A litchi picking device and working method integrating picking and collecting

Abstract

The present invention provides a litchi picking device and working method integrating picking and collecting. The device comprises a chassis, a first connecting rod, a second connecting rod, a third connecting rod and a picking device. The chassis is driven to travel near a litchi tree, and then the first driving device is controlled to drive the second connecting rod to rotate around the first connecting rod. Then the second driving device is controlled to drive the third connecting rod to rotate around the second connecting rod, so that the third connecting rod drives the picking device to rotate to the bottom of the litchi to be picked. The picking rod is driven to reciprocate in a vertical plane by a linkage device to form a picking surface, and a picking area is formed by relatively staggered picking surfaces. When the litchi to be picked enters the picking area, the force of the picking rod acting on the litchi to be picked is greater than the binding force between the litchi to be picked and the fruit stalk through staggered shearing, so that the litchi to be picked is separated from the fruit stalk and falls from the picking area into the collecting device, thereby completing the picking of the litchi.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a lychee picking device integrating picking and collecting and a working method. Background Art

[0002] With the development of agricultural technology, more and more fruits are picked by agricultural equipment. Lychees are a seasonal fruit. In order to prevent them from over-ripening and falling, they need to be picked in a short time. At present, lychees are basically picked manually, which has low efficiency, high labor costs and certain risks. At the same time, the use of automated industrial robotic arms for picking is greatly affected by external factors.

[0003] To solve this technical problem, a patent document such as Chinese patent application No. 201810149395.X, published on June 29, 2018, discloses a rotary comb-and-scissors type litchi picking device, comprising an operating component, a transmission component, a comb-and-scissors component and a collecting component; wherein the comb-and-scissors component is connected in coordination with the transmission component, and the operating component is connected to the transmission component; a fixed-axis gear train drives a crank rocker mechanism, so that the first comb fence and the second comb fence rotate synchronously in opposite directions, while the moving knife and the fixed knife engage with each other, thereby achieving the combing and shearing of litchi branches at the same time.

[0004] The above document utilizes the first combing bar and the second combing bar to rotate synchronously in opposite directions to comb the litchi branches between the moving knife and the fixed knife, and controls the moving knife to swing back and forth left and right, so that relative movement occurs between the moving knife and the fixed knife to cause shearing, thereby shearing the litchi branches between the moving knife and the fixed knife. The picked litchis are guided by the collecting component to fall into the collecting container. However, since the litchi trees grow high and the fruits grow in clusters, and the litchi growth process is highly random, the first combing bar and the second combing bar cannot completely comb the branches with litchi fruits, which can easily cause problems such as mis-picking and missed picking. Summary of the invention

[0005] The purpose of the present invention is to provide a litchi picking device and working method that integrates picking and collecting. By reciprocating at different angles, litchis in clusters and bunches are slid off and dropped into a collecting device, so that the fruit damage rate is low. At the same time, the problem of mispicking and missing picking caused by the strong randomness in the growth process of litchi is solved.

[0006] To achieve the above-mentioned purpose, the present invention provides, on the one hand, a lychee picking device integrating picking and collecting, including a rotary picking machine and a collecting device, the rotary picking machine including a chassis, a first connecting rod, a second connecting rod, a third connecting rod and a picking device, the first connecting rod is fixed on the chassis, a first driving device is provided between the first connecting rod and the second connecting rod, the second connecting rod is driven to be rotatably connected to the first connecting rod by the first driving device, a second driving device is provided between the second connecting rod and the third connecting rod, the third connecting rod is driven to be rotatably connected to the second connecting rod by the second driving device, the picking device includes a linkage device and two relatively parallel arranged picking bodies, the picking bodies are provided with more than two picking rods arranged side by side in a vertical direction. A picking surface is formed in a straight plane, and the picking surfaces on the two picking bodies are relatively staggered to form a picking area. The linkage device drives the picking bodies to rotate in the same direction, and the picking bodies drive the picking rods to reciprocate within the picking surface at an angle within the range of 30°~60°. The angle between the two picking rods on the same picking body is 30°~40°. The collecting device is arranged below the picking area, and the collecting device is provided with a fence formed by an elastic cloth and two or more connecting rods connected as a whole. One end of the connecting rod is detachably connected to the collecting device, and the plane where one end of the connecting rod is located is inclined outward at 30°~60° to the plane where the connecting rod is located, and the third driving device arranged at the front end of the chassis is fixedly connected to the collecting device.

