly are opposite, forming a relative extrusion structure, for example, when picking tea fruits, the fruit picking machine can be moved to the lower side of the tea fruits, and the first picking roller assembly and the second picking roller assembly are rotated, so that the fruits between the first picking roller assembly and the second picking roller assembly can be easily extruded and picked, the picking efficiency is high, the damage to the fruit trees is small, and the picking process can be observed in real time, and the picking can be targeted.

[0091] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, which is based on the content of the specification and drawings of the present application, is also included in the patent protection scope of the present application.

Claims

1. A tree fruit harvester, characterized in that, The fruit picking device comprises a movable vehicle body, a base support arm, a rotating support arm and a fruit picking assembly, wherein the fruit picking assembly is connected to the rotating support arm. The base support arm is connected to the side wall of the movable vehicle body. The rotating support arm is rotatably connected to the base support arm. The fruit picking assembly comprises a first driving mechanism, an outer picking assembly and an inner picking assembly, wherein the rotation directions of the outer picking assembly and the inner picking assembly are opposite. The first driving mechanism is connected to the end of the rotating support arm away from the base support arm. The inner picking assembly is connected to the first driving mechanism and moves synchronously with the first driving mechanism. The outer picking assembly comprises a first wheel-side inner ring gear, a second wheel-side inner ring gear, a reversing assembly and an outer picking head, wherein the first wheel-side inner ring gear is sleeved on the output end of the first driving mechanism and moves synchronously with the first driving mechanism. The second wheel-side inner ring gear is sleeved on the outer periphery of the output end of the first driving mechanism. The reversing assembly is connected between the first wheel-side inner ring gear and the second wheel-side inner ring gear. The reversing assembly is used for transmitting the power of the first wheel-side inner ring gear to the second wheel-side inner ring gear and making the rotation directions of the first wheel-side inner ring gear and the second wheel-side inner ring gear opposite. The outer picking head is connected to the second wheel-side inner ring gear and moves synchronously with the second wheel-side inner ring gear. The outer picking head and the inner picking assembly are rotated by the inner picking assembly and the outer picking head to pick the fruits between the outer picking head and the inner picking assembly. The second wheel-side inner 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 on the inner side of the outer ring gear and is sleeved on the outer peripheral wall of the output end of the first driving mechanism through a third bearing. The inner sleeve has a connecting portion and a protruding portion arranged along the extension direction of the inner sleeve. The connecting portion is connected to the connecting assembly. The protruding portion extends from the connecting portion towards the outer picking head. The first driving mechanism is connected to the outer peripheral wall of the protruding portion. The outer picking head is connected to the end portion of the protruding portion. The reversing assembly comprises a mounting seat, a first gear and a second gear. The mounting seat, the first wheel-side inner ring gear, the first gear and the second gear are arranged in the inner cavity of the first driving mechanism. The mounting seat is connected to the inner wall of the first driving mechanism and is located between the first wheel-side inner ring gear and the second wheel-side inner ring gear. The first gear and the second gear are rotatably connected to the mounting seat. The first gear comprises a first meshing section and a second meshing section arranged opposite along the axial direction of the first gear. The first meshing section is meshingly connected to the first wheel-side inner ring gear. The second gear comprises a third meshing section and a fourth meshing section arranged opposite along the axial direction of the second gear. The third meshing section is meshingly connected to the second meshing section. The fourth meshing section is meshingly connected to the second wheel-side inner ring gear. The rotating support arm is rotatably connected to the base support arm through a rotating mechanism, and the rotating mechanism comprises a support frame, a worm mounting frame, a second driving mechanism, a worm and a worm wheel. The support frame comprises a fixed part and a support part, the fixed part is fixedly connected to the outer wall of the base support arm, and the support part is located below the rotating support arm and has an installation space between the support part and the rotating support arm. The worm mounting frame is connected to the support part and located in the installation space, the worm is rotatably mounted on the worm mounting frame, and the worm wheel is fixedly sleeved on the outer wall of the rotating support arm and engaged with the worm; the second driving mechanism drives the worm to rotate to drive the worm wheel to rotate, so that the rotating support arm is rotatably connected to the base support arm.

2. The fruit harvester of claim 1, wherein The worm mounting frame comprises an installation bottom plate and two support vertical plates which are spaced apart along the length direction of the installation bottom plate, the installation bottom plate is connected to the support part, and the worm is rotatably connected between the two support vertical plates.

3. The fruit picking machine according to any one of claims 1-2, characterized in that, The support mechanism for supporting the base support arm comprises a first hinged plate, a hydraulic cylinder and a second hinged plate. The first hinged plate is fixed to the side wall of the movable vehicle body and located directly below the base support arm, the second hinged plate is fixed to the outer wall of the base support arm, The hydraulic cylinder comprises a connecting end and a driving end which are oppositely arranged along the extension direction of the hydraulic cylinder, the connecting end is hinged to the first hinged plate, and the driving end is hinged to the second hinged plate.

4. The fruit harvester of claim 1, wherein The outer picking head comprises a first picking roller assembly, a centering shaft, a first mounting disc and a second mounting disc which are oppositely arranged at two ends of the first picking roller assembly. The first mounting disc is sleeved on the outer wall of the protruding part, 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 wall of the centering shaft, and the first picking roller assembly comprises a plurality of first picking rollers which are spaced apart along the circumference of the first mounting disc.

5. The fruit harvester of claim 4, wherein The inner picking assembly comprises a second picking roller assembly, a third mounting disc and a fourth mounting disc which are oppositely arranged at two ends of the second picking roller assembly. The third mounting disc is sleeved on the outer wall of the output end of the first driving mechanism and synchronously moves with the first driving mechanism. The fourth mounting disc is provided with a second through hole for the centering shaft to penetrate, the fourth mounting disc is sleeved on the outer wall of the centering shaft and located on the inner side of the second mounting disc, The second picking roller assembly comprises a plurality of second picking rollers which are spaced apart along the circumference of the third mounting disc, 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 one-to-one correspondingly arranged, and a picking gap matched with the forest fruits is formed between the second picking rollers and the first picking rollers.

6. The fruit harvester of claim 5, wherein, The third mounting disc comprises a first disc body, a plurality of first radial adjusting assemblies corresponding to the second picking rollers, the first radial adjusting assembly comprises a first radial adjusting plate and a first hoop plate, the first hoop plate is provided with a first waist-shaped hole extending along the extension direction of the first radial adjusting plate, and the position of the first radial adjusting plate in the first hoop plate is adjusted by penetrating the first waist-shaped hole with a bolt and abutting against the first radial adjusting plate; The fourth mounting disc comprises a second disc body, a plurality of second radial adjusting assemblies corresponding to the second picking rollers, the second radial adjusting assembly comprises a second radial adjusting plate and a second hoop plate, the second hoop plate is provided with a second waist-shaped hole extending along the extension direction of the second radial adjusting plate, and the position of the second radial adjusting plate in the second hoop plate is adjusted by penetrating the second waist-shaped hole with a bolt and abutting against the second radial adjusting plate.

7. The fruit harvester of claim 1, wherein, The inner picking assembly and the outer picking assembly extend in the direction perpendicular to the rotating support arm.

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