trellis-type mass fruit and vegetable harvesting machine, its fruit and vegetable harvesting device and harvesting method

Abstract

A trellis-type batch fruit and vegetable harvesting machine, its harvesting device, and harvesting method are disclosed. The trellis-type batch fruit and vegetable harvesting machine includes a harvesting device comprising a lifting mechanism connected to a self-propelled chassis or traction machine; and a harvesting mechanism connected to the lifting mechanism, comprising: a rotating shaft; fixed plates arranged parallel to each other and installed at both ends of the rotating shaft; multiple flexible discs arranged in an alternating array on the rotating shaft, with adjacent flexible discs having an included angle, and the gap between adjacent flexible discs periodically expanding and narrowing during rotation; multiple combing rulers corresponding to the gaps between the flexible discs; and a driving component installed on the lifting mechanism and connected to the rotating shaft. During the rotation of the flexible discs, their gaps gradually narrow, clamping the fruit to be harvested and rotating it to the combing rulers. The combing rulers then peel the fruit stuck in the gaps between the flexible discs, thus achieving fruit harvesting. The invention also discloses a corresponding fruit and vegetable harvesting method.

Description

Technical Field

[0001] This invention relates to agricultural harvesting technology, and in particular to a trellis-type mass fruit and vegetable harvesting machine, its fruit and vegetable harvesting device, and harvesting method. Background Technology

[0002] The existing fruit and vegetable harvesting equipment is relatively limited in variety, mainly consisting of selective harvesting robots. These robots harvest fruits and vegetables primarily through visual recognition and positioning, robotic arm planning and control, and end effector execution. Each robotic arm can only pick one or a few fruits at a time, resulting in relatively low operational efficiency and making them unsuitable for large-scale harvesting operations and practical applications.

[0003] With the construction of standardized orchards, the actual field working environment is relatively controllable, and the distribution of fruits is relatively regular, especially for trellis-grown fruits. Taking kiwifruit as an example, the fruits mostly hang vertically directly under the trellis, with a relatively regular distribution and a relatively concentrated height. Kiwifruit vines mostly climb on the wire mesh of the trellis, and the fruit stalks are relatively long, with almost no leaves obstructing the fruit. The abscission layer of kiwifruit is relatively fragile, and the fruit stalks can be separated by bending, twisting, and pulling. Selective harvesting methods are difficult to meet the requirements of mechanized and efficient harvesting. Even by adding robotic arms, there are problems such as excessively high overall machine costs and complex algorithm development. How to achieve batch harvesting of fruits and vegetables in trellis-grown orchards and effectively improve harvesting efficiency is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a trellis-type batch fruit and vegetable harvesting machine, its fruit and vegetable harvesting device, and harvesting method.

[0005] To achieve the above objectives, the present invention provides a fruit and vegetable harvesting device, comprising:

[0006] The lifting mechanism, connected to a self-propelled chassis or tractor, is used to adjust the picking height;

[0007] A harvesting mechanism, connected to the lifting mechanism, the harvesting mechanism comprising:

[0008] Rotation axis;

[0009] A fixed plate is arranged parallel to and installed at both ends of the rotating shaft; the fixed plate is connected to the lifting mechanism;

[0010] Multiple flexible discs are arranged in an alternating array on the rotating shaft. There is an angle between adjacent flexible discs. The size of the angle is adapted to the diameter of the fruit to be picked. The gap between adjacent flexible discs expands and narrows periodically during rotation to complete the batch clamping and fixing of the fruit to be picked.

[0011] Multiple brush tips are arranged corresponding to the gaps in the flexible disk, and the length of each brush tip is less than the radius of the flexible disk; and

[0012] A driving component is installed on the lifting mechanism and connected to the rotating shaft. As the driving component drives the rotating shaft to rotate the flexible disk, the gap between the flexible disks gradually narrows and clamps the fruit to be picked. The fruit to be picked follows the flexible disk to rotate to the position of the combing ruler, and the combing ruler peels off the fruit stuck in the gap between the flexible disks, thus realizing fruit picking.

