Anti-collision orange picking and collecting device

Abstract

The application discloses an anti-collision orange picking and collecting device, which comprises a flexible material cylinder, a telescopic mechanism and a limiting mechanism. A plurality of ring body structures are arranged on the cylinder. The ring body of the ring body structure is sleeved on the periphery of the elastic cylinder body. A plurality of elastic elements are arranged between the adjacent two ring bodies to realize elastic connection. A fastener fixedly connected with the elastic cylinder body is arranged at the middle position of each elastic element. The limiting mechanism applies force to the ring body through the insertion of the insertion plate in the groove on the surface of the ring body to change the distance between the corresponding ring body structures. The telescopic control mechanism realizes the adjustment of the height of the cylinder and the horizontal cutting action of the cutting mechanism. After the position of the cylinder feeding port is determined, the telescopic control mechanism controls the limiting mechanism to fix the ring body at the part of the cylinder which does not need to be stretched according to the height required by the cylinder to rise. The cylinder which is stretched will be in a tight or close-to-tight state, so that the orange can smoothly roll along the cylinder and fall into the containing frame.

Description

An anti-collision orange picking and collecting device Technical Field

[0001] This invention relates to the field of harvesting machine technology, specifically to an anti-collision orange harvesting and collection device. Background Technology

[0002] Orange harvesting equipment is a type of machinery specifically designed for harvesting fruits similar to oranges. It can help farmers or orchard workers harvest similar fruits efficiently, improving harvesting efficiency and reducing labor intensity.

[0003] For example, Chinese patent CN201910023011.4 discloses a method for picking and collecting apples. When picking apples, the stems connecting the apples to the branches need to be cut off. Then, the apples enter the sorting device through the opening of the collector and the nylon bag below. During the process of the apples passing through the nylon bag, due to the high friction of the fabric and the characteristics of the flexible structure, the nylon bag will inevitably fold to a certain extent. As a result, the apples will get stuck at the folds after falling into the nylon bag. Furthermore, when picking apples continuously, the following apples will also enter the nylon bag, which will cause collisions between the two apples, thus affecting the quality of the apples.

[0004] For example, Chinese patent CN201811295090.6 discloses an orange picking machine that uses a corrugated pipe to form a guide channel for falling oranges. If the total length of the corrugated pipe is y, but the actual length that the corrugated pipe needs to be stretched is less than y, then the section between the inlet and outlet of the corrugated pipe will be bent. If there is too much redundant part in the corrugated pipe, the oranges will also get stuck after entering. Although the structure of the corrugated pipe is smoother on the inner wall than that of a nylon bag and makes it easier for the oranges to roll, it still cannot solve the above problems well.

[0005] In summary, all existing fruit-harvesting equipment requires a flexible guide channel. However, if the guide channel cannot be fully taut and straightened, the fruit may get stuck as it rolls down its inner wall. Summary of the Invention

[0006] 1. The technical problem to be solved:

[0007] To address the aforementioned technical problems, this invention provides an anti-collision orange picking and collecting device, which solves the technical problems in the prior art where, when the guide channel cannot be fully taut and straightened, the fruit may get stuck while rolling down its inner wall, and quality problems may occur due to collisions.

[0008] 2. Technical Solution:

[0009] An anti-collision orange picking and collecting device includes a receiving frame and a mobile carrier that drives the receiving frame to move. The device is characterized in that it also includes a material cylinder placed on the upper surface of the receiving frame and communicating with the receiving frame, a telescopic control mechanism for controlling the lifting and lowering of the material cylinder, and a limiting mechanism for controlling whether the material cylinder is in a taut state.

[0010] The material cylinder includes an inlet, an elastic material cylinder body, multiple sets of ring structures, and an outlet pipe. The inlet is located at the top of the elastic material cylinder body, which extends vertically. Multiple sets of ring structures are sequentially fitted onto the outer surface of the elastic material cylinder body. Each ring structure includes a ring, a fastener, an elastic element, and an annular groove. The ring is fitted around the periphery of the elastic material cylinder body, and multiple elastic elements are provided between adjacent rings to achieve elastic connection. A fastener is provided in the middle of each elastic element, and the inner side of the fastener is fixedly connected to the corresponding position of the elastic material cylinder body. In the taut state, the elastic elements expand outward, causing the fastener to expand outward, which in turn causes the elastic material cylinder body to expand outward, thereby increasing the diameter of the elastic material cylinder body and putting it in a taut state. The annular groove is located on the outer surface of the ring.