[0007] The above arrangement, by setting up a chassis, can drive the entire rotary picking machine and the collecting device to the vicinity of the litchi tree, and by setting up a first driving device between the first connecting rod and the second connecting rod, the second connecting rod can be driven by the first driving device to rotate around the first connecting rod, and the angle between the first connecting rod and the second connecting rod is preliminarily adjusted, so that the second connecting rod drives the third connecting rod and the picking device on the third connecting rod to approach the litchi to be picked; by setting up a second driving device between the second connecting rod and the third connecting rod, the third connecting rod can be driven by the second driving device to rotate around the second connecting rod, and then the picking device can be driven by the third connecting rod to rotate to the bottom of the litchi to be picked; by setting up a picking surface formed by the picking rod in a vertical plane, and at the same time driving the picking rod to rotate back and forth at an angle within the range of 30°~60° within the picking surface through the picking body, so that when the picking body drives the picking rod to rotate upward and When the other picking body drives the picking rod to rotate downward, an opening that can accommodate the lychees can be formed between the relative picking rods, so that the lychees to be picked can be stuck in the opening when they enter the picking area. Then, the picking rods are driven to rotate back and forth by the linkage device, so that the lychees to be picked can be staggered sheared, so that the force of the picking rods on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks. By arranging the plane where one end of the connecting rod on the collecting device is located to be inclined outward at 30°~60° to the plane where the connecting rod is located, and the angle is set corresponding to the rotation angle of the picking rod in the picking surface, the sheared lychees can be separated from the picking rods and then brought into the collecting device, so that the lychees that fall off from the picking area can be better dropped into the collecting device, and the picking and collection of clusters of lychees can be completed, avoiding the problems of mis-picking and missed picking.

[0008] Furthermore, the plane where one end of the connecting rod is located is inclined outward at 45° to the plane where the connecting rod is located.

[0009] The above setting sets the plane where the bottom of the connecting rod is located at a 45° inclination with the connecting rod, and ensures that the inclination angle of the picking rod in the picking surface corresponds to the setting while maximizing the coverage area of ​​the collecting device, thereby ensuring the picking reliability.

[0010] Furthermore, one end of the first connecting rod is fixedly mounted on the boss of the chassis via a fixed seat, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod via a pin shaft, one end of the first driving cylinder is hinged to an articulated seat 1 arranged on the first connecting rod via a pin shaft, and the other end of the first driving cylinder is hinged to an articulated seat 2 arranged on the second connecting rod via a pin shaft.

[0011] With the above arrangement, the first driving cylinder can drive the second connecting rod to rotate around the first connecting rod, thereby preliminarily adjusting the angle between the second connecting rod and the first connecting rod.

[0012] Furthermore, the other end of the second connecting rod is rotatably connected to one end of the third connecting rod through a pin shaft, one end of the second driving cylinder is hinged to the third hinge seat arranged on the second connecting rod through the pin shaft, and the other end of the second driving cylinder is hinged to the fourth hinge seat arranged at one end of the third connecting rod through the pin shaft.

[0013] With the above arrangement, the second driving cylinder can drive the third connecting rod to rotate around the second connecting rod at different angles, thereby adjusting the angle between the third connecting rod and the second connecting rod.

[0014] Furthermore, the linkage device arranged at the other end of the third connecting rod includes a driving device, a connecting body, a connecting plate and a rack. One end of the connecting body is fixedly connected to the other end of the third connecting rod, and the other end of the connecting body is fixedly connected to a support arranged on one side of the connecting plate. A rolling groove is provided on the other side of the connecting plate along the width direction of the connecting plate, and a roller is provided in the rolling groove. Both ends of the connecting plate extend along the horizontal direction to form a connecting plate.

[0015] With the above arrangement, the picking body can be connected to the third connecting rod through the connection between the connecting body and the connecting plate.

[0016] Furthermore, the driving device includes a driving motor 1 and a transmission gear. The driving motor 1 is fixedly installed at the bottom of the connecting body. The output end of the driving motor 1 is fixedly connected to the transmission gear through the connecting plate. The transmission gear is externally meshed and rotationally connected with a rack arranged above the transmission gear.

[0017] The above arrangement can drive the transmission gear to rotate by driving the motor, thereby driving the rack to move along the length direction of the rack.

[0018] Furthermore, a protrusion matching the rolling groove is provided on one side of the rack, the protrusion is clamped in the rolling groove, and the bottom of the protrusion abuts against the roller.

[0019] With the above arrangement, when the transmission gear drives the rack to move, the gear can be driven to move within the range of the rolling groove.

[0020] Furthermore, the picking body includes a rotating shaft, more than two mounting seats and more than two picking rods, one end of the rotating shaft is rotatably connected to the connecting plate, and a driven gear is fixedly provided at one end of the rotating shaft, the rotation angle of the driven gear matches the distance the rack moves in the rolling groove, the mounting seats are arranged on the rotating shaft at intervals, one end of the picking rod is fixedly connected to the mounting seats, and the other end of the picking rod is arranged as a free end.