[0013] In the aforementioned fruit and vegetable harvesting device, the lifting mechanism includes a support frame, an upper pull rod, a lower pull rod, and an electric cylinder. The support frame is connected to the self-propelled chassis or traction machine. The upper pull rod and lower pull rod are respectively installed at both ends of the support frame. The upper pull rod and lower pull rod are arranged parallel to each other. One end of the upper pull rod and lower pull rod are respectively connected to the support frame, and the other end of the upper pull rod and lower pull rod are respectively connected to the corresponding fixed plate. The upper pull rod, lower pull rod, support frame, and fixed plate together form a parallel four-bar linkage. One end of the electric cylinder is installed on the support frame, and the other end of the electric cylinder is connected to the upper pull rod through a crossbar. The electric cylinder extends and retracts to drive the crossbar to adjust the harvesting height of the harvesting mechanism through the parallel four-bar linkage.

[0014] In the aforementioned fruit and vegetable harvesting device, the driving component includes a drive motor, a drive wheel, a driven wheel, and a transmission chain. The drive wheel is mounted on one side of the support frame, and the drive motor is connected to the drive wheel via a reducer. The driven wheel is mounted on the fixed plate on the same side and connected to the rotating shaft. The transmission chain is tensioned on the drive wheel and the driven wheel.

[0015] In the aforementioned fruit and vegetable harvesting device, the multiple flexible discs are divided into a first group of discs, a second group of discs, and a third group of discs that are parallel to each other within the same group. The axis of the first group of discs is coaxial with the rotation axis. The second group of discs and the third group of discs are respectively staggered on both sides of the first group of discs. The second group of discs and the third group of discs are symmetrically arranged with respect to the first group of discs, and the angle between the second group of discs and the third group of discs and the first group of discs is an acute angle.

[0016] In the above-mentioned fruit and vegetable picking device, a plurality of the comb brushes are mounted on one side of the fixed plate via a long connecting rod. The two ends of the long connecting rod are respectively connected to the corresponding fixed plates, and the plurality of comb brushes are respectively mounted on the long connecting rod corresponding to the two sides of the first set of discs.

[0017] In the above-mentioned fruit and vegetable harvesting device, the flexible disc is a flat disc, a wavy disc, or a fan-shaped disc.

[0018] In the aforementioned fruit and vegetable harvesting device, the flexible disc is made of flexible material or composite material.

[0019] In the aforementioned fruit and vegetable harvesting device, the comb and ruler are made of flexible material.

[0020] To better achieve the above objectives, the present invention also provides a method for harvesting fruits and vegetables, wherein the above-mentioned fruit and vegetable harvesting device is used for large-scale, trellis-style harvesting of fruits and vegetables, comprising the following steps:

[0021] S100, self-propelled chassis or tractor drives fruit and vegetable picking device along the trellis line to the trellis under the fruit to be picked;

[0022] S200: The lifting mechanism adjusts the picking height in real time so that the fruit to be picked is higher than the axis of rotation of the picking mechanism or the comb ruler.

[0023] S300: The picking mechanism drives the flexible disks arranged in an alternating array to rotate. The gap between adjacent flexible disks periodically expands and narrows during the rotation process to complete the batch clamping and fixing of the fruits to be picked.

[0024] S400, Under the combined action of the rotation of the flexible disc and the movement of the machine, the fruit to be harvested is pulled, the fruit stalk bends and is pulled, and the fruit stalk breaks; and

[0025] S500, the fruit that has broken off from the stem rotates with the flexible disc to the position of the combing ruler, and the combing ruler peels off the fruit stuck in the gap of the flexible disc and drops it into the fruit collection bucket, thus completing the fruit harvesting.

[0026] To better achieve the above objectives, the present invention also provides a trellis-type batch fruit and vegetable harvesting machine, which includes the above-mentioned fruit and vegetable picking device, wherein the fruit and vegetable picking device is mounted on a self-propelled chassis, or the fruit and vegetable picking device is connected to a traction machine through a three-point suspension mechanism.

