Eggplant picking device

Abstract

The eggplant picking device belongs to the technical field of eggplant picking, and comprises a clamping assembly and a scissors assembly, further comprises a horizontal moving frame assembly, a lifting frame assembly, a turnover assembly and an overturning assembly; the turnover assembly comprises a sliding seat; a camera for identifying eggplants is installed on the sliding seat; the overturning assembly comprises: a second worm wheel rotatably connected to the sliding seat; a connecting seat fixed to the sliding seat; a second worm rotatably connected to the connecting seat and engaged with the second worm wheel; an overturning motor installed on the connecting seat and used for driving the second worm to rotate; and a rack fixed to the second worm, wherein the clamping assembly and the scissors assembly are both installed on the rack. The picking device can adjust the distribution relationship between the clamping assembly and the scissors assembly to cope with eggplants with different growth potentials. Moreover, the picking device can pick eggplants planted in two planting areas on both sides of a passageway respectively, without the need of additionally carrying one more picking device.

Description

Technical Field

[0001] This invention belongs to the field of fruit harvesting devices, specifically relating to an eggplant harvesting device. Background Technology

[0002] Application publication number CN116830901A discloses an intelligent eggplant harvesting machine. This intelligent eggplant harvesting machine includes a multi-degree-of-freedom robotic arm and a shearing device and a clamping device mounted on the robotic arm.

[0003] This device has several drawbacks during harvesting:

[0004] First, the existing cutting and clamping devices are arranged one above the other; the only eggplant growth posture they can handle is with the stem above and the fruit below. In nature, most eggplants grow in this posture. However, there are a few eggplants where the stem and fruit grow horizontally or at an angle (the fruit forms an acute angle with the ground, rather than being perpendicular). Existing cutting and clamping devices with an up-and-down arrangement cannot cut eggplants with this posture.

[0005] Second, the distance between the shearing device and the clamping device must not change. Eggplants whose length is less than the distance between the shearing device and the clamping device cannot be sheared. Summary of the Invention

[0006] The eggplant harvesting device of the present invention can handle both horizontally growing and vertically growing eggplants; moreover, it can adjust the spacing between the cutting and clamping parts.

[0007] To achieve the above objectives, the eggplant harvesting device of the present invention includes a clamping assembly and a scissor assembly, and further includes a horizontal moving frame assembly, a lifting frame assembly, a flipping assembly, and an inverting assembly; the horizontal moving frame assembly is used to drive the flipping assembly and the inverting assembly to move horizontally; the lifting frame assembly is used to drive the flipping assembly and the inverting assembly to move up and down; the flipping assembly is used to drive the inverting assembly to rotate; the horizontal moving frame assembly is connected to the lifting frame assembly via a mounting frame; the flipping assembly includes a sliding seat; a camera for identifying eggplants is mounted on the sliding seat; the inverting assembly includes: a second worm gear rotatably connected to the sliding seat; a connecting seat fixed to the sliding seat; a second worm gear rotatably connected to the connecting seat and meshing with the second worm gear; an inverting motor mounted on the connecting seat for driving the second worm gear to rotate; and a rack fixed to the second worm gear, with both the clamping assembly and the scissor assembly mounted on the rack.

[0008] Further, the flipping assembly includes: a support frame; a mounting base fixed to the support frame; a first worm gear rotatably connected to the mounting base; a first worm wheel rotatably connected to the support frame, the first worm wheel meshing with the first worm gear; a flipping motor mounted on the mounting base for driving the first worm gear to rotate; a fixed base fixed to the first worm gear, a sliding seat slidably disposed on the fixed base; a second threaded rod rotatably connected to the fixed base and threadedly connected to the sliding seat; and a transverse motor mounted on the fixed base for driving the second threaded rod to rotate.

[0009] The clamping and scissor components can be rotated 180 degrees by using a flip component. After rotating 180 degrees, the clamping and scissor components are inverted, and their distribution position can be adjusted by using another flip component. This 180-degree rotation of the clamping and scissor components via the flip component allows for separate harvesting from two adjacent planting areas.

[0010] Furthermore, the clamping assembly or scissor assembly includes: a first movable block, movably mounted on the rack and capable of moving along the length of the rack; a first displacement motor mounted on the first movable block; a first displacement gear meshing with the rack; the first displacement motor driving the first displacement gear to rotate; a clamping block fixed on the first movable block; a clamping screw rotatably connected to the clamping block; a clamping motor for driving the clamping screw to rotate; two clamping parts rotatably connected to the clamping block respectively; a driving block, movably mounted on the first movable block and moving along the axis of the clamping screw; and a connecting rod rotatably connected at both ends to the clamping parts and the driving block respectively.

