Automatic Mango Harvesting and Flexible Collection Machine

Abstract

This invention provides an automatic mango harvesting and flexible collection integrated machine, belonging to the technical field of agricultural machinery. It includes a harvesting system, a conveying and sorting system, a control system, and a driving system. The harvesting system enables multi-directional mango harvesting, controlling the gripping force based on pressure sensor signals to avoid squeezing the mangoes. After the mango branches are cut, a sponge and water are used to remove the sap from the fruit stem, preventing damage to the mangoes. The conveying and sorting system quickly collects the mangoes through pipes after the branches are cut, increasing harvesting speed and facilitating continuous harvesting. It also sorts the mangoes according to color and weight, improving harvesting efficiency and promoting the mechanization and automation of the mango harvesting industry.

Description

Technical Field

[0001] This invention relates to a tropical fruit harvesting machine, specifically a mango automatic picking and flexible collection integrated machine, belonging to the technical field of agricultural machinery. Background Technology

[0002] my country is a major mango producer, but currently, mango harvesting relies mainly on manual labor, which is inefficient, labor-intensive, and increasingly costly due to shrinking rural labor force caused by urbanization. Therefore, there is an urgent need for intelligent and mechanized mango harvesting. Mangoes belong to the Anacardiaceae family, and cutting the mango stem produces a sap that can cause allergies and browning, affecting the appearance and shelf life of the mango. Therefore, inventing a mango harvesting machine capable of cleaning this sap is of great significance. Traditional methods rely on experience to judge mango ripeness before harvesting, or on sorting mangoes by color and size after harvesting, which requires considerable effort. Therefore, a harvesting machine capable of identifying ripe mangoes and automatically sorting them has a promising future. Currently, research on visual recognition systems for agricultural harvesting machines in my country is deepening, laying the foundation for the application of this technology. Summary of the Invention

[0003] To improve the harvesting efficiency of tropical fruit mangoes and reduce labor intensity, this invention designs an integrated automatic mango harvesting and flexible collection machine, aiming to improve the mechanization and intelligence level of mango harvesting and sorting nationwide.

[0004] The present invention provides an automatic mango picking and flexible collection integrated machine, including a picking system (1), a conveying and sorting system (2), a control system (3), and a driving and storage system (4).

[0005] The harvesting system (1) is installed on the driving and storage system (4).

[0006] The conveying and sorting system (2) is connected to the picking system (1).

[0007] The control system (3) is located on the driving and storage system (4).

[0008] The picking system (1) is responsible for grabbing the mango, cutting the stem, and cleaning the juice from the stem.

[0009] The transport and sorting system (2) is responsible for transporting mangoes from the picking system (1) to the driving and storage system (4) and sorting them according to the color and weight of the mangoes.

[0010] The control system (3) is used to operate the harvesting system (1), the conveying and sorting system (2), and the driving and storage system (4).

[0011] The driving and storage system (4) is responsible for driving the machine in the field and storing mangoes.

[0012] The harvesting system (1) includes a telescopic and swinging mechanism (11), a gripping mechanism (12), a shearing mechanism (13), and a cleaning mechanism (14).

[0013] The gripping mechanism (12) is mounted on the telescopic and swinging mechanism (11), the shearing mechanism (13) is mounted on the gripping mechanism (12), and the cleaning mechanism (14) is fixed on the shearing mechanism (13).

[0014] The telescopic and swing mechanism (11) includes a main column (111), a sub-column (112), a rotary table (113), and a swing electric hydraulic cylinder (114).

[0015] The rotary table (113) includes a rotary motor (1131), a rotary motor support (1132), and a turntable (1133).

[0016] The gripping mechanism (12) includes a claw (121), a six-axis attitude sensor (122), a claw fixing bracket (123), and a claw fixing bracket swing motor (124).

[0017] The claw (121) includes an upper claw (1211), a thin-film pressure sensor (1212), a lower claw (1213), an upper claw swing electric hydraulic cylinder (1214), a lower claw swing motor (1215), and a lower claw swing motor bracket (1216).

[0018] The shearing mechanism (13) includes scissors (131), scissor fixing box (132), detector (133), servo motor A (134), servo motor B (135), scissor arm A (136), and scissor arm B (137).

[0019] The scissors (131) include scissor body A (1311) and scissor body B (1312).

[0020] The scissor fixing box (132) includes a scissor fixing box body (1321), a scissor fixing box cover (1322), a gear drive motor (1323), a slide (1324), a rack (1325), and a gear (1326).

[0021] The cleaning mechanism (14) includes a spray head (141), a cleaning sponge (142), a water pipe (143), a water pipe limit clamp (144), and a water pump integrated box (145).

[0022] The conveying and sorting system (2) includes a hollow tube (21), a support basin (22), a flexible and retractable conveying tube A (23), a reversing bracket (24), a flexible and retractable conveying tube B (25), a flexible and retractable conveying tube C (26), a partition A (27), and a partition B (28).

[0023] The reversing bracket (24) includes reversing bracket A (241), reversing bracket B (242), swing plate (243), buffer sponge (244), swing plate swing motor (245), through hole B (246), and through hole C (247).

[0024] The control system (3) includes a control panel (31), a control panel mounting bracket (32), and a lithium battery (33).

[0025] The control panel (31) includes a main switch (311), an automatic mode switch (312), a knob (313), a cut button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317).

[0026] The knob (313) includes a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower claw swing motor control knob (3134), and an upper claw swing electric hydraulic cylinder control knob (3135).