[0027] The technical advantages of this invention are as follows:

[0028] This invention targets standardized trellis orchards, employing a flexible disc-type fruit and vegetable harvesting device and a multi-coupling harvesting method involving clamping, bending, and stretching. The harvesting device uses a rotating, staggered array of flexible discs to periodically expand and narrow the gaps in the feeding port array. The harvesting method utilizes clamping, bending, and stretching multi-coupling to achieve multi-fruit clamping, bending, twisting, and stretching harvesting. During the clamping process, the flexible discs prevent damage to the fruit; moreover, the flexible discs only hold the fruit in the gaps, preventing entanglement with the trellis branches, ensuring operational stability and efficiency. The array gaps enable multi-fruit clamping, improving harvesting efficiency. The device is simple in structure, easy to operate, and highly efficient, making it suitable for large-scale harvesting operations and easy to promote through mechanization.

[0029] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of a shed-type batch fruit and vegetable harvesting machine according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a shed-type batch fruit and vegetable harvesting machine according to another embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of a harvesting device according to an embodiment of the present invention;

[0033] Figure 4 for Figure 3 The main view;

[0034] Figure 5 for Figure 3 Top view;

[0035] Figure 6 for Figure 3 Side view;

[0036] Figure 7 This is a schematic diagram of a lifting mechanism structure according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the harvesting mechanism according to an embodiment of the present invention.

[0038] Among them, the attached figures are labeled

[0039] 1. Fixed bracket

[0040] 2 self-propelled chassis

[0041] 3. Collect fruit baskets

[0042] 4 Fruit and vegetable harvesting devices

[0043] 41 Lifting Mechanism

[0044] 411 bracket

[0045] 412 upper pull rod

[0046] 413 pull rod

[0047] 414 electric cylinder

[0048] 415 crossbar

[0049] 42 picking organizations

[0050] 421 Fixing Plate

[0051] 422 Rotary Axis

[0052] 423 Flexible Disc

[0053] 424 Comb and Brush Adjuster

[0054] 425 drive components

[0055] 4251 drive motor

[0056] 4252 drive wheel

[0057] 4253 Driven Gear

[0058] 4254 drive chain

[0059] 426 long connecting rod

[0060] 5 traction machines

[0061] 6. Three-point suspension mechanism

[0062] 7 Power Take-Off Unit

[0063] 8 Fruits to be picked Detailed Implementation

[0064] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0065] Existing technologies for the batch harvesting of trellis-style fruits and vegetables mostly rely on selective harvesting robots. These robots use visual recognition and positioning, robotic arm planning and control, and end effectors to grasp fruits one at a time, but their practical application results are not ideal. To address the shortcomings of existing technologies, such as low harvesting efficiency, complex operation processes, difficult algorithm development, and high overall machine cost, this invention achieves standardized batch harvesting of fruits and vegetables in trellis-style orchards through a simple mechanical structure and lower cost, thereby improving fruit harvesting efficiency and promoting the practical application of the fruit and vegetable harvesting device 4.

[0066] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of a shed-type batch fruit and vegetable harvesting machine according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a trellis-type batch fruit and vegetable harvesting machine according to another embodiment of the present invention. The trellis-type batch fruit and vegetable harvesting machine of the present invention includes a fruit and vegetable harvesting device 4, which is mounted on a self-propelled chassis 2, or the fruit and vegetable harvesting device 4 is connected to a traction machine 5 via a three-point suspension mechanism 6. Figure 1 As shown, the fruit and vegetable harvesting device 4 is mounted on the self-propelled chassis 2 via a fixed bracket 1. The installation position and the height of the fixed bracket 1 are adjusted according to the actual trellis and fruit height. Harvesting rotation is driven by a drive motor 4251, and lifting is driven by an electric cylinder 414. Figure 2As shown, the fruit and vegetable harvesting device 4 is connected to the tractor 5, such as a tractor, via a three-point suspension mechanism 6. The tractor's power output device 7 provides power, which is then transmitted to the fruit and vegetable harvesting device 4 after being reduced in speed and direction by a reducer (worm gear, etc.). The lifting mechanism 41 of the fruit and vegetable harvesting device 4 can also be a hydraulic cylinder, and the lifting power can be provided by the tractor's hydraulic system. The position of the fruit collection basket 3 corresponds to the flow direction of the comb brush 424 of the harvesting component, so that the brushed fruits can fall directly into the fruit collection basket 3. Since the self-propelled chassis and the tractor 5 are both relatively mature existing technologies, they will not be described in detail here. The fruit and vegetable harvesting device 4 of the present invention will be described in detail below.