[0021] The above arrangement is rotatably arranged on a fixed plate through a rotating shaft, and then a driving motor can drive the rack to move. The movement of the rack can cause the slave gear to rotate. Since the slave gear is fixed on the rotating shaft, it can drive the rotating shaft to rotate. The rotation of the rotating shaft can drive the picking rod to rotate, thereby realizing picking.

[0022] Furthermore, the collecting device includes a collecting bin, the upper end of which is provided with a fence formed by an elastic cloth and two or more connecting rods connected as one body, one end of the connecting rod is provided with a fixing block, which is detachably clamped in the mounting grooves on both sides of the collecting bin through the fixing block, one side of the lower end of the collecting bin is fixedly connected to one end of the connecting rod, the other end of the connecting rod is fixedly connected to one end of a linkage rod, the other end of the linkage rod is rotatably connected to the boss of the chassis through a pin shaft, one end of the third driving device is rotatably connected to the linkage rod through a pin shaft, and the other end of the third driving device is hinged to the chassis through a pin shaft.

[0023] The above arrangement, by setting a fence on the collection bin, can form a larger collection opening to prevent fallen lychees from falling to the outside of the collection bin, and at the same time, the third driving device can be used to drive the linkage rod to rotate, thereby adjusting the height and angle of the collection bin, so that the collection bin is located below the collection area. Further, the collection device includes a collection bin, the upper end of the collection bin is provided with a fence formed by an elastic cloth and two or more connecting rods connected in one body, one end of the connecting rod is provided with a fixed block, which is detachably connected to the mounting grooves on both sides of the collection bin through the fixed block, one side of the lower end of the collection bin is fixedly connected to one end of the connecting rod, the other end of the connecting rod is fixedly connected to one end of the linkage rod, the other end of the linkage rod is rotatably connected to the boss of the chassis through a pin shaft, one end of the third driving cylinder is rotatably connected to the linkage rod through a pin shaft, and the other end of the third driving cylinder is hinged to the chassis through a pin shaft.

[0024] The above arrangement, by setting a fence on the collection bin, can form a larger collection opening to prevent fallen lychees from falling to the outside of the collection bin. At the same time, the third driving cylinder can be used to drive the linkage rod to rotate, thereby adjusting the height and angle of the collection bin so that the collection bin is located below the collection area.

[0025] Another aspect of the present invention provides a working method of a litchi picking device integrating picking and collecting, comprising the following steps:

[0026] S1 drives the chassis to the side close to the lychees to be picked;

[0027] S2 starts the first driving device, drives the second connecting rod to rotate around the first connecting rod through the first driving device, and preliminarily adjusts the angle between the first connecting rod and the second connecting rod;

[0028] S3 starts the second driving device, drives the third connecting rod to rotate around the second connecting rod through the second driving device, and then drives the picking device to rotate to the bottom of the litchi to be picked through the third connecting rod, so as to adjust the angle between the picking area and the litchi to be picked;

[0029] S4 starts the third driving device, and drives the collecting device to rotate at different angles and heights through the third driving device, so that the collecting device is located below the picking area;

[0030] S5 starts the linkage device, which drives the two picking bodies to rotate in the same direction through the linkage device, and then drives the picking rod on one picking body and the picking rod on the other picking body to rotate back and forth within the picking surface at an angle within the range of 30°~60°, forming a staggered shearing of the lychees to be picked, until the force of the picking rods acting on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks, dropping them from the picking area into the collecting device, and completing the picking of the lychees.

[0031] The above arrangement, by setting up a chassis, can drive the entire rotary picking machine and the collecting device to the vicinity of the lychees to be picked, and by setting up a first driving device between the first connecting rod and the second connecting rod, the second connecting rod can be driven by the first driving device to rotate around the first connecting rod, and the angle between the first connecting rod and the second connecting rod is preliminarily adjusted, so that the second connecting rod drives the third connecting rod and the picking device on the third connecting rod to approach the lychees to be picked; by setting up a second driving device between the second connecting rod and the third connecting rod, the third connecting rod can be driven by the second driving device to rotate around the second connecting rod, and then the picking device can be driven by the third connecting rod to rotate to the bottom of the lychees to be picked; by setting up a picking surface formed by the picking rod in a vertical plane, and at the same time driving the picking rod to rotate back and forth at an angle within the range of 30°~60° within the picking surface through the picking body, so that the picking rod is driven by the picking body to rotate upward When the other picking body drives the picking rod to rotate downward, an opening that can accommodate the lychees can be formed between the relative picking rods, so that the lychees to be picked can be stuck in the opening when they enter the picking area. Then, the linkage device drives the picking rod to rotate back and forth, so that the lychees to be picked can be staggered sheared, so that the force of the picking rod on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks. By arranging the plane where one end of the connecting rod on the collecting device is located to be inclined outward at 30°~60° to the plane where the connecting rod is located, and the angle is set corresponding to the rotation angle of the picking rod in the picking surface, the sheared lychees can be separated from the picking rod and then brought into the collecting device, so that the lychees that fall off from the picking area can be better dropped into the collecting device, thereby completing the picking and collection of clusters of lychees and avoiding the problems of mis-picking and missed picking.

