A method for picking fruits

Abstract

The present invention provides a fruit picking method, comprising: driving a picking and cutting device to move to a target picking position of a fruit tree through a mechanical arm of a picking machine; controlling a hook mechanism of the picking and cutting device to open, and according to a fruit tree image transmitted back by a shooting mechanism on the picking and cutting device, controlling the picking and cutting device to adjust its position to embrace the trunk of the fruit tree, and controlling the hook mechanism of the picking and cutting device to hook inwards; according to a fruit bunch image transmitted back by a shooting mechanism, driving an arc-shaped slide rail to drive the cutting mechanism to move along a circumferential direction to the position where the fruit bunch is located through a slide rail driving mechanism on the picking and cutting device, and controlling the cutting mechanism to cut the fruit bunch, and the cut fruit bunch falls down into a hopper; after the picking is completed, controlling the hook mechanism of the picking and cutting device to open, and controlling the picking and cutting device to leave the current target picking position. The advantages of the present invention are: it can reliably realize accurate and rapid picking of fruit bunches of oil palm fruits, and can improve picking efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of picking machines, and in particular to a fruit picking method. Background Art

[0002] Oil palm fruits grow on oil palm trees, usually at the top of the trees, in clusters. There are usually about 10-15 fruit bunches per oil palm tree, and each fruit bunch weighs between 15-25 kilograms.

[0003] At present, the picking of oil palm fruits is still mainly done manually, and since oil palm fruits grow at a higher position on the oil palm tree, manual picking is not only inefficient, but also dangerous. Of course, there are some picking machines in the prior art, but since the outer side of the fruit bunch of oil palm fruits is usually blocked by the petiole and the leaf receptacle, it is difficult for the existing picking machines to reliably and accurately pick the fruit bunch of oil palm fruits quickly and accurately, and the picking efficiency is low; therefore, it is urgent to provide a picking method that can accurately and quickly pick the fruit bunch of oil palm fruits to improve the picking efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a fruit picking method, which can reliably and accurately pick the fruit bunches of oil palm fruits and improve the picking efficiency.

[0005] The present invention is achieved in this way: a fruit picking method, the picking method comprising the following steps:

[0006] The picking and cutting device is driven by the mechanical arm of the picking machine to move to the target picking position of the fruit tree;

[0007] Control the hook mechanism of the picking and cutting device to open outwards, and according to the fruit tree picture transmitted back by the shooting mechanism on the picking and cutting device, control the picking and cutting device to adjust its position so that the arc-shaped support body of the picking and cutting device embraces the trunk of the fruit tree, and control the hook mechanism of the picking and cutting device to hook inwards so that the arc-shaped support body embraces the trunk of the fruit tree;

[0008] According to the fruit bunch image transmitted back by the shooting mechanism, the arc-shaped slide rail is driven by the slide rail driving mechanism on the picking and cutting device to drive the cutting mechanism to move along the circumferential direction to the position where the fruit bunch is located, and the cutting mechanism is controlled to cut the fruit bunch, and the cut fruit bunch falls down into the hopper of the picking and cutting device;

[0009] After the fruit bunches at the current target picking position are picked, the hook mechanism of the picking and cutting device is controlled to open outwards, and the mechanical arm is controlled to drive the picking and cutting device to leave the current target picking position.

[0010] Furthermore, the method of driving the picking and cutting device to move to the target picking position of the fruit tree by the mechanical arm of the picking machine specifically includes: controlling the first rotating component of the mechanical arm to drive the picking and cutting device to rotate and adjust, controlling the vertical lifting component of the mechanical arm to drive the picking and cutting device to rise, controlling the horizontal moving component of the mechanical arm to drive the picking and cutting device to move horizontally and adjust, or controlling the lifting component of the mechanical arm to drive the picking and cutting device to lift and adjust, thereby moving the picking and cutting device to the target picking position of the fruit tree.