[0067] See Figures 3-6 , Figure 3 This is a schematic diagram of a harvesting device according to an embodiment of the present invention. Figure 4 for Figure 3 The main view, Figure 5 for Figure 3 Top view, Figure 6 for Figure 3 A side view. The fruit and vegetable harvesting device 4 of the present invention includes: a lifting mechanism 41, connected to a self-propelled chassis or a traction machine 5, for adjusting the harvesting height; a harvesting mechanism 42, connected to the lifting mechanism 41, the harvesting mechanism 42 including: a rotating shaft 422; a fixing plate 421, arranged in parallel and installed at both ends of the rotating shaft 422; the fixing plate 421 is connected to the lifting mechanism 41; a plurality of flexible disks 423, arranged in an alternating array on the rotating shaft 422, with an included angle between adjacent flexible disks 423, the size of the included angle being adapted to the diameter of the fruit 8 to be harvested, and the gap between adjacent flexible disks 423 periodically expanding and narrowing during rotation to complete the batch harvesting of the fruit 8. The system includes a quantitative clamping and fixing mechanism; multiple combing rulers 424, corresponding to the gaps in the flexible disk 423, with the length of each combing ruler 424 being less than the radius of the flexible disk 423; and a driving component 425, mounted on the lifting mechanism 41 and connected to the rotating shaft 422. During the rotation of the flexible disk 423 by the driving component 425, the gaps in the flexible disk 423 gradually narrow, clamping the fruit to be picked 8. The fruit to be picked 8 rotates with the flexible disk 423 to the position of the combing ruler 424, whereby the combing ruler 424 peels the fruit 8 stuck in the gaps of the flexible disk 423, thus achieving fruit picking.

[0068] See Figure 7 , Figure 7This is a schematic diagram of the lifting mechanism 41 according to an embodiment of the present invention. The lifting mechanism 41 in this embodiment includes a bracket 411, an upper pull rod 412, a lower pull rod 413, and an electric cylinder 414. The bracket 411 is connected to the self-propelled chassis or traction machine 5, and bears the entire weight of the lifting mechanism 41 and the harvesting mechanism 42. The upper pull rod 412 and the lower pull rod 413 are respectively arranged at both ends of the bracket 411. The upper pull rod 412 and the lower pull rod 413 are arranged parallel to each other, and one end of the upper pull rod 412 and the lower pull rod 413 are respectively connected to the bracket 411. The other ends of the upper pull rod 412 and the lower pull rod 413 are respectively connected to the corresponding fixed plate 421; the upper pull rod 412, the lower pull rod 413, the bracket 411 and the fixed plate 421 together form a parallel four-bar linkage; one end of the electric cylinder 414 is mounted on the bracket 411, and the other end of the electric cylinder 414 is connected to the upper pull rod 412 through the crossbar 415; the electric cylinder 414 extends and retracts to drive the crossbar 415 to drive the parallel four-bar linkage to rise and fall, so as to adjust the picking height of the picking mechanism 42.

[0069] The driving component 425 includes a drive motor 4251, a driving wheel 4252, a driven wheel 4253, and a transmission chain 4254. The driving wheel 4252 is mounted on one side of the bracket 411. The drive motor 4251 is connected to the driving wheel 4252 via a reducer. The driven wheel 4253 is mounted on the fixed plate 421 on the same side and connected to the rotating shaft 422. The transmission chain 4254 is tensioned between the driving wheel 4252 and the driven wheel 4253. The drive motor 4251 provides driving power to the harvesting mechanism 42.