[0027] The control panel mounting bracket (32) includes a control panel support rod A (321), a control panel support rod B (322), a control panel support rod C (323), a control panel mounting lug (324), and a control panel support rod mounting bracket (325).

[0028] The driving and storage system (4) includes the vehicle body (41), wheel mounting bracket A (42), steering wheel (43), wheel mounting bracket B (44), drive wheel (45), drive motor (46), drive motor bracket (47), and handle (48).

[0029] The bottom of the main column (111) is fixedly connected to the vehicle body (41). The inner walls of the main column (111) are connected to the outer walls of the sub-column (112) through sliding grooves. The bottom of the sub-column (112) is fixedly connected to the top of the lifting electric hydraulic cylinder (1141). A rotary motor support seat (1132) is installed on the top of the sub-column (112). The bottom of the lifting electric hydraulic cylinder (1141) is connected to the vehicle body (41).

[0030] A rotary motor (1131) is fixed on a rotary motor support base (1132). The rotating shaft of the rotary motor (1131) is fixedly connected to the turntable (1133), and the turntable (1133) is connected to the support basin (22).

[0031] The lower end of the swing electric hydraulic cylinder (114) is connected to the support basin (22) through a rotating pair, and the upper end is connected to the hollow tube (21) through a rotating pair. The lifting electric hydraulic cylinder (1141), the rotary motor (1131), the swing electric hydraulic cylinder (114) are electrically connected to the control panel (31).

[0032] The claw is equipped with three sets of claws (121) of the same structural size, and the three sets of claws are evenly distributed on the claw fixing bracket (123).

[0033] The claw fixing bracket (123) and the lower claw (1213) form a rotating pair. The claw fixing bracket (123) is equipped with a lower claw swing motor bracket (1216) and a six-axis attitude sensor (122). The claw fixing bracket (123) has a circular through hole in the middle.

[0034] The upper jaw (1211) is connected to the lower jaw (1213) via a rotating joint. The upper jaw swing electric hydraulic cylinder (1214) is connected to the upper jaw (1211) and the lower jaw (1213) via rotating joints. The upper jaw (1211) is equipped with a thin-film pressure sensor (1212). The lower jaw swing motor (1215) is mounted on the lower jaw swing motor bracket (1216). The lower jaw swing motor (1215) drives the lower jaw (1213) to rotate.

[0035] The claw fixing bracket swing motor (124) is fixedly installed on the hollow tube (21). The claw fixing bracket swing motor (124) drives the claw fixing bracket (123) to swing. The six-axis attitude sensor (122), the upper claw swing electric hydraulic cylinder (1214), the thin film pressure sensor (1212), the lower claw swing motor (1215) are electrically connected to the control panel (31).

[0036] Scissor arm B (137) is mounted on claw fixing bracket (123). Servo motor B (135) is fixedly mounted on scissor arm B (137). Servo motor B (135) drives scissor arm A (136) to swing. There is a circular through hole in the middle of scissor arm A (136). The detector (133) passes through it and is fixed on scissor arm A (136). Servo motor A (134) is fixedly mounted on scissor arm A (136). Servo motor A (134) drives scissor fixing box (132) to swing.

[0037] The scissor fixing box cover (1322) is installed on the scissor fixing box body (1321). The gear drive motor (1323) is located inside the scissor fixing box cover (1322). The gear drive motor (1323) drives the gear (1326) to rotate forward or backward by a certain angle. The gear (1326) and the scissor fixing box body (1321) form a rotating pair connection. The gear (1326) meshes with the rack (1325). The rack (1325) and the scissor fixing box body (1321) form a moving pair connection. The moving pair is connected, the rack (1325) is fixedly connected to the slide (1324), the slide (1324) and the scissor body B (1312) form a slot pin pair connection, the scissor body B (1312) is connected to the scissor body A (1311) through a rotating pair, the scissor body A (1311) is fixedly installed on the scissor fixing box (1321), the servo motor A (134), the servo motor B (135), the detector (133), the gear drive motor (1323) and the control panel (31) are electrically connected.

[0038] The spray head (141) is located on the scissor fixing box cover (1322). The tail of the spray head (141) is connected to the water pipe (143). There is a solenoid valve inside the spray head (141).

[0039] The cleaning sponge (142) is located below the scissors (131). The water pipe (143) is fixed to the hollow pipe (21) and the scissor arm B (137) by the water pipe limiting clamp (144). The water pump box (145) is placed on the support basin (22). The water outlet above the water pump box (145) is connected to the water pipe (143). The spray head (141), the water pump box (145) and the control panel (31) are electrically connected.

[0040] The hollow tube (21) and the support basin (22) are connected by a rotating joint. The hollow tube (21) is made of a rigid material, such as 7075 aluminum, and is nested with a flexible material, such as rubber.

[0041] The bottom of the support basin (22) has a round hole, which is connected to the flexible and retractable conveying pipe A (23). The support basin (22) has an arc-shaped baffle around its round hole, and an outwardly protruding arc-shaped extension wall is provided near the hollow pipe (21).

[0042] Flexible and retractable conveying pipe A (23) is installed on reversing bracket (24). Flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are respectively provided on both sides of reversing bracket (24). Through hole B (246) is connected to flexible and retractable conveying pipe B (25), and through hole C (247) is connected to flexible and retractable conveying pipe C (26). Flexible and retractable conveying pipe A (23), flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are made of flexible materials, such as rubber.