[0011] The first displacement motor can move the clamping component or the scissor component along the length of the rack. This allows the clamping component and the scissor component to move closer to or further apart from each other. When encountering eggplants of different sizes, the clamping component and the scissor component can move closer and further apart to always be able to handle eggplants of different sizes.

[0012] Furthermore, the transverse frame assembly includes: a vertical frame, standing on the ground; two connecting wheels, located at both ends of the vertical frame and rotatably connected to the vertical frame; a belt, simultaneously sleeved on the two connecting wheels and meshing with them; a transverse frame, movably mounted on the vertical frame and fixedly connected to one side of the belt; a mounting frame fixed on the transverse frame; and a travel motor, mounted on the vertical frame, used to drive one of the connecting wheels to rotate.

[0013] Instead of using a trolley to drive the entire device, it is driven by a transverse frame assembly. This avoids the shaking of the trolley caused by the rough and bumpy road surface in the planting area, allowing the entire device to remain stable and making eggplant harvesting more stable.

[0014] Furthermore, the lifting frame assembly includes: a lifting plate, which is movably mounted on the mounting frame and can move vertically along the mounting frame; two first threaded rods, which are rotatably connected to the mounting frame and threadedly connected to the lifting plate; two gears, which are respectively sleeved and fixed on the corresponding first threaded rods; a chain, which is simultaneously sleeved on the two gears and meshes with the two gears; and a lifting motor, which is mounted on the mounting frame and is used to drive one of the first threaded rods to rotate.

[0015] The height of the clamping and scissor components can be adjusted so that they can reach eggplants of different heights.

[0016] Furthermore, a collection frame assembly is installed on the mounting frame, the collection frame assembly including: a collection frame, fixed on the mounting frame; an opening on the collection frame; an opening / closing plate, hinged to the collection frame; a drive rod, rotatably connected to the collection frame; a slider, movably mounted on the collection frame, movable along the axis of the drive rod, and threadedly connected to the drive rod; a second connecting rod, one end of which is rotatably connected to the opening / closing plate, and the other end of which is rotatably connected to the slider; and an opening / closing motor, installed on the collection frame, used to rotate the drive rod.

[0017] During collection, the eggplant is directly collected by the collection box component, which works in conjunction with the flipping component. After the flipping component rotates, the clamping component moves closer to the collection box component, and then the clamping component releases the eggplant, allowing it to fall into the collection box.

[0018] Beneficial effects:

[0019] First, this device incorporates an inverting component, allowing the clamping and scissor components to be positioned horizontally, rather than one above the other. This enables harvesting of eggplants with unusual growth patterns, such as those growing horizontally at an angle, where the fruit is horizontal and the stem is vertical. Existing technologies only work for eggplants with both fruit and stem growing vertically, thus failing to address the challenges posed by different growth patterns. This device overcomes these limitations.

[0020] Second, this device incorporates a rack, allowing the clamping and scissor components to move along the length of the rack, thus bringing them closer together or further apart. This enables it to clamp eggplants of varying lengths and sizes. In existing technologies, the distance between the clamping and scissor components is not adjustable, limiting their ability to clamp eggplants of a specific size. If the eggplant is smaller than the distance between the clamping and scissor components, existing technologies cannot harvest it.

[0021] Third, a flipping component is installed, which allows the clamping component and the scissor component to rotate 180 degrees as a whole. After rotating 180 degrees, the clamping component and the scissor component are reversed. Then, by using the flipping component, the scissor component and the clamping component are rotated 180 degrees to restore their original one-up-one-down configuration. This flipping component allows for the harvesting of eggplants in both planting areas on both sides of the aisle.

[0022] Fourth, a horizontal moving frame assembly is installed, allowing for horizontal displacement unaffected by uneven or potholed aisle surfaces. The bottom of the entire collection frame assembly is suspended, moving solely via the horizontal moving frame. Because the upright frame is horizontal, the horizontal moving frame also moves horizontally. The entire device operates more stably compared to using a trolley to travel on the ground. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the device;

[0024] Figure 2 This is a schematic diagram of the clamping assembly.