[0032] Further, in step S5, drive motor 1 is started, and the rack is driven by drive motor 1 to move from one end of the rolling groove to the other end of the rolling groove. At the same time, the rack drives the driven gear to rotate 45° accordingly, so that one picking body drives the picking rod to rotate upward 45°, and the other picking body drives the picking rod to rotate downward 45°, so that the lychees to be picked initially enter the picking area formed by the two picking bodies, and then the drive motor 1 is controlled to rotate in the opposite direction, thereby driving the rack to move in the opposite direction, and correspondingly driving the picking rod to rotate in the opposite direction 45°. In the process of driving the picking rod to rotate back and forth, At the same time, the second driving cylinder is controlled to drive the third connecting rod to rotate around the second connecting rod, and the angle between the rotation of the second connecting rod and the third connecting rod is adjusted, so that the third connecting rod drives the picking area formed in the picking body to be raised to a corresponding height, so that the lychees to be picked can completely enter the picking area, and the reciprocating rotation of the picking rod forms an interlaced shearing on the lychees to be picked, so that the force of the picking rod on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks, and dropping them from the picking area into the collecting device, thereby completing the picking of the lychees.

[0033] The above arrangement can drive the driven gear to rotate through the rack, thereby driving the two picking bodies to reciprocate in the same direction, so that the staggered picking rods form a shearing effect on the lychees to be picked. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0035] Figure 2 It is a front view of an embodiment of the present invention.

[0036] Figure 3 It is a front view of the picking body in the present invention.

[0037] Figure 4 It is a schematic diagram of the overall structure from another perspective of an embodiment of the present invention.

[0038] Figure 5 for Figure 1 A is an enlarged view.

[0039] Figure 6 for Figure 4 Middle B is an enlarged view.

[0040] Figure 7 It is a schematic structural diagram of another embodiment of the present invention.

[0041] Figure 8 It is a flow chart of the working method of the present invention. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Embodiment 1.

[0044] like Figure 1-6 , Figure 8 As shown, a lychee picking device integrating picking and collecting includes a rotary picking machine and a collecting device. The rotary picking machine includes a chassis, a first connecting rod 1, a second connecting rod 2, a third connecting rod 3 and a picking device. One end of the first connecting rod 1 is fixedly mounted on a boss of the chassis through a fixed seat 4, and the other end of the first connecting rod 1 is rotatably connected to one end of the second connecting rod 2 through a pin shaft. A first driving device is provided between the first connecting rod 1 and the second connecting rod 2. One end of the first driving device is hinged to an articulated seat 01 arranged on the first connecting rod 1 through a pin shaft, and the other end of the first driving device is hinged to an articulated seat 02 arranged on the second connecting rod 2 through a pin shaft. The second connecting rod 2 is rotatably connected to the first connecting rod 1 through the first driving device. The angle between the second connecting rod 2 and the first connecting rod 1 is adjusted; the other end of the second connecting rod 2 is rotatably connected to one end of the third connecting rod 3 through a pin shaft, and a second driving device is provided between the second connecting rod 2 and the third connecting rod 3, one end of the second driving device is hinged to a hinge seat 303 arranged on the second connecting rod 2 through a pin shaft, and the other end of the second driving device is hinged to a hinge seat 404 arranged at one end of the third connecting rod 3 through a pin shaft, and the third connecting rod 3 is driven by the second driving device to be rotatably connected to the second connecting rod 2, thereby adjusting the angle between the third connecting rod 3 and the second connecting rod 2; in this embodiment, the first driving device is set to a first driving cylinder 11, the second driving device is set to a second driving cylinder 22, and the third driving device is set to a third driving cylinder 33.