[0043] The commutator bracket A (241) and commutator bracket B (242) are fitted onto the main column (111). The main body of the commutator bracket A (241) is an irregular frame with a large through hole at the top and through holes on both sides. The lower boundary of the through hole is close to the bottom of the commutator bracket A (241).

[0044] The swing plate motor (245) is fixed to the bottom inside of the reversing bracket A (241) and drives the swing plate (243) to swing left and right at a certain angle. The swing plate motor (245) is electrically connected to the control panel (31). The swing plate (243) is elliptical and its size can basically cover the through holes on both sides of the reversing bracket A (241). Circular buffer sponges (244) are attached to both sides of the swing plate (243).

[0045] Partition A (27) engages with the groove on the vehicle body (41) to form a sliding pair. Partition A (27) engages with the groove on the main pillar (111) to form a sliding pair. Partition B (28) engages with the groove on the vehicle body (41) to form a sliding pair. Partition B (28) engages with the groove on the main pillar (111) to form a sliding pair.

[0046] The control panel (31) is equipped with a main switch (311), an automatic mode switch (312), a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower jaw swing motor control knob (3134), an upper jaw swing electric hydraulic cylinder control knob (3135), a cutting button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317).

[0047] The control panel mounting lug (324) is fixed on the control panel (31). The control panel mounting lug (324) is connected to the control panel support rod C (323) through a rotating joint. The control panel support rod C (323) is connected to the control panel support rod A (321) and the control panel support rod B (322) through a rotating joint. The control panel support rod A (321), the control panel support rod B (322) and the control panel support rod fixing bracket (325) form a rotating joint. The control panel support rod fixing bracket (325) is fixed on the vehicle body (41). The lithium battery is fixedly installed on the vehicle body (41) and electrically connected to the control panel (31).

[0048] Wheel mounting bracket A (42) is connected to the vehicle body (41) via a rotating joint. Wheel mounting bracket A (42) and steering wheel (43) form a rotating joint. Wheel mounting bracket B (44) is fixedly mounted on the vehicle body (41). Wheel mounting bracket B (44) and drive wheel (45) form a rotating joint. Drive motor bracket (47) is fixed on wheel mounting bracket B (44). Drive motor (46) is mounted on drive motor bracket (47). Drive motor (46) drives drive wheel (45) to rotate. Handle (48) is provided on the vehicle body (41). The two front wheels on the left and right sides of the vehicle body (41) are steering wheels (43), and the two rear wheels on the left and right sides are drive wheels (45). Attached Figure Description

[0049] Figure 1 This is the overall structure of the present invention.

[0050] Figure 2 The present invention relates to a harvesting system and a conveying and sorting system.

[0051] Figure 3 This is a cross-sectional view of part of the telescopic and swinging mechanism of the present invention;

[0052] Figure 4 This is the gripping mechanism of the present invention.

[0053] Figure 5 The shearing mechanism and cleaning mechanism of the present invention.

[0054] Figure 6 This is an exploded view of the scissors and scissor holder of the present invention.

[0055] Figure 7 This is a detailed view of the commutation bracket of the present invention.

[0056] Figure 8 This is a detailed view of the control panel of the present invention.

[0057] Figure 9 This is the control system of the present invention.

[0058] Figure 10 The present invention relates to a driving and storage system.

[0059] The meanings of the numbers in the attached diagrams are as follows: Harvesting system (1), Conveying and sorting system (2), Control system (3), Traveling and storage system (4), Telescopic and swinging mechanism (11), Gripping mechanism (12), Shearing mechanism (13), Cleaning mechanism (14), Main column (111), Sub-column (112), Rotary table (113), Swinging electric hydraulic cylinder (114), Rotary motor (1131), Rotary motor support (1132), Turntable (1133), Claw (121), Six-axis attitude sensor (122), Claw fixing bracket (123), Claw fixing bracket swinging motor (124), Upper claw (1211), Thin-film pressure sensor (1212), Lower claw (1213), Upper claw swinging electric hydraulic cylinder ( 1214), Lower claw swing motor (1215), Lower claw swing motor bracket (1216), Scissors (131), Scissors fixing box (132), Detector (133), Servo motor A (134), Servo motor B (135), Scissors arm A (136), Scissors arm B (137), Scissors body A (1311), Scissors body B (1312), Scissors fixing box body (1321), Scissors fixing box cover (1322), Gear drive motor (1323), Slide groove (1324), Rack (1325), Gear (1326), Spray head (141), Cleaning sponge (142), Water pipe (143), Water pipe limit clamp (144), Water pump integrated box (145), Hollow pipe (2 1) Support basin (22), Flexible and retractable conveying pipe A (23), Reversing bracket (24), Flexible and retractable conveying pipe B (25), Flexible and retractable conveying pipe C (26), Partition A (27), Partition B (28), Reversing bracket A (241), Reversing bracket B (242), Swing plate (243), Buffer sponge (244), Swing plate swing motor (245), Through hole B (246), Through hole C (247), Control panel (31), Control panel fixing bracket (32), Lithium battery (33), Main switch (311), Automatic mode switch (312), Knob (313), Cutting button (314), Drive motor switch (315), Display screen (316), Fault indication Light (317), lifting electric hydraulic cylinder control knob (3131), rotary motor control knob (3132), swing electric hydraulic cylinder control knob (3133), lower claw swing motor control knob (3134), upper claw swing electric hydraulic cylinder control knob (3135), control panel support rod A (321), control panel support rod B (322), control panel support rod C (323), control panel fixed lug (324), control panel support rod fixed bracket (325), vehicle body (41), wheel mounting bracket A (42), steering wheel (43), wheel mounting bracket B (44), drive wheel (45), drive motor (46), drive motor bracket (47), handle (48). Detailed Implementation

[0060] To facilitate understanding of the structural principles, technical means, working process, and functional aspects of this invention, the following description is provided in conjunction with the appendix. Figures 1-10 Further explanation of the specific implementation methods follows.