[0025] 10. Horizontal movement frame assembly; 101. Vertical frame; 102. Belt; 103. Horizontal movement frame; 104. Travel motor; 2. Mounting frame;

[0026] 20. Lifting frame assembly; 201. Lifting plate; 202. First threaded rod; 203. Gear; 204. Chain; 205. Lifting motor;

[0027] 30. Tilting assembly; 301. Support frame; 302. Mounting base; 303. First worm gear; 304. First worm wheel; 305. Fixed base; 306. Sliding base; 307. Second threaded rod; 308. Transverse motor; 309. Tilting motor;

[0028] 40. Inverting assembly; 401. Second worm gear; 402. Connecting seat; 403. Second worm; 404. Inverting motor; 405. Rack;

[0029] 50. Clamping assembly; 501. First moving block; 502. First displacement motor; 503. First displacement gear; 504. Clamping motor; 505. Clamping block; 506. Clamping screw; 507. Clamping part; 508. Drive block; 509. Connecting rod one;

[0030] 60. Scissors assembly;

[0031] 70. Collection box assembly; 701. Collection box; 702. Opening and closing plate; 703. Drive rod; 704. Slider; 705. Connecting rod two; 706. Opening and closing motor. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1 and Figure 2 An eggplant harvesting device includes a horizontal moving frame assembly 10, a mounting frame 2, a lifting frame assembly 20, a collecting frame assembly 70, a flipping assembly 30, an inverting assembly 40, a clamping assembly 50, and a scissor assembly 60.

[0034] The transverse frame assembly 10 includes:

[0035] The support frame 101 stands on the ground, located in the passageway between two adjacent eggplant planting areas, and is set parallel to the length of the passageway. The support frame 101 is set horizontally. Vertical poles are provided at both ends of the support frame 101, which are hidden in the diagram.

[0036] Two connecting wheels (not shown) are rotatably connected to both ends of the upright 101, with their axes arranged vertically. A travel motor 104 is mounted on one end of the upright 101, which drives one of the connecting wheels to rotate.

[0037] A belt 102 is fitted onto two connecting pulleys. The inner ring of the belt 102 has toothed grooves, and the outer wall of the connecting pulleys has teeth. The belt 102 meshes with the connecting pulleys.

[0038] The transverse frame 103 is movably mounted on the upright frame 101 and can move along the length of the upright frame 101. The transverse frame 103 is fixedly connected to only one side of the belt 102.

[0039] After the walking motor 104 drives the belt 102 to rotate, one side of the belt 102 will move along the length of the upright 101, while the other side of the belt 102 moves in the opposite direction. After the belt 102 on that side moves, the transverse frame 103, fixed to the belt 102 on that side, also moves along the length of the upright 101. The aforementioned mounting frame 2 is fixed to the lower side of the transverse frame 103 and moves with the transverse frame 103. The lifting frame assembly 20, the collecting frame assembly 70, the flipping assembly 30, the inverting assembly 40, the clamping assembly 50, and the scissor assembly 60 are all fixed to the mounting frame 2, and all of these components move with the mounting frame 2.

[0040] The lifting frame assembly 20 includes:

[0041] The lifting plate 201 is horizontally set and is movably locked onto the mounting frame 2, and can move vertically along the mounting frame 2.

[0042] Two first threaded rods 202 are rotatably connected to the mounting frame 2, with their axes arranged vertically. The two first threaded rods 202 are arranged side by side along the length of the upright 101, and the threads on the two first threaded rods 202 are in the same direction. Both first threaded rods 202 are threadedly connected to the lifting plate 201.

[0043] Two gears 203 are respectively fitted and fixed on the corresponding first threaded rods 202, with their axes coinciding with the axis of the first threaded rods 202.

[0044] The chain 204 is simultaneously mounted on and meshes with two gears 203. It drives the first threaded rod 202 to rotate, and the other first threaded rod 202 is linked with the two gears 203 and the chain 204.

[0045] The lifting motor 205 is mounted on the mounting frame 2 and is used to drive one of the first threaded rods 202 to rotate.

[0046] After the lifting motor 205 rotates one of the first threaded rods 202, the gear 203 on that first threaded rod 202 drives the other gear 203 to rotate via the chain 204, thereby rotating the other first threaded rod 202. Since both first threaded rods 202 are threadedly connected to the lifting plate 201, and the lifting plate 201 can only slide vertically, both first threaded rods 202 simultaneously drive the lifting plate 201 to rise and fall. The flipping assembly 30, inverting assembly 40, clamping assembly 50, and scissor assembly 60 are all directly or indirectly connected to the lifting plate 201, so the flipping assembly 30, inverting assembly 40, clamping assembly 50, and scissor assembly 60 all rise and fall along with the lifting plate 201.