[0070] See Figure 8 , Figure 8 This is a schematic diagram of the harvesting mechanism 42 according to an embodiment of the present invention. See also... Figure 4In this embodiment, the fixed plate 421 is connected to the ends of the upper and lower pull rods 413 of the lifting mechanism 41, and the rotating shaft 422 is installed in the middle through the bearing seat; one side of the rotating shaft 422 extends from the side of the fixed plate 421 and a driven wheel 4253 is installed thereon. An array of flexible disks 423 is installed on the rotating shaft 422 between the two fixed plates 421. The driven wheel 4253 drives the rotating shaft 422 to rotate the array of flexible disks 423 under the drive of the transmission chain 4254. The multiple flexible discs 423 are divided into a first group, a second group, and a third group of discs that are parallel to each other within the same group. The axis of the first group of discs is coaxial with the rotation axis 422. The second and third groups of discs are staggered on both sides of the first group of discs, and are symmetrically arranged with respect to the first group of discs. The angle between the second and third groups of discs and the first group of discs is an acute angle, that is, each pair of flexible discs 423 forms a certain angle, which is less than 90°. This angle also depends on the diameter of the flexible discs 423, the gap between the array of flexible discs 423, and the coefficient of friction between the fruit to be picked 8, such as kiwifruit, and the flexible discs 423. As long as the fruit can be properly gripped during rotation, it is acceptable. The flexible discs 423 can be flat discs, wavy discs, or fan-shaped discs; the flexible discs 423 are preferably made of flexible material, or can also be made of composite material. During rotation, the gap between the array of flexible discs 423 at the picking position gradually narrows, thus achieving fruit picking.

[0071] Figure 8 The comb-brush lever 424 shown can be located on the opposite side of the parallel four-bar linkage, or on the same side, as long as there is no interference between the mechanisms. Multiple comb-brush levers 424 are mounted on one side of the fixed plate 421 via a long connecting rod 426. The two ends of the long connecting rod 426 are respectively connected to the corresponding fixed plate 421. The multiple comb-brush levers 424 are mounted on the long connecting rod 426 corresponding to both sides of the first set of discs. That is, the comb-brush levers 424 correspond to each gap of the array of flexible discs 423, and can dislodge fruits stuck in the gaps of the flexible discs 423, allowing them to fall into the fruit basket below, thus achieving fruit harvesting. The comb-brush lever 424 is preferably made of a flexible material.

[0072] In actual operation, the rotation direction of the flexible disc 423 depends on the actual working effect. Since the fruit's position entering the flexible disc 423 is fixed, the angle between the discs gradually narrows as the disc 423 rotates. At this point, the fruit entering the harvesting mechanism 42 is held by the flexible disc 423. Under the combined action of the rotation of the flexible disc 423 and the movement of the machine, the fruit is pulled, the fruit stalk bends and is pulled, eventually breaking off. The fruit follows the rotation of the discs to the position of the combing ruler 424. Under the action of the combing ruler 424, the fruit is peeled from the gap between the discs and falls into the fruit collection bucket, finally completing the fruit harvesting. Both the flexible disc 423 and the combing ruler 424 are made of flexible materials, such as rubber, to avoid damage during fruit harvesting.

[0073] When harvesting in the orchard, the chassis travels along the trellis. The electric cylinder 414 of the lifting mechanism 41 extends and retracts in real time according to the fruit height on the trellis, adjusting the height of the harvesting mechanism 42. This ensures that the fruit enters the fruit and vegetable harvesting device as close as possible to the front of the flexible disc 423. This front is diagonally above the direction of travel of the flexible disc 423. The height adjustment ensures that the fruit is above the axis of the flexible disc 423 or above the combing ruler 424. The extension and retraction of the electric cylinder 414 of the lifting mechanism 41 can be controlled manually or adjusted via feedback from a distance sensor. The rotating shaft 422 of the harvesting mechanism 42, driven by the driven wheel 4253, rotates the array of flexible discs 423. The direction of rotation depends on the installation position of the combing ruler 424; rotating towards the combing ruler 424 ensures that the fruit can be properly brushed out.

[0074] The fruit and vegetable harvesting method of the present invention uses the above-mentioned fruit and vegetable harvesting device 4 to carry out batch harvesting of fruits and vegetables in a trellis manner through a clamping, bending, pulling, and multi-coupling effect, and includes the following steps:

[0075] Step S100: During the harvesting operation, the self-propelled chassis or tractor 5 drives the fruit and vegetable harvesting device 4 along the trellis movement line to the trellis under the fruit to be harvested 8.