[0061] The present invention provides an automatic mango picking and flexible collection integrated machine, including a picking system (1), a conveying and sorting system (2), a control system (3), and a driving and storage system (4).

[0062] The harvesting system (1) is installed on the driving and storage system (4).

[0063] The conveying and sorting system (2) is connected to the picking system (1).

[0064] The control system (3) is located on the driving and storage system (4).

[0065] The picking system (1) is responsible for grabbing the mango, cutting the stem, and cleaning the juice from the stem.

[0066] The transport and sorting system (2) is responsible for transporting mangoes from the picking system (1) to the driving and storage system (4) and sorting them according to the color and weight of the mangoes.

[0067] The control system (3) is used to operate the harvesting system (1), the conveying and sorting system (2), and the driving and storage system (4).

[0068] The driving and storage system (4) is responsible for driving the machine in the field and storing mangoes.

[0069] The harvesting system (1) includes a telescopic and swinging mechanism (11), a gripping mechanism (12), a shearing mechanism (13), and a cleaning mechanism (14).

[0070] The gripping mechanism (12) is mounted on the telescopic and swinging mechanism (11), the shearing mechanism (13) is mounted on the gripping mechanism (12), and the cleaning mechanism (14) is fixed on the shearing mechanism (13).

[0071] The telescopic and swing mechanism (11) includes a main column (111), a sub-column (112), a rotary table (113), and a swing electric hydraulic cylinder (114).

[0072] The rotary table (113) includes a rotary motor (1131), a rotary motor support (1132), and a turntable (1133).

[0073] The gripping mechanism (12) includes a claw (121), a six-axis attitude sensor (122), a claw fixing bracket (123), and a claw fixing bracket swing motor (124).

[0074] The claw (121) includes an upper claw (1211), a thin-film pressure sensor (1212), a lower claw (1213), an upper claw swing electric hydraulic cylinder (1214), a lower claw swing motor (1215), and a lower claw swing motor bracket (1216).

[0075] The shearing mechanism (13) includes scissors (131), scissor fixing box (132), detector (133), servo motor A (134), servo motor B (135), scissor arm A (136), and scissor arm B (137).

[0076] The scissors (131) include scissor body A (1311) and scissor body B (1312).

[0077] The scissor fixing box (132) includes a scissor fixing box body (1321), a scissor fixing box cover (1322), a gear drive motor (1323), a slide (1324), a rack (1325), and a gear (1326).

[0078] The cleaning mechanism (14) includes a spray head (141), a cleaning sponge (142), a water pipe (143), a water pipe limit clamp (144), and a water pump integrated box (145).

[0079] The conveying and sorting system (2) includes a hollow tube (21), a support basin (22), a flexible and retractable conveying tube A (23), a reversing bracket (24), a flexible and retractable conveying tube B (25), a flexible and retractable conveying tube C (26), a partition A (27), and a partition B (28).

[0080] The reversing bracket (24) includes reversing bracket A (241), reversing bracket B (242), swing plate (243), buffer sponge (244), swing plate swing motor (245), through hole B (246), and through hole C (247).

[0081] The control system (3) includes a control panel (31), a control panel mounting bracket (32), and a lithium battery (33).

[0082] The control panel (31) includes a main switch (311), an automatic mode switch (312), a knob (313), a cut button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317).

[0083] The knob (313) includes a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower claw swing motor control knob (3134), and an upper claw swing electric hydraulic cylinder control knob (3135).

[0084] The control panel mounting bracket (32) includes a control panel support rod A (321), a control panel support rod B (322), a control panel support rod C (323), a control panel mounting lug (324), and a control panel support rod mounting bracket (325).

[0085] The driving and storage system (4) includes the vehicle body (41), wheel mounting bracket A (42), steering wheel (43), wheel mounting bracket B (44), drive wheel (45), drive motor (46), drive motor bracket (47), and handle (48).

[0086] The bottom of the main column (111) is fixedly connected to the vehicle body (41). The inner walls of the main column (111) are connected to the outer walls of the sub-column (112) through sliding grooves. The bottom of the sub-column (112) is fixedly connected to the top of the lifting electric hydraulic cylinder (1141). A rotary motor support seat (1132) is installed on the top of the sub-column (112). The bottom of the lifting electric hydraulic cylinder (1141) is connected to the vehicle body (41).

[0087] A rotary motor (1131) is fixed on a rotary motor support base (1132). The rotating shaft of the rotary motor (1131) is fixedly connected to the turntable (1133), and the turntable (1133) is connected to the support basin (22).

[0088] The lower end of the swing electric hydraulic cylinder (114) is connected to the support basin (22) through a rotating pair, and the upper end is connected to the hollow tube (21) through a rotating pair. The lifting electric hydraulic cylinder (1141), the rotary motor (1131), the swing electric hydraulic cylinder (114) are electrically connected to the control panel (31).

[0089] The claw is equipped with three sets of claws (121) of the same structural size, and the three sets of claws are evenly distributed on the claw fixing bracket (123).

[0090] The claw fixing bracket (123) and the lower claw (1213) form a rotating pair. The claw fixing bracket (123) is equipped with a lower claw swing motor bracket (1216) and a six-axis attitude sensor (122). The claw fixing bracket (123) has a circular through hole in the middle.