[0011] The telescopic control mechanism includes a vertical control mechanism and a horizontal control mechanism; the vertical control mechanism includes a first threaded rod and a guide cylinder; the guide cylinder is vertically installed on the upper surface of the receiving frame; the first threaded rod can move up and down along the guide cylinder; the top end of the first threaded rod is provided with a cutting mechanism for cutting the fruit stems of the fruit located at the feed inlet; the top end of the first threaded rod is provided with a horizontal control mechanism; the horizontal control mechanism is connected to the feed inlet of the material cylinder through a connector, thereby driving the feed inlet of the material cylinder to move horizontally; the cutting mechanism for cutting the fruit stems of the fruit located at the feed inlet is provided on the connector, and its working end is located at the feed inlet;

[0012] The limiting mechanism consists of at least two sets; each set of limiting mechanisms includes an electric push rod and an insert plate; the electric push rod can push the insert plate to insert into the annular groove on the outer wall of the ring body; when limiting, the limiting mechanism applies force to the ring body by inserting the insert plate into the annular groove of the ring body to change the distance between the corresponding ring body structures, thereby controlling whether the elastic cylinder body between the ring bodies is in a taut state and the degree of tautness.

[0013] Furthermore, the elastic element of the ring structure consists of two interconnected torsion springs, with the two ends of the two torsion springs fixed to the adjacent rings at both ends; the middle part of the two torsion springs is connected to a fastener; the fastener is cross-shaped, with its two vertical ends connected to the corresponding torsion springs; when the limit is reached, the torsion springs between the limit mechanisms are subjected to force, causing the corresponding rings to move closer to each other, and the corresponding elastic cylinder body is in a taut, saucer-shaped state.

[0014] Furthermore, the vertical control mechanism of the telescopic control mechanism also includes a first nut and a first rotary driver; the first nut is rotatably sleeved on the surface of the first helical rod, and when the first rotary driver rotates, it drives the first nut to rotate through the transmission mechanism, thereby driving the first helical rod to move up and down.

[0015] Furthermore, the discharge pipe is equipped with multiple support rods for controlling the size of the discharge port; one end of each support rod is evenly distributed along the wall of the discharge pipe, and the other end is located in the middle of the inner cavity of the discharge pipe; the multiple support rods are funnel-shaped; each support rod can rotate downwards with the position of the discharge pipe wall to which it is connected as a fulcrum; a funnel-shaped elastic fabric is provided corresponding to the upper end of the surface of the multiple support rods, through which the fruit can pass; a flipping drive mechanism for controlling the rotation of the support rods is provided on the outer side of the discharge pipe and the upper surface of the receiving frame; the discharge port pipe is equipped with an infrared sensor for detecting the passage of objects.

[0016] Furthermore, the limiting mechanism also includes a linear actuator for controlling the up-and-down movement of the electric push rod; the linear actuator includes a sliding frame, a second threaded rod, and a second rotary actuator; the sliding frame is slidably connected to the outer wall of the guide cylinder so that it can move up and down along the outer wall of the guide cylinder; the second threaded rod is vertically disposed on the upper surface of the receiving frame; the output end of the second rotary actuator is drivenly connected to a rotating nut sleeved on the surface of the second threaded rod, thereby realizing that the sliding frame fixedly connected thereto moves up and down along the second threaded rod.

[0017] Furthermore, the flipping drive mechanism includes a sliding cylinder disposed on the outer wall of the discharge pipe and capable of moving up and down along the discharge pipe; the inner wall of the sliding cylinder is provided with a toothed groove, and one end of the support rod is provided with a gear that meshes with the gear on the inner wall of the sliding cylinder; when the sliding cylinder moves up and down along the outer wall of the discharge pipe, the inner end of the support rod that meshes with it rotates by a preset angle around the inner end; the output end of the second electric push rod controls the up and down movement of the sliding cylinder; the second electric push rod is fixedly connected to the upper surface of the receiving frame.

[0018] Furthermore, the elastic cylinder body is a nylon cylinder.

[0019] Furthermore, it also includes a control system that controls the collection equipment.

[0020] 3. Beneficial effects:

[0021] (1) The present invention discloses an anti-collision orange picking and collecting device, which provides an elastic material cylinder that can move horizontally and extend vertically; the material outlet can be moved within a certain range by a horizontal control mechanism fixedly connected to the inlet; the height of the material cylinder can be adjusted by a limiting device, which effectively improves the picking efficiency.