[0047] The flip component 30 includes:

[0048] The support frame 301 is fixed to the upper surface wall of the lifting plate 201.

[0049] Mounting base 302 is fixed on support frame 301.

[0050] A first worm gear 303 is rotatably connected to a mounting base 302. The axis of the first worm gear 303 is set in the horizontal direction and perpendicular to the length direction of the upright frame 101. A tilting motor 309 for driving the first worm gear 303 to rotate is mounted on the mounting base 302.

[0051] The first worm gear 304 is rotatably connected to the support frame 301. The axis of the first worm gear 304 is horizontal and parallel to the length direction of the upright frame 101. The first worm gear 304 meshes with the first worm 303. The tilting motor 309 drives the first worm 303 to rotate, and the first worm 303 in turn drives the first worm gear 304 to rotate.

[0052] The fixed seat 305 is fixed on the first worm gear 304 and rotates with the rotation of the first worm gear 304.

[0053] A sliding seat 306 is movably mounted on a fixed seat 305, and the sliding seat 306 can slide relative to the fixed seat 305. Let P be the plane on which the sliding direction of the sliding seat 306 lies, where P is a vertical plane, and the first worm gear 303 is parallel to P. A camera for identifying eggplants is mounted on the sliding seat 306 (the camera is not shown in the figure).

[0054] The second threaded rod 307 is rotatably connected to the fixed seat 305, with its axis along the sliding direction of the sliding seat 306. The second threaded rod 307 is threadedly connected to the sliding seat 306.

[0055] A transverse motor 308, mounted on a fixed base 305, drives the second threaded rod 307 to rotate. In this embodiment, because the shaft of the transverse motor 308 is perpendicular to the axis of the second threaded rod 307, the transverse motor 308 and the second threaded rod 307 are driven by gears. Corresponding bevel gears are respectively provided on the shafts of the second threaded rod 307 and the transverse motor 308, and the transverse motor 308 drives the second threaded rod 307 through gear meshing.

[0056] The flipping motor 309 drives the first worm gear 303 to rotate, which in turn causes the first worm wheel 304 to rotate. Since the fixed base 305 is fixed to the first worm wheel 304, the fixed base 305 rotates along with the rotation of the first worm wheel 304. Because the inverting assembly 40, the clamping assembly 50, and the scissor assembly 60 are all connected to the fixed base 305 via the slider 704, these components can also rotate accordingly.

[0057] The transverse motor 308 rotates, driving the second threaded rod 307 to rotate. Because the sliding seat 306 is threadedly connected to the second threaded rod 307, and the sliding seat 306 can only slide along the fixed seat 305, the transverse motor 308 drives the sliding seat 306 to move via the second threaded rod 307. The inverting assembly 40, the clamping assembly 50, and the scissor assembly 60 can all move along with the sliding seat 306.

[0058] Inverted component 40 includes:

[0059] The second worm gear 401 is rotatably connected to the sliding seat 306, and its rotation axis is parallel to the moving direction of the sliding seat 306.

[0060] Connector 402 is fixed on slide 306;

[0061] The second worm 403 is rotatably connected to the connecting seat 402. Its axis of rotation is horizontal and perpendicular to the axis of the first worm 303. The second worm 403 meshes with the second worm wheel 401.

[0062] The inverted motor 404 is mounted on the connecting seat 402 and is used to drive the second worm gear 403 to rotate.

[0063] A rack 405 is fixed to the second worm gear 401, and the length direction of the rack 405 is arranged along the radial direction of the second worm gear 401. Both the clamping assembly 50 and the scissor assembly 60 are mounted on the rack 405. Both the clamping assembly 50 and the scissor assembly 60 are movable along the length direction of the rack 405.

[0064] The inverting motor 404 drives the second worm gear 403 to rotate. Since the second worm gear 403 meshes with the second worm wheel 401, it drives the second worm wheel 401 to rotate. Because the second worm wheel 401 is fixedly connected to the rack 405, its rotation causes the rack 405 to rotate as well. The clamping assembly 50 and the scissor assembly 60, being mounted on the rack 405, rotate along with it.

[0065] like Figure 2 The clamping assembly 50 includes:

[0066] The first moving block 501 is movably mounted on the rack 405 and can move along the length of the rack 405.

[0067] The first displacement motor 502 is mounted on the first moving block 501.