[0011] Furthermore, the picking and cutting device is equipped with an angle adjustment mechanism;

[0012] The method of controlling the position adjustment of the picking and cutting device so that the arc-shaped supporting body of the picking and cutting device embraces the trunk of the fruit tree specifically includes: controlling the swing component of the angle adjustment mechanism to drive the picking and cutting device to swing up and down or controlling the second rotating component of the angle adjustment mechanism to drive the picking and cutting device to rotate, so that the arc-shaped supporting body of the picking and cutting device embraces the trunk of the fruit tree.

[0013] Furthermore, the cutting mechanism includes an inclined support provided on the outer side wall of the arc-shaped slide rail, a cutting blade movably mounted on the inclined support, and a blade driving assembly connected to the cutting blade, wherein the cutting blade is inclined from bottom to top toward the inner side of the arc-shaped slide rail;

[0014] The controlling the cutting mechanism to cut the fruit bunch specifically includes: driving the cutting blade to swing back and forth through the blade driving assembly to achieve the cutting operation on the fruit bunch.

[0015] Furthermore, both sides of the cutting blade form arc-shaped side edges, and cutting saw teeth are distributed on the arc-shaped side edges;

[0016] The lower end of the cutting blade is rotatably connected to the tilting support through a first limiting pin, and a first movable slide groove is arranged through the middle part of the cutting blade along the length direction. A second limiting pin is movably arranged on the tilting support, and the second limiting pin passes through the first movable slide groove. A limiting block is provided at the free end of the second limiting pin, and the movable end of the blade driving assembly is connected to the second limiting pin.

[0017] Furthermore, the inclined support includes a support base, a lower support plate, a first guide slide block and an upper support plate; the support base is arranged on the outer side wall of the arc slide rail, the lower support plate is fixedly connected to the upper end of the support base, the upper surface of the lower support plate forms a first guide slide groove along the horizontal direction, and at least one end of the first guide slide groove extends to the end of the lower support plate; the first guide slide block is slidably assembled in the first guide slide groove, the blade drive assembly is arranged at the bottom of the lower support plate, and the movable end of the blade drive assembly is connected to one end of the first guide slide block; the upper support plate is locked above the lower support plate, and the upper support plate is provided with a second movable slide groove at a position corresponding to the first guide slide groove, and the second limit pin passes through the second movable slide groove and is connected to the free end of the first guide slide block.

[0018] Furthermore, a movable channel is formed in the arc-shaped support body along the circumferential direction, and the arc-shaped slide rail is slidably assembled in the movable channel; the hook mechanism is arranged at one end of the arc-shaped support body, and the cutting mechanism is arranged on the arc-shaped slide rail and is located at an end away from the hook mechanism.

[0019] Furthermore, the slide rail driving mechanism includes a driving motor, a driving sprocket and a transmission chain; the driving motor is mounted on the arc-shaped support body, and the driving sprocket is connected to the output end of the driving motor; the transmission chain is arranged on the outer side wall of the arc-shaped slide rail, and the transmission chain is meshed with the driving sprocket;

[0020] The top and bottom surfaces of the arc-shaped slide rail are formed with second guide grooves, and a second guide slider is slidably arranged in each second guide groove, and the second guide slider is connected to the arc-shaped support body; the top and bottom of the movable channel are rotatably provided with a plurality of abutting rollers that abut against the inner and outer walls of the arc-shaped slide rail.

[0021] Furthermore, shooting mechanisms are provided on both sides of the angle adjustment mechanism and the cutting mechanism.

[0022] By adopting the technical solution of the present invention, at least the following beneficial effects are achieved:

[0023] 1. The picking and cutting device is driven by a mechanical arm to move to the target picking position of the fruit tree, and the picking and cutting device is controlled to adjust its position to hold the trunk of the fruit tree according to the fruit tree image transmitted back by the shooting mechanism; at the same time, according to the fruit bunch image transmitted back by the shooting mechanism, the cutting mechanism is controlled to move to the position of the fruit bunch, and the cutting mechanism is controlled to synchronously and quickly cut the stalk and petiole of the fruit bunch; therefore, by adopting the technical solution of the present invention, the fruit bunches of oil palm fruits can be reliably and accurately picked quickly, the picking efficiency can be improved, and the picking process is safer.