[0022] (2) The proposed anti-collision orange picking and collecting device adopts a multi-ring structure. The distance between adjacent ring structures is controlled by a limiting mechanism, thereby controlling the diameter of the corresponding material cylinder. When the oranges enter the material cylinder, they first descend along the vertical direction of the material cylinder until they enter the taut material cylinder. Because the diameter of the taut material cylinder is large, multiple oranges can enter at the same time without getting stuck and can roll smoothly down the material cylinder to the discharge pipe. At the same time, if the material cylinder is not on the same vertical line due to horizontal adjustment, the oranges entering the material cylinder will get stuck in the slightly open saucer-shaped annular groove. The annular structure of this application can effectively prevent this situation.

[0023] (3) The proposed anti-collision orange picking and collecting device features a funnel-shaped elastic cloth at the discharge pipe, with multiple support rods below it to control the opening size. As the orange passes through the discharge pipe and is about to enter the receiving frame, it is blocked by the elastic cloth, preventing direct collision with other oranges in the receiving frame. When the openings of the multiple support rods are at their minimum, the orange cannot pass through the funnel-shaped elastic cloth. When the orange enters the discharge pipe, an infrared sensor detects the object passing by and sends a signal to the controller. Upon receiving this signal, the operator can control the flipping drive mechanism to start working or directly activate the automatic control system. The second electric push rod pushes the sliding cylinder upwards along the discharge pipe. The sliding cylinder, through its inner wall's toothed grooves, drives the gears to rotate, causing the corresponding support rods to flip downwards. At this time, the opening of the funnel-shaped elastic cloth expands, allowing the orange to pass through and fall into the receiving frame. This effectively prevents the orange from falling directly into the receiving frame after passing through the material cylinder, thus avoiding a significant impact. Attached Figure Description

[0024] Figure 1 is a schematic diagram of the overall three-dimensional structure of the present invention;

[0025] Figure 2 is an overall cross-sectional view of the present invention;

[0026] Figure 3 is a schematic diagram of the material cylinder and the taut state in this invention;

[0027] Figure 4 is a three-dimensional structural diagram of the material cylinder, ring, telescopic control mechanism, limiting mechanism and severance structure in this invention.

[0028] Figure 5 is an enlarged view of the telescopic control mechanism in this invention, namely A in Figure 4;

[0029] Figure 6 is an enlarged view of B in Figure 4 of the limiting mechanism in this invention;

[0030] Figure 7 is a schematic diagram of the discharge pipe in this invention;

[0031] Figure 8 is a cross-sectional view of the material cylinder, ring, accommodating frame, discharge pipe and flipping drive mechanism in this invention.

[0032] Figure Descriptions: 1. Receiving frame; 2. Moving carrier; 3. Material cylinder; 31. Feed inlet; 32. Elastic material cylinder body; 33. Ring structure; 331. Ring; 332. Fastener; 333. Elastic element; 334. Annular groove; 34. Discharge pipe; 341. Support rod; 342. Elastic fabric; 343. Tilting drive mechanism; 344. Infrared sensor; 4. Telescopic control mechanism; 411. First threaded rod; 412. Guide cylinder; 42. Horizontal control mechanism; 43. First nut; 44. First rotary actuator; 5. Limiting mechanism; 51. Electric push rod; 52. Insert plate; 53. Linear actuator; 531. Sliding frame; 532. Second threaded rod; 533. Second rotary actuator; 6. Cutting mechanism; 7. Sliding cylinder; 71. Second electric push rod. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings.

[0034] As shown in Figures 1 to 8, an anti-collision orange picking and collecting device includes a receiving frame 1 and a moving carrier 2 that drives the receiving frame to move. The device is characterized in that it also includes a material cylinder 3 placed on the upper surface of the receiving frame and communicating with the receiving frame, a telescopic control mechanism 4 for controlling the lifting and lowering of the material cylinder, and a limiting mechanism 5 for controlling whether the material cylinder is in a taut state.