[0045] like Figure 5 and 6As shown, the picking device includes a linkage device and two picking bodies arranged relatively parallel to each other, the linkage device drives the picking bodies to rotate in the same direction, more than two picking surfaces formed by the picking rods 41 in a vertical plane are arranged side by side on the picking bodies, the picking surfaces on the two picking bodies are relatively staggered to form a picking area, the collecting device is arranged below the picking area, the third driving device arranged at the front end of the chassis is fixedly connected to the collecting device, the linkage device arranged at the other end of the third connecting rod 3 includes a driving device, a connecting body 51, a connecting plate 52 and a rack 53, one end of the connecting body 51 is fixedly connected to the other end of the third connecting rod 3, in this embodiment, a U-shaped connecting piece 54 is provided at the other end of the third connecting rod 3, the fixed shaft passes through the through hole on the U-shaped connecting piece 54 and is fixedly connected to the other end of the third connecting rod 3, the connecting shaft 55 arranged at one end of the connecting body 51 is fixedly connected to the U-shaped connecting piece 54, and the other end of the connecting body 51 is fixedly connected to the support 56 arranged on one side of the connecting plate 52 The other side of the connecting plate 52 is provided with a rolling groove (not marked in the figure) along the width direction of the connecting plate 52, and a roller (not marked in the figure) is provided in the rolling groove. Both ends of the connecting plate 52 extend in the horizontal direction to form a connecting plate 57. The driving device includes a driving motor 61 and a transmission gear 62. The driving motor 61 is fixedly installed at the bottom of the connecting body 51, and the output end of the driving motor 61 passes through the connecting plate 52 and is fixedly connected to the transmission gear 62. The transmission gear 62 is externally meshed and rotatably connected with the rack 53 arranged above the transmission gear 62. In this way, the picking body can be connected to the third connecting rod 3 through the connection between the connecting body 51 and the connecting plate 52, and then the transmission gear 62 is driven to rotate by the driving motor 61, thereby driving the rack 53 to move along the length direction of the rack 53. In this embodiment, a protrusion (not marked in the figure) matching the rolling groove is provided on one side of the rack 53. The protrusion is clamped in the rolling groove, and the bottom of the protrusion abuts against the roller.

[0046] like Figure 3 and 5As shown, the picking body includes a rotating shaft 42, more than two mounting seats 43 and a picking rod 41. One end of the rotating shaft 42 is rotatably connected to the connecting plate 57 through a bearing. A driven gear 44 is fixedly provided on the rotating shaft 42 at one end close to the connecting plate 57. The driven gear 44 is externally meshed and rotatably connected to the rack 53. The rotation angle of the driven gear 44 matches the distance moved by the rack 53 in the rolling groove. The mounting seats 43 are fixedly installed on the rotating shaft 42 at intervals. In this embodiment, five mounting seats 43 are provided on the rotating shaft 42, and five picking rods 41 are provided on each mounting seat 43. One end of the picking rod 41 is fixedly connected to the mounting seat 43, and the other end of the picking rod 41 is fixedly connected to the mounting seat 43. The end is set as a free end, and an angle a is set between two or more picking rods 41 located at the free end, and the angle a is set to 30°~40°. In this embodiment, the angle a is set to 30°, so that the five picking rods 41 form a fan-shaped picking surface in the vertical plane, and each picking surface is staggered to form a fan-shaped picking area, so that the driven gear 44 can be driven to rotate through the rack 53, and then the two picking bodies can be driven to reciprocate in the same direction, so that the staggered picking rods 41 form a shearing effect on the lychees to be picked. In this embodiment, the connecting plate 57 is a 403 stainless steel plate, so as to increase the strength of the connecting plate 57 and ensure the reliability of the connection between the rotating shaft and the connecting plate 57.

[0047] like Figure 1 and 2 As shown, the collecting device includes a collecting bin 71, the upper end of the collecting bin 71 is provided with a fence formed by connecting an elastic cloth 72 and two or more connecting rods 73, one end of the connecting rod 73 is provided with a fixing block 74, which is detachably clamped in the mounting grooves 75 on both sides of the collecting bin 71 through the fixing block 74, and the plane where one end of the connecting rod 73 is located is inclined outward at 30°~60° with the plane where the connecting rod 73 is located, one side of the lower end of the collecting bin 71 is fixedly connected to one end of the connecting rod 76, and the other end of the connecting rod 76 is fixedly connected to one end of the linkage rod 77, and the other end of the linkage rod 77 is connected to the collecting bin 71 through a pin. The boss of the chassis is rotatably connected, one end of the third driving cylinder 33 is rotatably connected to the linkage rod 77 through a pin, and the other end of the third driving cylinder 33 is hinged to the chassis through a pin. By arranging a fence on the collecting bin 71, a larger collecting port can be formed to prevent fallen lychees from falling to the outside of the collecting bin 71. At the same time, the linkage rod 77 can be driven to rotate by the third driving cylinder 33, thereby adjusting the height and angle of the collecting bin 71, so that the collecting bin 71 is located below the collecting area. In this embodiment, the plane where one end of the connecting rod 73 is located is inclined outward at 45° to the plane where the connecting rod 73 is located.