[0091] The upper jaw (1211) is connected to the lower jaw (1213) via a rotating joint. The upper jaw swing electric hydraulic cylinder (1214) is connected to the upper jaw (1211) and the lower jaw (1213) via rotating joints. The upper jaw (1211) is equipped with a thin-film pressure sensor (1212). The lower jaw swing motor (1215) is mounted on the lower jaw swing motor bracket (1216). The lower jaw swing motor (1215) drives the lower jaw (1213) to rotate.

[0092] The claw fixing bracket swing motor (124) is fixedly installed on the hollow tube (21). The claw fixing bracket swing motor (124) drives the claw fixing bracket (123) to swing. The six-axis attitude sensor (122), the upper claw swing electric hydraulic cylinder (1214), the thin film pressure sensor (1212), the lower claw swing motor (1215) are electrically connected to the control panel (31).

[0093] Scissor arm B (137) is mounted on claw fixing bracket (123). Servo motor B (135) is fixedly mounted on scissor arm B (137). Servo motor B (135) drives scissor arm A (136) to swing. There is a circular through hole in the middle of scissor arm A (136). The detector (133) passes through it and is fixed on scissor arm A (136). Servo motor A (134) is fixedly mounted on scissor arm A (136). Servo motor A (134) drives scissor fixing box (132) to swing.

[0094] The scissor fixing box cover (1322) is installed on the scissor fixing box body (1321). The gear drive motor (1323) is located inside the scissor fixing box cover (1322). The gear drive motor (1323) drives the gear (1326) to rotate forward or backward by a certain angle. The gear (1326) and the scissor fixing box body (1321) form a rotating pair connection. The gear (1326) meshes with the rack (1325). The rack (1325) and the scissor fixing box body (1321) form a moving pair connection. The moving pair is connected, the rack (1325) is fixedly connected to the slide (1324), the slide (1324) and the scissor body B (1312) form a slot pin pair connection, the scissor body B (1312) is connected to the scissor body A (1311) through a rotating pair, the scissor body A (1311) is fixedly installed on the scissor fixing box (1321), the servo motor A (134), the servo motor B (135), the detector (133), the gear drive motor (1323) and the control panel (31) are electrically connected.

[0095] The spray head (141) is located on the scissor fixing box cover (1322). The tail of the spray head (141) is connected to the water pipe (143). There is a solenoid valve inside the spray head (141).

[0096] The cleaning sponge (142) is located below the scissors (131). The water pipe (143) is fixed to the hollow pipe (21) and the scissor arm B (137) by the water pipe limiting clamp (144). The water pump box (145) is placed on the support basin (22). The water outlet above the water pump box (145) is connected to the water pipe (143). The spray head (141), the water pump box (145) and the control panel (31) are electrically connected.

[0097] The hollow tube (21) and the support basin (22) are connected by a rotating joint. The hollow tube (21) is made of rigid material 7075 aluminum on the outside and is nested with flexible material rubber inside.

[0098] The bottom of the support basin (22) has a round hole, which is connected to the flexible and retractable conveying pipe A (23). The support basin (22) has an arc-shaped baffle around its round hole, and an outwardly protruding arc-shaped extension wall is provided near the hollow pipe (21).

[0099] Flexible and retractable conveying pipe A (23) is installed on reversing bracket (24). Flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are respectively provided on both sides of reversing bracket (24). Through hole B (246) is connected to flexible and retractable conveying pipe B (25), and through hole C (247) is connected to flexible and retractable conveying pipe C (26). Flexible and retractable conveying pipe A (23), flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are made of flexible material rubber.

[0100] The commutator bracket A (241) and commutator bracket B (242) are fitted onto the main column (111). The main body of the commutator bracket A (241) is an irregular frame with a large through hole at the top and through holes on both sides. The lower boundary of the through hole is close to the bottom of the commutator bracket A (241).

[0101] The swing plate motor (245) is fixed to the bottom inside of the reversing bracket A (241) and drives the swing plate (243) to swing left and right at a certain angle. The swing plate motor (245) is electrically connected to the control panel (31). The swing plate (243) is elliptical and its size can basically cover the through holes on both sides of the reversing bracket A (241). Circular buffer sponges (244) are attached to both sides of the swing plate (243).

[0102] Partition A (27) engages with the groove on the vehicle body (41) to form a sliding pair. Partition A (27) engages with the groove on the main pillar (111) to form a sliding pair. Partition B (28) engages with the groove on the vehicle body (41) to form a sliding pair. Partition B (28) engages with the groove on the main pillar (111) to form a sliding pair.

[0103] The control panel (31) is equipped with a main switch (311), an automatic mode switch (312), a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower jaw swing motor control knob (3134), an upper jaw swing electric hydraulic cylinder control knob (3135), a cutting button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317).

[0104] The control panel mounting lug (324) is fixed on the control panel (31). The control panel mounting lug (324) is connected to the control panel support rod C (323) through a rotating joint. The control panel support rod C (323) is connected to the control panel support rod A (321) and the control panel support rod B (322) through a rotating joint. The control panel support rod A (321), the control panel support rod B (322) and the control panel support rod fixing bracket (325) form a rotating joint. The control panel support rod fixing bracket (325) is fixed on the vehicle body (41). The lithium battery is fixedly installed on the vehicle body (41) and electrically connected to the control panel (31).