[0035] The material cylinder includes an inlet 31, an elastic material cylinder body 32, multiple sets of ring structures 33, and an outlet pipe 34. The inlet is located at the top of the elastic material cylinder body, which extends vertically. Multiple sets of ring structures are sequentially fitted onto the outer surface of the elastic material cylinder body. Each ring structure includes a ring 331, a fastener 332, an elastic element 333, and an annular groove 334. The ring is fitted around the periphery of the elastic material cylinder body, and multiple elastic elements are provided between adjacent rings to achieve elastic connection. A fastener is provided in the middle of each elastic element, and the inner side of the fastener is fixedly connected to the corresponding position of the elastic material cylinder body. In the taut state, the elastic elements expand outward, causing the fastener to expand outward, which in turn causes the elastic material cylinder body to expand outward, thereby increasing the diameter of the elastic material cylinder body and putting it in a taut state. The annular groove is located on the outer surface of the ring, and its extension direction is the same as that of the ring.

[0036] The telescopic control mechanism includes a vertical control mechanism and a horizontal control mechanism 42; the vertical control mechanism includes a first threaded rod 411 and a guide cylinder 412; the guide cylinder is vertically installed on the upper surface of the receiving frame; the first threaded rod can move up and down along the guide cylinder; the top end of the first threaded rod is provided with a cutting mechanism 6 for cutting the fruit stems of the fruit located at the feed inlet; the top end of the first threaded rod is provided with a horizontal control mechanism; the horizontal control mechanism is connected to the feed inlet of the material cylinder through a connector, and drives the feed inlet of the material cylinder to move horizontally; the cutting mechanism for cutting the fruit stems of the fruit located at the feed inlet is provided on the connector, and its working end is located at the feed inlet;

[0037] The limiting mechanism consists of at least two sets; each set of limiting mechanisms includes an electric push rod 51 and an insert plate 52; the electric push rod can push the insert plate into the annular groove opened on the outer wall of the ring body; when limiting, the limiting mechanism applies force to the ring body by inserting the insert plate into the annular groove of the ring body to change the distance between the corresponding ring body structures, thereby controlling whether the elastic cylinder body between the ring bodies is in a taut state and the degree of tautness.

[0038] Furthermore, the elastic element of the ring structure consists of two interconnected torsion springs, with the two ends of the two torsion springs fixed to the adjacent rings at both ends; the middle part of the two torsion springs is connected to a fastener; the fastener is cross-shaped, with its two vertical ends connected to the corresponding torsion springs; when the limit is reached, the torsion springs between the limit mechanisms are subjected to force, causing the corresponding rings to move closer to each other, and the corresponding elastic cylinder body is in a taut, saucer-shaped state.

[0039] Furthermore, the vertical control mechanism of the telescopic control mechanism also includes a first nut 43 and a first rotary driver 44; the first nut is rotatably sleeved on the surface of the first helical rod, and when the first rotary driver rotates, it drives the first nut to rotate through the transmission belt, thereby driving the first helical rod to move up and down.

[0040] Furthermore, the discharge pipe is equipped with multiple support rods 341 for controlling the size of the discharge port; one end of each support rod is evenly distributed along the wall of the discharge pipe, and the other end is located in the middle of the inner cavity of the discharge pipe; the multiple support rods are funnel-shaped; each support rod can rotate downwards with the position of the discharge pipe wall to which it is connected as a fulcrum; a funnel-shaped elastic fabric 342 is provided corresponding to the upper end of the surface of the multiple support rods, through which the fruit can pass; a flipping drive mechanism 343 for controlling the rotation of the support rods is provided on the outer side of the discharge pipe and the upper surface of the receiving frame; the discharge port pipe is equipped with an infrared sensor 344 for detecting the passage of objects.

[0041] Furthermore, the limiting mechanism also includes a linear actuator 53 for controlling the up-and-down movement of the electric push rod; the linear actuator includes a sliding frame 531, a second threaded rod 532, and a second rotary actuator 533; the sliding frame is slidably connected to the outer wall of the guide cylinder so that it can move up and down along the outer wall of the guide cylinder; the second threaded rod is vertically disposed on the upper surface of the receiving frame; the output end of the second rotary actuator is drivenly connected to a rotating nut sleeved on the surface of the second threaded rod, thereby realizing that the sliding frame fixedly connected thereto moves up and down along the second threaded rod.

[0042] Furthermore, the tilting drive includes a sliding cylinder 7 disposed on the outer wall of the discharge pipe and capable of moving up and down along the discharge pipe; the inner wall of the sliding cylinder is provided with a toothed groove, and the inner end of the support rod is provided with a gear that meshes with the gear on the inner wall of the sliding cylinder; when the sliding cylinder moves up and down along the outer wall of the discharge pipe, the inner end of the support rod that meshes with it rotates by a preset angle around the inner end; the output end of the second electric push rod 71 controls the up and down movement of the sliding cylinder; the second electric push rod is fixedly connected to the upper surface of the receiving frame.