[0048] like Figure 4As shown, the chassis includes a connecting frame 5, more than two driving wheels 6, a driven wheel 7, a transmission track 8 and a second driving motor (not marked in the figure). The second driving motor is fixed to the bottom of the connecting frame 5, and a boss (not marked in the figure) is fixed on the top of the connecting frame 5. The output end of the second driving motor is rotatably connected to the driving wheel 6, and the transmission track 8 is sleeved on the driving wheel 6 and the driven wheel 7. In this way, the driving wheel 6 can be driven to rotate by the second driving motor, and the driven wheel 7 is then driven to rotate by the transmission track 8, thereby driving the chassis to travel to the lychee tree.

[0049] like Figure 8 As shown, a working method of a litchi picking device integrating picking and collecting includes the following specific steps:

[0050] S1 drives the chassis to the side of the litchi tree close to the litchi to be picked;

[0051] S2 starts the first driving cylinder 11, and drives the second connecting rod 2 to rotate around the first connecting rod 1 through the first driving cylinder 11, and preliminarily adjusts the angle between the first connecting rod 1 and the second connecting rod 2;

[0052] S3 starts the second driving cylinder 22, drives the third connecting rod 3 to rotate around the second connecting rod 2 through the second driving cylinder 22, and then drives the picking device to rotate to the bottom of the litchi to be picked through the third connecting rod 3, so as to adjust the angle between the picking area and the litchi to be picked;

[0053] S4 starts the third driving cylinder 33, and drives the linkage rod 77 to rotate around the chassis through the third driving cylinder 33, thereby driving the collecting device to rotate at different angles and heights, so that the collecting device is located below the picking area;

[0054] S5 starts the driving motor 61, and the driving motor 61 drives the rack 53 to move from one end of the rolling groove to the other end of the rolling groove, thereby driving the two picking bodies to rotate in the same direction, and then drives the picking rod 41 on one picking body and the picking rod 41 on the other picking body to reciprocate within the picking surface at an angle within the range of 30°~60°. In this embodiment, they reciprocate within the picking surface at an angle of 45°. During this process, the rack 53 drives the driven gear 44 to rotate 45° accordingly, so that one picking body drives the picking rod 41 to rotate upward by 45°, and the other picking body drives the picking rod 41 to rotate downward by 45°, so that the lychees to be picked initially enter the picking area formed by the two picking bodies, and then controls the driving motor 61 to rotate in the opposite direction. , thereby driving the rack 53 to move in the opposite direction, and correspondingly driving the picking rod 41 to rotate 45° in the opposite direction. In the process of driving the picking rod 41 to rotate back and forth, the second driving cylinder 22 is controlled to drive the third connecting rod 3 to rotate around the second connecting rod 2, and the angle between the rotation of the second connecting rod 2 and the third connecting rod 3 is adjusted, so that the third connecting rod 3 drives the picking area formed in the picking body to increase the corresponding height, so that the lychees to be picked can completely enter the picking area, and the reciprocating rotation of the picking rod 41 forms an interlaced shearing on the lychees to be picked, so that the force of the picking rod 41 acting on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, and then the lychees to be picked are separated from the fruit stalks and fall off from the picking area into the collecting device, thereby completing the picking of the lychees.

[0055] The working principle of the present invention is as follows: the entire rotary picking machine and the collecting device are driven to the vicinity of the litchi tree by the driving chassis, and then the second connecting rod 2 is driven to rotate around the first connecting rod 1 by the first driving device, and the angle between the first connecting rod 1 and the second connecting rod 2 is preliminarily adjusted, so that the second connecting rod 2 drives the third connecting rod 3 and the picking device on the third connecting rod 3 to approach the litchi to be picked; then the third connecting rod 3 is driven to rotate around the second connecting rod 2 by the second driving device, and then the third connecting rod 3 drives the picking device to rotate to the litchi to be picked. finally, the linkage device drives the picking rod 41 to reciprocate in the vertical plane to form a picking surface, and the relatively staggered picking surfaces are used to form a picking area, so that when the lychees to be picked enter the picking area, the reciprocating picking rod 41 forms a staggered shearing on the lychees to be picked, so that the force of the picking rod on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks, dropping them from the picking area into the collecting device, and completing the picking of the lychees.

[0056] Embodiment 2.