[0076] Step S200: The lifting mechanism 41 extends and retracts in real time according to the height of the fruit on the trellis, and adjusts the picking height of the picking mechanism 42 so that the position of the fruit to be picked 8 entering the picking mechanism 42 is kept obliquely above the direction of the machine's forward movement, and the fruit to be picked 8 is higher than the axis of the rotation axis 422 or the comb ruler 424 of the picking mechanism 42.

[0077] In step S300, the picking mechanism 42 drives the flexible disks 423 arranged in an alternating array to rotate. The gap between adjacent flexible disks 423 expands and narrows periodically during the rotation, thus completing the batch clamping and fixing of the fruits 8 to be picked.

[0078] Step S400: Under the combined action of the rotation of the flexible disc 423 and the movement of the machine, the fruit 8 to be harvested is pulled, the fruit stalk bends and is pulled, and the fruit stalk breaks; and

[0079] Step S500: The fruit that has broken off from the stem rotates with the flexible disc 423 to the position of the combing ruler 424. The combing ruler 424 peels off the fruit stuck in the gap of the flexible disc 423 and drops it into the fruit collection bucket, thus completing the fruit harvesting.

[0080] This invention utilizes a staggered array of flexible discs 423 that rotate to periodically expand and narrow the gaps at the feeding port of the harvesting mechanism 42, thus achieving batch clamping and fixing of the fruit. Adjacent flexible discs 423 are arranged in an array at a certain angle, ensuring the periodic expansion and narrowing of the gaps during rotation, allowing the fruit to enter normally. The flexible discs 423 can be flat discs, or they can be wavy or fan-shaped discs, as long as the periodic expansion and narrowing of the gaps during rotation ensures the fruit can enter normally. The flexible discs 423 are preferably made of flexible materials with high surface friction, such as rubber, to stably clamp the fruit while allowing a certain degree of deformation to minimize fruit damage. Composite materials, such as metal frames and rubber-coated parts, can also be used to ensure rigidity. Simultaneously, the fruit is stably clamped without damage. The flexible disc 423 rotates continuously during the harvesting process. Successfully clamped fruits move around the rotation axis 422 along with the rotation of the flexible disc 423. During this time, the self-propelled chassis 2 or traction machine 5 also moves forward. While the fruit is being clamped, the fruit stalk bends and is pulled. Under this combined action, the fruit stalk breaks, completing the harvesting process. The successfully harvested fruit continues to rotate with the flexible disc 423. Under the action of the array of combing rulers 424, the fruit will detach from the gaps of the flexible disc 423 and fall into the fruit collection basket below. The combing rulers 424 are made of flexible material, minimizing damage to the fruit during the combing process. The angle of the combing rulers 424 can be adjusted according to actual needs, as long as the fruit can be combed down. Since the harvesting mechanism 42 does not have a cutting platform or other devices, it only filters the fruit into the gaps of the flexible disc 423 for clamping, minimizing the risk of branches getting entangled with the rotation axis 422 during operation.

[0081] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A fruit and vegetable harvesting device, characterized in that, include: The lifting mechanism, connected to a self-propelled chassis or tractor, is used to adjust the picking height; A harvesting mechanism, connected to the lifting mechanism, the harvesting mechanism comprising: Rotation axis; A fixed plate is arranged parallel to and installed at both ends of the rotating shaft; the fixed plate is connected to the lifting mechanism; Multiple flexible discs are arranged in an alternating array on the rotating shaft. There is an angle between adjacent flexible discs. The size of the angle is adapted to the diameter of the fruit to be picked. The gap between adjacent flexible discs expands and narrows periodically during rotation to complete the batch clamping and fixing of the fruit to be picked. Multiple brush tips are arranged corresponding to the gaps in the flexible disk, and the length of each brush tip is less than the radius of the flexible disk; and A driving component is installed on the lifting mechanism and connected to the rotating shaft. As the driving component drives the rotating shaft to rotate the flexible disk, the gap between the flexible disks gradually narrows and clamps the fruit to be picked. The fruit to be picked follows the flexible disk to rotate to the position of the combing ruler, and the combing ruler peels off the fruit stuck in the gap between the flexible disks, thus realizing fruit picking.