[0068] The first displacement gear 503 meshes with the rack 405. The first displacement motor 502 drives the first displacement gear 503 to rotate. Because the first displacement motor 502 drives the first displacement gear 503 to rotate, and the first displacement gear 503 meshes with the rack 405, and since the rack 405 is fixed, the first displacement block and the first displacement motor 502, as a whole, move self-driven along the length direction of the rack 405.

[0069] The clamping motor 504 is mounted on the first moving block 501.

[0070] The clamping block 505 is fixed on the first moving block 501.

[0071] The clamping screw 506 is rotatably connected to the clamping block 505. It is driven to rotate by the clamping motor 504. The clamping motor, as described above, drives the clamping screw 506 to rotate via bevel gear linkage. The axis of the clamping screw 506 is horizontal and perpendicular to the length direction of the rack 405.

[0072] Two clamping parts 507 are rotatably connected to the clamping block 505 by means of a shaft.

[0073] The drive block 508 is movably mounted on the first moving block 501 and moves along the axis of the clamping screw 506.

[0074] Connecting rod 509 is rotatably connected at one end to clamping part 507 via shaft 2, and at the other end to drive block 508 via shaft 3. The axes of shaft 1, shaft 2 and shaft 3 are all parallel to the length direction of rack 405.

[0075] The structure of the scissor assembly 60 is exactly the same as that of the clamping assembly 50. The scissor assembly 60 uses a scissor part instead of the clamping part 507 of the clamping assembly 50.

[0076] The first displacement motor 502 drives the first displacement gear 503 to rotate. Since the first displacement gear 503 meshes with the rack 405, and the rack 405 is fixed, the first displacement gear 503 will rotate and generate displacement along the length direction of the rack 405. Thus, the first displacement gear 503, the first displacement motor 502, and the first moving block 501 as a whole will generate displacement along the length direction of the rack 405, so that the clamping assembly 50 or the scissor assembly 60 can move along the length direction of the rack 405.

[0077] The clamping motor 504 drives the clamping screw 506 to rotate. The drive block 508, being threadedly connected to the clamping screw 506 and only able to move along the axis of the clamping screw 506, causes the drive block 508 to move along the axis of the clamping screw 506. The clamping block 505, via connecting rod 509, causes the two clamping parts 507 to rotate around axis 1, thus bringing the two clamping parts 507 closer together or separating them, achieving the clamping and releasing of the eggplant. Similarly, the scissor parts are used to cut the connection between the eggplant and the eggplant plant.

[0078] Collection box component 70 includes:

[0079] The collection frame 701 is fixed below the mounting frame 2; the two sides of the collection frame 701 perpendicular to the length direction of the upright frame 101 are open.

[0080] Two hinged plates 702 are hinged at their lower ends to the collection frame 701 and are located on both sides of the opening of the collection frame 701 respectively; the direction of the hinge axis is horizontal and parallel to the length direction of the upright 101.

[0081] Two drive components are used to drive the rotation of the two opening and closing plates 702, respectively. The drive components include:

[0082] The drive rod 703 is rotatably connected to the collection frame 701, and its axis is perpendicular to the length direction of the upright 101.

[0083] The slider 704 is movably mounted on the collection frame 701, and its sliding direction is parallel to the axis of the drive rod 703. The drive rod 703 is threadedly connected to the slider 704.

[0084] Linkage 2 705 is rotatably connected at one end to the opening / closing plate 702 via a shaft, and at the other end to the slider 704 via a shaft. The axes of both ends of linkage 2 705 are horizontal and perpendicular to the axis of the drive rod 703.

[0085] An opening and closing motor 706 is fixed on a collection frame 701 and is used to rotate a drive rod 703.

[0086] The opening and closing motor 706 rotates, driving the drive rod 703 to rotate. Since the drive rod 703 is threadedly connected to the slider 704, and the slider 704 can only move along the axis of the drive rod 703, the slider 704 moves along the axis of the drive rod 703 under the action of the drive rod 703. The slider 704, through the connecting rod 705, causes the opening and closing plate 702 to rotate around the hinge axis, thereby realizing the opening and closing of the two sides of the collection frame 701. The aforementioned clamping assembly 50 will then rotate the clamping assembly 50 to the open position via the flipping motor 309, thus placing the clamped eggplant into the collection frame 701.

[0087] The difference between this solution and existing technologies is:

[0088] 1. The inverted motor causes the clamping and shearing components to rotate. This accommodates various eggplant postures on the plant, not just vertically growing eggplants. In actual eggplant growth, some eggplants grow horizontally, with their length along a horizontal direction. The existing intelligent eggplant harvesting device disclosed in CN116830901A can only clamp vertically growing eggplants; it cannot cut horizontally growing eggplants. However, in this solution, by inverting the components, the clamping and shearing components are positioned horizontally, unlike the top-bottom arrangement in existing technologies. This prevents the clamping component from being directly below the shearing component, thus addressing the needs of horizontally growing eggplants.