[0057] like Figure 6As shown, the difference between the litchi picking device integrating picking and collecting in this embodiment and the embodiment 1 is only that: two telescopic rods 99 connected to the free ends of the rotating shaft in the picking device are arranged inside the collecting device, one end of the telescopic rod 99 is fixed on the collecting bin 71, and the telescopic rod 99 is arranged perpendicular to the plane where the collecting bin 71 is located and extends upward, one end of the telescopic rod is detachably connected to the holder 90 of the collecting bin 71 by bolts, and the other end of the telescopic rod can be telescopically extended to the other end of the rotating shaft 42, and the other end of the telescopic rod is provided with a support seat (not marked in the figure), so that in the process of picking litchi, the rotating shaft 42 can be supported by the telescopic rod to avoid excessive stress on the connection between the rotating shaft 42 and the connecting plate 57, thereby affecting the external meshing rotation of the driven gear 44 and the rack 53.

[0058] The difference in the working method is that: in step S4, it also includes: controlling the telescopic rod to extend to a position corresponding to the free end of the rotating shaft, and making the rotating shaft clamped on the clamping seat 90 of the telescopic rod 99, and then performing step S5.

Claims

1. A litchi picking device integrating picking and collecting, comprising a rotary picking machine and a collecting device, the rotary picking machine comprising a chassis, a first connecting rod, a second connecting rod, a third connecting rod and a picking device, the first connecting rod being fixed on the chassis, a first driving device being provided between the first connecting rod and the second connecting rod, the second connecting rod being driven to be rotatably connected to the first connecting rod by the first driving device, a second driving cylinder being provided between the second connecting rod and the third connecting rod, the third connecting rod being driven to be rotatably connected to the second connecting rod by the second driving cylinder, the picking device comprising a linkage device and two relatively parallel arranged picking bodies, characterized in that: The picking body includes a rotating shaft, two or more mounting seats and a picking rod, one end of the rotating shaft is rotatably connected to the connecting plate and is fixedly provided with a driven gear, the rotation angle of the driven gear matches the distance the rack moves in the rolling groove, the mounting seats are arranged on the rotating shaft at intervals, one end of the picking rod is fixedly connected to the mounting seat, the other end of the picking rod is arranged as a free end, the picking rod is only arranged on one side of the rotating shaft, and the picking rods on the two picking bodies are arranged on the side where the rotating shafts of the two picking bodies are close to each other, more than two picking surfaces formed by the picking rods in a vertical plane are arranged side by side on the picking body, the picking surfaces on the two picking bodies are relatively staggered to form a picking area, and the linkage device drives the picking The picking body rotates in the same direction, and the picking body drives the picking rod to reciprocate within the picking surface at an angle within the range of 30°~60°. The angle between the two picking rods on the same picking body is 30°~40°. The collecting device is arranged below the picking area, and the collecting device is provided with a fence formed by an elastic cloth and two or more connecting rods connected as one body. One end of the connecting rod is detachably connected to the collecting device, and the plane where one end of the connecting rod is located is inclined outward at 30°~60° to the plane where the connecting rod is located. The third driving device arranged at the front end of the chassis is fixedly connected to the collecting device, and the linkage rod is driven to rotate by the third driving device, thereby adjusting the height and angle of the collecting bin, so that The collecting bin is located below the collecting area; when picking, the linkage device is started, and the two picking bodies are driven to rotate in the same direction through the linkage device. The driving motor of the linkage device drives the rack to move from one end of the rolling groove to the other end of the rolling groove. In this process, the rack drives the driven gear to rotate 45° accordingly, so that one picking body drives the picking rod to rotate 45° upward, and the other picking body drives the picking rod to rotate 45° downward, so that the lychees to be picked initially enter the picking area formed by the two picking bodies, and then the driving motor is controlled to rotate in the opposite direction, driving the rack to move in the opposite direction, and correspondingly driving the picking rod to rotate 45° in the opposite direction, driving the picking rod on one picking body and the picking rod on the other picking body to pick. The picking rod reciprocates at an angle within the range of 30°~60° in the plane. In the process of driving the picking rod to reciprocate, the second driving cylinder is controlled to drive the third connecting rod to rotate around the second connecting rod, and the angle between the second connecting rod and the third connecting rod is adjusted, so that the third connecting rod drives the picking area formed in the picking body to raise the corresponding height, so that the lychees to be picked can completely enter the picking area, and the reciprocating rotation of the picking rod forms an interlaced shearing on the lychees to be picked, so that the force of the picking rod on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, so that the lychees to be picked are separated from the fruit stalks, fall off from the picking area and fall into the collecting device, and the picking of the lychees is completed.

2. The lychee picking device integrating picking and collecting according to claim 1, characterized in that: One end of the first connecting rod is fixedly mounted on the boss of the chassis through a fixed seat, the other end of the first connecting rod is rotatably connected to one end of the second connecting rod through a pin shaft, one end of the first driving cylinder is hinged to an articulated seat 1 arranged on the first connecting rod through a pin shaft, and the other end of the first driving cylinder is hinged to an articulated seat 2 arranged on the second connecting rod through a pin shaft.