2. The fruit and vegetable harvesting device as described in claim 1, characterized in that, The lifting mechanism includes a bracket, an upper pull rod, a lower pull rod, and an electric cylinder. The bracket is connected to the self-propelled chassis or traction machine. The upper pull rod and lower pull rod are respectively installed at both ends of the bracket. The upper pull rod and lower pull rod are arranged parallel to each other. One end of the upper pull rod and lower pull rod are respectively connected to the bracket, and the other end of the upper pull rod and lower pull rod are respectively connected to the corresponding fixed plate. The upper pull rod, lower pull rod, bracket, and fixed plate together form a parallel four-bar linkage. One end of the electric cylinder is installed on the bracket, and the other end of the electric cylinder is connected to the upper pull rod through a crossbar. The electric cylinder extends and retracts to drive the crossbar to adjust the picking height of the picking mechanism through the parallel four-bar linkage.

3. The fruit and vegetable harvesting device as described in claim 2, characterized in that, The driving component includes a drive motor, a drive wheel, a driven wheel, and a transmission chain. The drive wheel is mounted on one side of the bracket. The drive motor is connected to the drive wheel through a reducer. The driven wheel is mounted on the fixed plate on the same side and connected to the rotating shaft. The transmission chain is tensioned on the drive wheel and the driven wheel.

4. The fruit and vegetable harvesting device as described in claim 1, characterized in that, The multiple flexible disks are divided into a first group, a second group, and a third group of disks that are parallel to each other within the same group. The axis of the first group of disks is coaxial with the rotation axis. The second group and the third group of disks are respectively staggered on both sides of the first group of disks. The second group and the third group of disks are symmetrically arranged with respect to the first group of disks, and the angle between the second group and the third group of disks and the first group of disks is an acute angle.

5. The fruit and vegetable harvesting device as described in claim 4, characterized in that, Multiple comb brush levers are mounted on one side of the fixed plate via a long connecting rod. The two ends of the long connecting rod are respectively connected to the corresponding fixed plates. The multiple comb brush levers are respectively mounted on the long connecting rod corresponding to the two sides of the first set of discs.

6. The fruit and vegetable harvesting device as described in claim 1, characterized in that, The flexible disk is a flat disk, a wavy disk, or a fan-shaped disk.

7. The fruit and vegetable harvesting device as described in claim 1, characterized in that, The flexible disk is a flexible material component or a composite material component.

8. The fruit and vegetable harvesting device as described in claim 1, characterized in that, The comb ruler is made of a flexible material.

9. A method for harvesting fruits and vegetables, characterized in that, The method of using the fruit and vegetable harvesting device according to any one of claims 1-8 for large-scale, trellis-style harvesting of fruits and vegetables includes the following steps: S100, self-propelled chassis or tractor drives fruit and vegetable picking device along the trellis line to the trellis under the fruit to be picked; S200: The lifting mechanism adjusts the picking height in real time so that the fruit to be picked is higher than the axis of rotation of the picking mechanism or the comb ruler. S300: The picking mechanism drives the flexible disks arranged in an alternating array to rotate. The gap between adjacent flexible disks periodically expands and narrows during the rotation process to complete the batch clamping and fixing of the fruits to be picked. S400, Under the combined action of the rotation of the flexible disc and the movement of the machine, the fruit to be harvested is pulled, the fruit stalk bends and is pulled, and the fruit stalk breaks; and S500, the fruit that has broken off from the stem rotates with the flexible disc to the position of the combing ruler, and the combing ruler peels off the fruit stuck in the gap of the flexible disc and drops it into the fruit collection bucket, thus completing the fruit harvesting.

10. A trellis-type batch harvesting machine for fruits and vegetables, characterized in that, The invention includes the fruit and vegetable harvesting device according to any one of claims 1-8, wherein the fruit and vegetable harvesting device is mounted on a self-propelled chassis, or the fruit and vegetable harvesting device is connected to a tractor via a three-point suspension mechanism.

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