[0089] Second, if it is desired to harvest eggplants from both sides of the aisle simultaneously, the motor needs to be flipped to rotate the clamping and shearing components 180 degrees around the axis of the first worm gear. Simultaneously, reversing the motor also causes the clamping and shearing components to rotate 180 degrees around the axis of the second worm gear. Current technology cannot harvest eggplants from both sides of the aisle simultaneously.

[0090] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An eggplant harvesting device, comprising a clamping assembly and a scissor assembly, characterized in that, It also includes a horizontal moving frame assembly, a lifting frame assembly, a tilting assembly, and an inverting assembly; the horizontal moving frame assembly is used to drive the tilting assembly and the inverting assembly to move horizontally; the lifting frame assembly is used to drive the tilting assembly and the inverting assembly to lift and lower; the tilting assembly is used to drive the inverting assembly to rotate. The transverse frame assembly is connected to the lifting frame assembly via a mounting frame; The flipping assembly includes a sliding base; a camera for identifying eggplants is mounted on the sliding base. The inverted component includes: The second worm gear is rotatably connected to the sliding seat; The connecting seat is fixed on the sliding seat; The second worm is rotatably connected to the connecting seat and meshes with the second worm wheel; An inverted motor, mounted on a connecting bracket, is used to drive the second worm gear to rotate; A rack is fixed to the second worm gear, and both the clamping assembly and the scissor assembly are mounted on the rack; the flipping assembly includes: Support frame; Mounting base, fixed on the support frame; The first worm gear is rotatably connected to the mounting base; The first worm gear is rotatably connected to the support frame, and the first worm gear meshes with the first worm. A flip motor, mounted on a mounting base, is used to drive the first worm gear to rotate; A fixed seat is fixed on the first worm gear, and a sliding seat is slidably mounted on the fixed seat. The second threaded rod is rotatably connected to the fixed seat and threadedly connected to the sliding seat. A transverse motor, mounted on a fixed base, is used to drive the second threaded rod to rotate.

2. The eggplant harvesting device according to claim 1, characterized in that, The clamping assembly or the scissor assembly both include: The first movable block is movably mounted on the rack and can move along the length of the rack. The first displacement motor is mounted on the first moving block; The first displacement gear meshes with the rack; the first displacement motor drives the first displacement gear to rotate. The clamping block is fixed to the first movable block; The clamping screw is rotatably connected to the clamping block; Clamping motor, used to drive the clamping screw to rotate; Two clamping parts are rotatably connected to the clamping block; The drive block is movably mounted on the first moving block and moves along the axis of the clamping screw; Linkage 1 is rotatably connected at both ends to the clamping part and the drive block, respectively.

3. The eggplant harvesting device according to claim 1, characterized in that, The transverse frame assembly includes: A frame, erected on the ground; Two connecting wheels are located at both ends of the upright frame and are rotatably connected to the upright frame; The belt is simultaneously fitted onto two connecting pulleys and meshes with them. The transverse frame is movably mounted on the upright frame and fixedly connected to one side of the belt; the mounting frame is fixed on the transverse frame. The walking motor, mounted on the upright frame, is used to drive one of the connecting wheels to rotate.

4. The eggplant harvesting device according to claim 3, characterized in that, The lifting frame assembly includes: The lifting platform is movably mounted on the mounting frame and can move vertically along the mounting frame. Two first threaded rods are rotatably connected to the mounting frame and threadedly connected to the lifting plate; Two gears are respectively fitted and fixed onto the corresponding first threaded rod; The chain is simultaneously mounted on two gears and meshes with both gears; The lifting motor, mounted on the mounting frame, is used to drive one of the first threaded rods to rotate.

5. The eggplant harvesting device according to claim 4, characterized in that, A collection box component is mounted on the mounting frame, and the collection box component includes: A collection frame is fixed to the mounting frame; the collection frame has an opening. A hinged panel is attached to the collection frame; The drive rod is rotatably connected to the collection frame; The slider is movably mounted on the collection frame and can move along the axis of the drive rod, and is threadedly connected to the drive rod. Link two, one end is rotatably connected to the opening and closing plate, and the other end is rotatably connected to the slider; An opening and closing motor, mounted on the collection frame, is used to rotate the drive rod.

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