[0043] Furthermore, the elastic cylinder body is a nylon cylinder.

[0044] Furthermore, it also includes a control system that controls the collection equipment.

[0045] Specific implementation examples:

[0046] In this embodiment, the mobile vehicle, as shown in Figure 1, is a remotely controlled unmanned vehicle or a manually driven vehicle. The picking and collecting equipment is moved to the picking location by the mobile vehicle, and then the feed inlet of the feed cylinder is ensured to be below the fruit to be picked (preferably oranges, and the feed cylinder is a cylindrical structure made of nylon). The picking and collecting equipment is electrically connected to the controller, and the staff can operate it remotely.

[0047] A conventional barrel can selectively use multiple ring structures located at the bottom or middle to apply force through a limiting mechanism to keep the barrel body in a taut state or control the degree of tautness. In this embodiment, as shown in Figure 3, the bottom has three sets of ring structures, all of which are limited by a limiting mechanism to apply force, and the two saucer-shaped barrel sections at the bottom are in a taut state.

[0048] During operation, for example, if the total length of the barrel is y, but the height of the fruit is greater than y, and the barrel's stretching length y is insufficient, a limiting mechanism is needed to relax the previously taut barrel, thereby increasing the overall barrel height and increasing the distance between adjacent rings in the stretched section of the barrel. If the total length of the barrel is greater than the height of the fruit, the limiting device compresses the distance between the rings.

[0049] In this solution, after determining the position of the feed inlet of the feed cylinder, the telescopic control mechanism controls the limiting mechanism to fix the ring of the feed cylinder that needs to be force applied according to the required height of the feed inlet. At this time, the material between the rings to which force is applied is in a tight or nearly tight state. At this time, the diameter of the feed cylinder is relatively large, so that the oranges can roll smoothly down the feed cylinder into the receiving frame.

[0050] In this embodiment, when the feed inlet of the feed cylinder moves to the area below the orange to be picked, the cutting mechanism cuts off the stem connecting the orange to the branch, causing it to fall into the inside of the feed cylinder and roll down into the receiving frame.

[0051] The cutting mechanism, a scissor mechanism capable of cutting objects, is a commonly used technical means in this field. In this embodiment, it specifically consists of two symmetrically arranged blades on a blade holder. One end of each blade has a cutting edge, and the other end is hinged to the blade holder. A spur gear is fixed at the hinge point of the blade. The blade holder has an electric actuator and a rack at the output end of the electric actuator. The electric actuator pushes the rack, causing the two spur gears to rotate in opposite directions. During the rotation of the two spur gears, the two blades are driven to flip open and come closer together. When the two blades come close together, the fruit stem is cut through the contact of their cutting edges. The size of the cutting edge can be selected according to the actual situation. The above is only for illustration and is not limited to this composition.

[0052] Although the present invention has been disclosed above with reference to preferred embodiments, these are not intended to limit the invention. Any person skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be defined by the scope of the claims of this application.