3. The lychee picking device integrating picking and collecting according to claim 2, characterized in that: The other end of the second connecting rod is rotatably connected to one end of the third connecting rod through a pin shaft, one end of the second driving cylinder is hinged to the third hinge seat set on the second connecting rod through the pin shaft, and the other end of the second driving cylinder is hinged to the fourth hinge seat set at one end of the third connecting rod through the pin shaft.

4. The lychee picking device integrating picking and collecting according to claim 3, characterized in that: The linkage device arranged at the other end of the third connecting rod includes a driving device, a connecting body, a connecting plate and a rack. One end of the connecting body is fixedly connected to the other end of the third connecting rod, and the other end of the connecting body is fixedly connected to a support arranged on one side of the connecting plate. A rolling groove is provided on the other side of the connecting plate along the width direction of the connecting plate, and a roller is provided in the rolling groove. Both ends of the connecting plate extend along the horizontal direction to form a connecting plate.

5. The litchi picking device integrating picking and collecting according to claim 4, characterized in that: The driving device includes a driving motor 1 and a transmission gear. The driving motor 1 is fixedly installed at the bottom of the connecting body. The output end of the driving motor 1 is fixedly connected to the transmission gear through the connecting plate. The transmission gear is externally meshed and rotationally connected with a rack arranged above the transmission gear.

6. The litchi picking device integrating picking and collecting according to claim 5, characterized in that: A convex block matching the rolling groove is arranged on one side of the rack, the convex block is clamped in the rolling groove, and the bottom of the convex block abuts against the roller.

7. The litchi picking device integrating picking and collecting according to claim 1, characterized in that: The collecting device includes a collecting bin, the upper end of which is provided with a fence formed by an elastic cloth and two or more connecting rods connected as one body, one end of the connecting rod is provided with a fixing block, which is detachably clamped in the mounting grooves on both sides of the collecting bin through the fixing block, one side of the lower end of the collecting bin is fixedly connected to one end of the connecting rod, the other end of the connecting rod is fixedly connected to one end of a linkage rod, the other end of the linkage rod is rotatably connected to a boss of the chassis through a pin shaft, one end of the third driving device is rotatably connected to the linkage rod through a pin shaft, and the other end of the third driving device is hinged to the chassis through a pin shaft.

8. The working method of the litchi picking device integrating picking and collecting according to claim 1, characterized in that: The steps include: S1 drives the chassis to the side of the litchi tree close to the litchi to be picked; S2 starts the first driving device, drives the second connecting rod to rotate around the first connecting rod through the first driving device, and preliminarily adjusts the angle between the first connecting rod and the second connecting rod; S3 starts the second driving cylinder, drives the third connecting rod to rotate around the second connecting rod through the second driving cylinder, and then drives the picking device to rotate to the bottom of the litchi to be picked through the third connecting rod to adjust the angle between the picking area and the litchi to be picked; S4 starts the third driving device, and drives the collecting device to rotate at different angles and heights through the third driving device, so that the collecting device is located below the picking area; S5 starts the linkage device, which drives the two picking bodies to rotate in the same direction through the linkage device, starts the driving motor 1, and drives the rack to move from one end of the rolling groove to the other end of the rolling groove through the driving motor 1. In this process, the rack drives the driven gear to rotate 45° accordingly, so that one picking body drives the picking rod to rotate 45° upward, and the other picking body drives the picking rod to rotate 45° downward, so that the lychees to be picked initially enter the picking area formed by the two picking bodies, and then controls the driving motor 1 to rotate in the opposite direction, thereby driving the rack to move in the opposite direction, and correspondingly drives the picking rod to rotate 45° in the opposite direction, and then drives the picking rod on one picking body and the picking rod on the other picking body to rotate in the picking surface at a certain angle. The picking rod is reciprocated at an angle within a range of 30°~60°. In the process of driving the picking rod to reciprocate, the second driving cylinder is controlled to drive the third connecting rod to rotate around the second connecting rod, and the angle between the second connecting rod and the third connecting rod is adjusted, so that the third connecting rod drives the picking area formed in the picking body to increase the corresponding height, so that the lychees to be picked can completely enter the picking area, and the reciprocating rotation of the picking rod forms an interlaced shearing of the lychees to be picked, until the force of the picking rod acting on the lychees to be picked is greater than the binding force between the lychees to be picked and the fruit stalks, thereby separating the lychees to be picked from the fruit stalks, and the lychees to be picked fall off from the picking area into the collecting device, thereby completing the picking of the lychees.

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