[0105] Wheel mounting bracket A (42) is connected to the vehicle body (41) via a rotating joint. Wheel mounting bracket A (42) and steering wheel (43) form a rotating joint. Wheel mounting bracket B (44) is fixedly mounted on the vehicle body (41). Wheel mounting bracket B (44) and drive wheel (45) form a rotating joint. Drive motor bracket (47) is fixed on wheel mounting bracket B (44). Drive motor (46) is mounted on drive motor bracket (47). Drive motor (46) drives drive wheel (45) to rotate. Handle (48) is provided on the vehicle body (41). The two front wheels on the left and right sides of the vehicle body (41) are steering wheels (43), and the two rear wheels on the left and right sides are drive wheels (45).

[0106] See Figures 1-10 The working principle and usage method of the automatic mango picking and flexible collection integrated machine provided by the present invention are as follows.

[0107] Press the main switch (311) to start the machine, press the drive motor switch (315) to make the machine travel in the field, change the direction of the machine by using the handle (48) to make the machine reach the mango tree you want to pick, and press the drive motor switch (315) again to stop the machine.

[0108] Press the automatic mode switch (312), and the control panel (31) analyzes the picking path based on the distribution of mangoes detected by the detector (133), selects the mango to be picked, analyzes the picking instructions required by each motor and hydraulic cylinder, and sends instructions to the lifting electric hydraulic cylinder, rotary motor, swing electric hydraulic cylinder, lower claw swing motor, and upper claw swing electric hydraulic cylinder so that the claw (121) grabs the mango. When the value measured by the thin film pressure sensor reaches the set value, the upper claw swing electric hydraulic cylinder (1214) and the lower claw swing motor (1215) stop working.

[0109] If the automatic mode switch (312) is not pressed, the lifting electric hydraulic cylinder, the rotary motor, the swing electric hydraulic cylinder, the lower claw swing motor, and the upper claw swing electric hydraulic cylinder can be controlled by operating the knob (313) so that the claw can grab the mango (121).

[0110] While grabbing, the control panel (31) analyzes the mango's position based on the detector (133) and sends commands to servo motor A (134) and servo motor B (135) to move the scissor arm A (136) and the scissor fixing box (132), thereby moving the scissors (131) away from the mango and preventing it from being punctured.

[0111] The control panel (31) analyzes the appropriate cutting point based on the detector (133) and sends commands to servo motor A (134) and servo motor B (135) to make the scissor arm A (136) and the scissor fixing box (132) reach the appropriate position. Under the drive of the gear drive motor, the gear (1326) rotates at a certain angle, the rack (1325) moves in a straight line, and the scissor body B (1312) rotates around the pin under the drive of the slide (1324). The scissors (131) close, realizing the cutting.

[0112] After cutting, the cleaning sponge (142) on the scissors (131) can absorb the paint on the mango stem. The control panel (31) sends a command to the solenoid valve in the spray head (141) to open the spray head and spray high-pressure fine water to further clean the residual paint on the stem, making the mango cleaner.

[0113] According to the data measured by the six-axis attitude sensor (123), the control panel (31) sends a command to the claw fixing bracket swing motor (124) to make the claw fixing bracket (123) swing at a certain angle, so that the upper surface of the claw fixing bracket (123) is in a horizontal position. At this time, the claw (121) is released and the mango falls vertically into the through hole in the middle of the claw fixing bracket (123), and falls into the reversing bracket (24) along the hollow tube (21), the bottom through hole of the support basin (22), and the flexible telescopic conveying pipe A (23).

[0114] Once the mango falls into the through hole in the middle of the claw-fixed support (123), it can be picked again quickly.

[0115] The control panel (31) analyzes the color distribution of the mango based on the mango image captured by the detector (133) using image processing technology. When the color symbolizing ripeness reaches the set area ratio and the mango weight analyzed by the thin-film pressure sensor (1212) reaches the set value, the mango is recorded as a high-quality mango, while other mangoes are ordinary mangoes. The color symbolizing ripeness is yellow, the set area ratio is 70%, and the set weight value is 500g.

[0116] High-quality mangoes are transported along through hole B (246), while ordinary mangoes are transported along through hole C (247). If a mango is identified as a high-quality mango, the control panel (31) controls the swing plate swing motor (245) to drive the swing plate to swing towards the through hole C (247) of the reversing bracket A (241). The swing plate covers the through hole C (247), and the mango slides out along through hole B (246) under the guidance of the falling trend and the tilt position of the swing plate (243). Then, it is output through the flexible and retractable conveying pipe B (25) into the side body (41) separated by partition A (27) and partition B (28).

[0117] If the mango is identified as a regular mango, the control panel (31) controls the swing plate motor (245) to drive the swing plate to swing towards the through hole B (246) of the reversing bracket A (241). The swing plate covers the through hole B (246), and the mango slides out along the through hole C (247) under the guidance of the falling trend and the tilt position of the swing plate (243). Then it is output through the flexible and retractable conveying pipe C (26) to the other side of the vehicle body (41) separated by the partition A (27) and the partition B (28).

[0118] After the above steps, the picking, cleaning, and sorting of mangoes are completed.