Claims

1. An anti-collision orange picking and collecting device, comprising a receiving frame and a mobile carrier for moving the receiving frame, characterized in that: It also includes a material cylinder placed on the upper surface of the receiving frame and communicating with the receiving frame, a telescopic control mechanism for controlling the lifting and lowering of the material cylinder, and a limiting mechanism for controlling whether the material cylinder is in a taut state; the material cylinder includes a feed inlet, an elastic material cylinder body, multiple sets of ring structures, and a discharge pipe; the feed inlet is located at the top of the elastic material cylinder body, and the elastic material cylinder body extends in the vertical direction; multiple sets of ring structures are sequentially sleeved on the outer surface of the elastic material cylinder body; each ring structure includes a ring, a fastener, an elastic element, and an annular groove; the ring is sleeved on the periphery of the elastic material cylinder body, and multiple elastic elements are arranged between adjacent rings to achieve elastic connection. Each elastic element has a fastener at its center, with the inner side of the fastener fixedly connected to the corresponding position of the elastic cylinder body. In the taut state, the elastic elements expand outwards, causing the fasteners to expand outwards, which in turn causes the elastic cylinder body to expand outwards, thus increasing the diameter of the elastic cylinder body and putting it in a taut state. The annular groove is located on the outer surface of the annular ring. The telescopic control mechanism includes a vertical control mechanism and a horizontal control mechanism. The vertical control mechanism includes a first threaded rod and a guide cylinder. The guide cylinder is vertically mounted on the upper surface of the receiving frame. The first threaded rod can move up and down along the direction of the guide cylinder. The top of the threaded rod is equipped with a cutting mechanism for severing the fruit stems of the fruit located at the feed inlet; the top of the first threaded rod is equipped with a horizontal control mechanism; the horizontal control mechanism is connected to the feed inlet of the material cylinder via a connector, thereby driving the feed inlet of the material cylinder to move horizontally; the cutting mechanism for severing the fruit stems of the fruit located at the feed inlet is mounted on the connector, with its working end located at the feed inlet; there are at least two sets of limiting mechanisms; each set of limiting mechanisms includes an electric push rod and an insert plate; the electric push rod can push the insert plate to insert into an annular groove opened on the outer wall of the ring body; when limiting, the limiting mechanism inserts into the annular groove of the ring body. The insert plate in the groove applies force to the ring body to change the distance between the corresponding ring body structures, thereby controlling whether the elastic cylinder body between the ring bodies is in a taut state and the degree of tautness; the elastic element of the ring body structure is two interconnected torsion springs, and the two ends of the two torsion springs are respectively fixed to the ring bodies at the adjacent ends; the middle part of the two torsion springs is connected to a fastener; the fastener is cross-shaped, and its two vertical ends are connected to the corresponding torsion springs; when the limit is reached, the torsion springs between the limit mechanisms are subjected to force, causing the corresponding ring bodies to move closer to each other, and the corresponding elastic cylinder body is in a saucer-shaped taut state.

2. The anti-collision orange picking and collecting device according to claim 1, characterized in that: The vertical control mechanism of the telescopic control mechanism also includes a first nut and a first rotary driver; the first nut is rotatably sleeved on the surface of the first helical rod, and when the first rotary driver rotates, it drives the first nut to rotate through the transmission mechanism, thereby driving the first helical rod to move up and down.

3. The anti-collision orange picking and collecting device according to claim 1, characterized in that: The discharge pipe is equipped with multiple support rods for controlling the size of the discharge opening; one end of each support rod is evenly distributed along the wall of the discharge pipe, and the other end is located in the middle of the inner cavity of the discharge pipe; the multiple support rods are funnel-shaped; each support rod can rotate downwards with the position of the discharge pipe wall to which it is connected as a fulcrum; a funnel-shaped elastic fabric is provided at the upper end of the surface of the multiple support rods, through which the fruit can pass; a flipping drive mechanism for controlling the rotation of the support rods is provided on the outer side of the discharge pipe and the upper surface of the receiving frame; the discharge pipe is equipped with an infrared sensor for detecting the passage of objects.

4. The anti-collision orange picking and collecting device according to claim 1, characterized in that: The limiting mechanism also includes a linear actuator for controlling the up-and-down movement of the electric push rod; the linear actuator includes a sliding frame, a second threaded rod, and a second rotary actuator; the sliding frame is slidably connected to the outer wall of the guide cylinder so that it can move up and down along the outer wall of the guide cylinder; the second threaded rod is vertically disposed on the upper surface of the receiving frame; the output end of the second rotary actuator is drivenly connected to a rotating nut sleeved on the surface of the second threaded rod, thereby realizing that the sliding frame fixedly connected thereto moves up and down along the second threaded rod.

5. The anti-collision orange picking and collecting device according to claim 3, characterized in that: The flipping drive mechanism includes a sliding cylinder located on the outer wall of the discharge pipe, capable of moving up and down along the discharge pipe; the inner wall of the sliding cylinder is provided with a toothed groove, and one end of the support rod is provided with a gear that meshes with the gear on the inner wall of the sliding cylinder; when the sliding cylinder moves up and down along the outer wall of the discharge pipe, the inner end of the support rod that meshes with it rotates by a preset angle around the inner end; the output end of the second electric push rod controls the up and down movement of the sliding cylinder; the second electric push rod is fixedly connected to the upper surface of the receiving frame.

6. The anti-collision orange picking and collecting device according to claim 1, characterized in that: The elastic cylinder body is a nylon cylinder.

7. The anti-collision orange picking and collecting device according to claim 1, characterized in that: It also includes a control system that controls the collection equipment.

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