Claims

1. A flexible mango automatic picking and collection machine, comprising a picking system (1), a conveying and sorting system (2), a control system (3), and a driving and storage system (4). The harvesting system (1) is installed on the driving and storage system (4); The conveying and sorting system (2) is connected to the harvesting system (1); The control system (3) is installed on the driving and storage system (4); The picking system (1) is responsible for grabbing the mango, cutting the stem, and cleaning the juice from the stem. The transport and sorting system (2) is responsible for transporting mangoes from the picking system (1) to the driving and storage system (4) and sorting them according to the color and weight of the mangoes; The control system (3) is used to operate and control the harvesting system (1), the conveying and sorting system (2), and the driving and storage system (4); The driving and storage system (4) is responsible for the driving of the integrated machine in the field and for storing mangoes; The harvesting system (1) includes a telescopic and swinging mechanism (11), a gripping mechanism (12), a shearing mechanism (13), and a cleaning mechanism (14). The gripping mechanism (12) is installed on the telescopic and swinging mechanism (11), the shearing mechanism (13) is installed on the gripping mechanism (12), and the cleaning mechanism (14) is set on the shearing mechanism (13) and the telescopic and swinging mechanism (11); The telescopic and swing mechanism (11) includes a main column (111), a sub-column (112), a rotary table (113), and a swing electric hydraulic cylinder (114). The rotary table (113) includes a rotary motor (1131), a rotary motor support (1132), and a turntable (1133). The gripping mechanism (12) includes a claw (121), a six-axis attitude sensor (122), a claw fixing bracket (123), and a claw fixing bracket swing motor (124). The claw (121) includes an upper claw (1211), a thin-film pressure sensor (1212), a lower claw (1213), an upper claw swing electric hydraulic cylinder (1214), a lower claw swing motor (1215), and a lower claw swing motor bracket (1216). The shearing mechanism (13) includes scissors (131), scissor fixing box (132), detector (133), servo motor A (134), servo motor B (135), scissor arm A (136), and scissor arm B (137); The scissors (131) include scissor body A (1311) and scissor body B (1312); The scissor fixing box (132) includes a scissor fixing box body (1321), a scissor fixing box cover (1322), a gear drive motor (1323), a slide (1324), a rack (1325), and a gear (1326); The cleaning mechanism (14) includes a spray nozzle (141), a cleaning sponge (142), a water pipe (143), a water pipe limit clamp (144), and a water pump integrated box (145). The conveying and sorting system (2) includes a hollow tube (21), a support basin (22), a flexible and retractable conveying tube A (23), a reversing bracket (24), a flexible and retractable conveying tube B (25), a flexible and retractable conveying tube C (26), a partition A (27), and a partition B (28). The reversing bracket (24) includes reversing bracket A (241), reversing bracket B (242), swing plate (243), buffer sponge (244), swing plate swing motor (245), through hole B (246), and through hole C (247). The control system (3) includes a control panel (31), a control panel mounting bracket (32), and a lithium battery (33). The control panel (31) includes a main switch (311), an automatic mode switch (312), a knob (313), a cutting button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317). The knob (313) includes a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower claw swing motor control knob (3134), and an upper claw swing electric hydraulic cylinder control knob (3135). The control panel mounting bracket (32) includes a control panel support rod A (321), a control panel support rod B (322), a control panel support rod C (323), a control panel mounting lug (324), and a control panel support rod mounting bracket (325). The driving and storage system (4) includes a vehicle body (41), wheel mounting bracket A (42), steering wheel (43), wheel mounting bracket B (44), drive wheel (45), drive motor (46), drive motor bracket (47), and handle (48). The spray head (141) is located on the scissor fixing box cover (1322). The tail of the spray head (141) is connected to the water pipe (143). There is a solenoid valve inside the spray head (141). The cleaning sponge (142) is located below the scissors (131), the water pipe (143) is fixed to the hollow pipe (21) and the scissor arm B (137) by the water pipe limiting clamp (144), the water pump box (145) is placed on the support basin (22), the water outlet above the water pump box (145) is connected to the water pipe (143), and the spray head (141), the water pump box (145) and the control panel (31) are electrically connected. The hollow tube (21) and the support basin (22) are connected by a rotating joint. The hollow tube (21) is made of rigid material on the outside and has flexible material nested inside. The bottom of the support basin (22) has a round hole, which is connected to the flexible and telescopic conveying pipe A (23). The support basin (22) has an arc-shaped baffle around its round hole, and an outwardly protruding arc-shaped extension wall is provided near the hollow pipe (21). Flexible and retractable conveying pipe A (23) is installed on reversing bracket (24). Flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are respectively provided on both sides of reversing bracket (24). Through hole B (246) is connected to flexible and retractable conveying pipe B (25), and through hole C (247) is connected to flexible and retractable conveying pipe C (26). Flexible and retractable conveying pipe A (23), flexible and retractable conveying pipe B (25) and flexible and retractable conveying pipe C (26) are made of flexible materials and are retractable. The commutator bracket A (241) and commutator bracket B (242) are fitted onto the main column (111). The main body of the commutator bracket A (241) is an irregular frame with a large through hole at the top and through holes on both sides. The lower boundary of the through hole is close to the bottom of the commutator bracket A (241). The swing plate motor (245) is fixed to the bottom inside of the reversing bracket A (241) and drives the swing plate (243) to swing left and right at a certain angle. The swing plate motor (245) is electrically connected to the control panel (31). The swing plate (243) is elliptical and its size can basically cover the through holes on both sides of the reversing bracket A (241). Circular buffer sponges (244) are attached to both sides of the swing plate (243).

2. The mango automatic harvesting and flexible collection integrated machine according to claim 1, characterized in that: The bottom of the main column (111) is fixedly connected to the vehicle body (41). The inner walls of the main column (111) are connected to the outer walls of the sub-column (112) through sliding grooves. The bottom of the sub-column (112) is fixedly connected to the top of the lifting electric hydraulic cylinder (1141). A rotary motor support seat (1132) is installed on the top of the sub-column (112). The bottom of the lifting electric hydraulic cylinder (1141) is connected to the vehicle body (41). A rotary motor (1131) is fixed on a rotary motor support base (1132). The rotating shaft of the rotary motor (1131) is fixedly connected to a turntable (1133). The turntable (1133) is connected to a support basin (22). The lower end of the swing electric hydraulic cylinder (114) is connected to the support basin (22) through a rotating pair, and the upper end is connected to the hollow tube (21) through a rotating pair. The lifting electric hydraulic cylinder (1141), the rotary motor (1131), the swing electric hydraulic cylinder (114) are electrically connected to the control panel (31).

3. The mango automatic harvesting and flexible collection integrated machine according to claim 1, characterized in that: Three sets of claws (121) with the same structural dimensions are installed on the claw fixing bracket (123), and the three sets of claws are evenly distributed on the claw fixing bracket (123); The claw fixing bracket (123) and the lower claw (1213) form a rotating pair. The claw fixing bracket (123) is provided with a lower claw swing motor bracket (1216) and a six-axis attitude sensor (122). The claw fixing bracket (123) has a circular through hole in the middle. The upper jaw (1211) is connected to the lower jaw (1213) via a rotating joint. The upper jaw swing electric hydraulic cylinder (1214) is connected to the upper jaw (1211) and the lower jaw (1213) via rotating joints. The upper jaw (1211) is equipped with a thin-film pressure sensor (1212). The lower jaw swing motor (1215) is mounted on the lower jaw swing motor bracket (1216). The lower jaw swing motor (1215) drives the lower jaw (1213) to rotate. The claw fixing bracket swing motor (124) is fixedly installed on the hollow tube (21). The claw fixing bracket swing motor (124) drives the claw fixing bracket (123) to swing. The six-axis attitude sensor (122), the upper claw swing electric hydraulic cylinder (1214), the thin film pressure sensor (1212), the lower claw swing motor (1215) are electrically connected to the control panel (31).

4. The mango automatic harvesting and flexible collection integrated machine according to claim 1, characterized in that: Scissor arm B (137) is mounted on claw fixing bracket (123), servo motor B (135) is fixedly mounted on scissor arm B (137), servo motor B (135) drives scissor arm A (136) to swing, there is a circular through hole in the middle of scissor arm A (136), the detector (133) passes through it and is fixed on scissor arm A (136), servo motor A (134) is fixedly mounted on scissor arm A (136), servo motor A (134) drives scissor fixing box (132) to swing; The scissor fixing box cover (1322) is installed on the scissor fixing box body (1321). The gear drive motor (1323) is located inside the scissor fixing box cover (1322). The gear drive motor (1323) drives the gear (1326) to rotate forward or backward by a certain angle. The gear (1326) and the scissor fixing box body (1321) form a rotating pair connection. The gear (1326) meshes with the rack (1325). The rack (1325) and the scissor fixing box body (1321) form a moving pair connection. The moving pair is connected, the rack (1325) is fixedly connected to the slide (1324), the slide (1324) and the scissor body B (1312) form a slot pin pair connection, the scissor body B (1312) is connected to the scissor body A (1311) through a rotating pair, the scissor body A (1311) is fixedly installed on the scissor fixing box (1321), the servo motor A (134), the servo motor B (135), the detector (133), the gear drive motor (1323) and the control panel (31) are electrically connected.

5. The mango automatic harvesting and flexible collection integrated machine according to claim 1, characterized in that: Partition A (27) engages with the groove on the vehicle body (41) to form a sliding pair. Partition A (27) engages with the groove on the main pillar (111) to form a sliding pair. Partition B (28) engages with the groove on the vehicle body (41) to form a sliding pair. Partition B (28) engages with the groove on the main pillar (111) to form a sliding pair.

6. The automatic mango picking and flexible collection integrated machine according to any one of claims 1 to 5, characterized in that: The control panel (31) is equipped with a main switch (311), an automatic mode switch (312), a lifting electric hydraulic cylinder control knob (3131), a rotary motor control knob (3132), a swing electric hydraulic cylinder control knob (3133), a lower jaw swing motor control knob (3134), an upper jaw swing electric hydraulic cylinder control knob (3135), a cutting button (314), a drive motor switch (315), a display screen (316), and a fault indicator light (317). The control panel fixing lug (324) is fixed on the control panel (31). The control panel fixing lug (324) is connected to the control panel support rod C (323) through a rotating joint. The control panel support rod C (323) is connected to the control panel support rod A (321) and the control panel support rod B (322) through a rotating joint. The control panel support rod A (321), the control panel support rod B (322) and the control panel support rod fixing bracket (325) form a rotating joint. The control panel support rod fixing bracket (325) is fixed on the vehicle body (41). The lithium battery is fixedly installed on the vehicle body (41) and electrically connected to the control panel (31). Wheel mounting bracket A (42) is connected to the vehicle body (41) via a rotating joint. Wheel mounting bracket A (42) and steering wheel (43) form a rotating joint. Wheel mounting bracket B (44) is fixedly mounted on the vehicle body (41). Wheel mounting bracket B (44) and drive wheel (45) form a rotating joint. Drive motor bracket (47) is fixed on wheel mounting bracket B (44). Drive motor (46) is mounted on drive motor bracket (47). Drive motor (46) drives drive wheel (45) to rotate. Handle (48) is provided on the vehicle body (41). The two front wheels on the left and right sides of the vehicle body (41) are steering wheels (43), and the two rear wheels on the left and right sides are drive wheels (45).

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