[0024] 2. By using the combination of a robotic arm and an angle adjustment mechanism, the picking and cutting device can be accurately adjusted so that the picking and cutting device can accurately and quickly move to the target picking position of the fruit tree and hold the trunk of the fruit tree, thereby facilitating the rapid picking of the fruit bunches.

[0025] 3. The lower end of the cutting blade is rotatably connected to the inclined support through a first limiting pin, and a first movable slide groove is set in the middle part of the cutting blade along the length direction; a first guide slide groove is formed in the horizontal direction on the lower support plate of the inclined support, and a first guide slider is slidably set in the first guide slide groove, one end of the first guide slider is connected to the blade driving assembly, and a second limiting pin is set at the other end of the first guide slider, and the second limiting pin passes through the second movable slide groove and the first movable slide groove in sequence; during specific work, the blade driving assembly can be used to drive the first guide slider to link the cutting blade to swing back and forth, so that the cutting blade can effectively and synchronously cut the petiole and the stem of the fruit bunch; at the same time, cutting saw teeth are distributed on both sides of the cutting blade, so that both sides of the cutting blade can realize the cutting function, which is more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0027] Figure 1 It is a three-dimensional structural diagram of the picking machine in the present invention;

[0028] Figure 2 It is an assembly structure diagram of the picking and cutting device and the mechanical arm in the present invention;

[0029] Figure 3 It is the internal structure diagram of the mechanical arm in the present invention;

[0030] Figure 4 yes Figure 2 A magnified view of the middle A area;

[0031] Figure 5 It is a three-dimensional structural diagram of the picking and cutting device of the present invention;

[0032] Figure 6 It is a structural diagram of the arc-shaped support body in the present invention;

[0033] Figure 7 It is a structural diagram of the picking and cutting device of the present invention after the arc-shaped supporting body is removed;

[0034] Figure 8 It is a structural diagram of the hook mechanism in the present invention;

[0035] Fig. 9 is an exploded view of the cutting mechanism of the present invention;

[0036] Fig.10 It is the overall assembly diagram of the cutting mechanism in the present invention.

[0037] Description of reference numerals:

[0038] Picker 100;

[0039] Robot arm 1, first rotating assembly 11, vertical lifting assembly 12, vertical outer tube 121, vertical inner tube 122, first driving cylinder 123, horizontal moving assembly 13, horizontal outer tube 131, horizontal inner tube 132, second driving cylinder 133, jacking assembly 14;

[0040] Picking and cutting device 2, hook mechanism 21, arc-shaped upper hook plate 211, arc-shaped lower hook plate 212, connecting piece 213, fifth driving cylinder 214, arc-shaped notch 2151, latching tooth portion 2152, shooting mechanism 22, arc-shaped supporting body 23, movable channel 231, top roller 232, slide rail driving mechanism 24, driving motor 241, driving sprocket 242, transmission chain 243, arc-shaped slide rail 25, second guide slide groove 251, second guide slide block 25 2, cutting mechanism 26, tilting support 261, supporting base 2611, lower supporting plate 2612, first guide slide block 2613, upper supporting plate 2614, first guide slide groove 261a, second movable slide groove 261b, cutting blade 262, arc-shaped side 2621, cutting saw teeth 2622, first movable slide groove 2623, blade driving assembly 263, first limiting pin 264, second limiting pin 265, limiting block 2651, hopper 27;

[0041] Walking car 3;

[0042] Angle adjustment mechanism 4, swing assembly 41, hinge shaft 411, hinge frame 412, fourth drive cylinder 413, second rotation assembly 42, double-output shaft drive motor 421, motor fixing seat 422. DETAILED DESCRIPTION

[0043] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0044] It should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing these embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. In addition, the terms "first", "second", etc., etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0045] See also Figures 1 to 10 As shown, the present invention provides a fruit picking method, which comprises the following steps:

[0046] Step S1, the mechanical arm 1 of the picking machine 100 drives the picking and cutting device 2 to move to the target picking position of the fruit tree, which is the position where the oil palm fruit grows on the fruit tree; when the present invention is implemented, the staff can drive the picking machine 100 along the road to a position close to the fruit tree, and then control the mechanical arm 1 to drive the picking and cutting device 2 to move to one side of the target picking position of the fruit tree;

[0047] Step S2, controlling the hook mechanism 21 of the picking and cutting device 2 to open outwards, and according to the fruit tree picture transmitted back by the shooting mechanism 22 on the picking and cutting device 2, controlling the picking and cutting device 2 to adjust its position so that the arc-shaped supporting body 23 of the picking and cutting device 2 embraces the trunk of the fruit tree, that is, hugs the trunk of the fruit tree from the outside at the position where the fruit bunch grows, and controlling the hook mechanism 21 of the picking and cutting device 2 to hook inwards so that the arc-shaped supporting body 23 hugs the trunk of the fruit tree, so as to fix the entire picking and cutting device 2 on the trunk of the fruit tree;

[0048] Step S3, according to the fruit bunch picture transmitted back by the shooting mechanism 22, the arc-shaped slide rail 25 is driven by the slide rail driving mechanism 24 on the picking and cutting device 2 to drive the cutting mechanism 26 to move along the circumferential direction to the position of the fruit bunch, and the cutting mechanism 26 is controlled to cut the fruit bunch, and the cut fruit bunch is dropped into the hopper 27 of the picking and cutting device 2; because the picking and cutting device 2 is usually unable to accurately align the position of the fruit bunch when the fruit tree trunk is tightly embraced by the picking and cutting device 2, therefore, by using the slide rail driving mechanism 24 to drive the arc-shaped slide rail 25 to drive the cutting mechanism 26 to move to the position of the fruit bunch, it can be ensured that the cutting mechanism 26 can accurately cut the handle of the fruit bunch. Of course, because the outer side of the fruit bunch of oil palm fruit is usually blocked by the petiole, the cutting mechanism 26 will also synchronously cut the petiole during the process of cutting the fruit bunch;

[0049] Step S4: After the fruit bunches at the current target picking position are picked, the hook mechanism 21 of the picking and cutting device 2 is controlled to open outwards, and the robotic arm 1 is controlled to drive the picking and cutting device 2 to leave the current target picking position.

[0050] In some embodiments of the present invention, the mechanical arm 1 of the picking machine 100 drives the picking and cutting device 2 to move to the target picking position of the fruit tree specifically includes:

[0051] The first rotating component 11 of the robot arm 1 is controlled to drive the picking and cutting device 2 to perform rotation adjustment, the vertical lifting component 12 of the robot arm 1 is controlled to drive the picking and cutting device 2 to rise, the horizontal moving component 13 of the robot arm 1 is controlled to drive the picking and cutting device 2 to perform horizontal movement adjustment, or the lifting component 14 of the robot arm 1 is controlled to drive the picking and cutting device 2 to perform lifting adjustment, so that the picking and cutting device 2 moves to the target picking position of the fruit tree. When the present invention is implemented, any one or more components among the first rotating component 11, the vertical lifting component 12, the horizontal moving component 13 and the lifting component 14 can be controlled according to actual needs to adjust the position of the picking and cutting device 2.

[0052] As a specific implementation of the present invention, please focus on Figure 2 and Figure 3 As shown, the harvesting machine 100 includes a traveling vehicle 3, the first rotating component 11 is arranged in the middle of the rear end of the traveling vehicle 3, and the first rotating component 11 is a rotating drive motor.

[0053] The vertical lifting assembly 12 includes a vertical outer tube 121, a vertical inner tube 122 and a first driving cylinder 123. The first driving cylinder 123 can be an oil cylinder. The vertical outer tube 121 is slidably sleeved on the outside of the vertical inner tube 122. The lower end of the vertical outer tube 121 is connected to the first rotating assembly 11. The first driving cylinder 123 is arranged in the vertical inner tube 122, and the first driving cylinder 123 is connected to the lower end of the vertical outer tube 121. During operation, the vertical inner tube 122 can be driven to rise and fall by the first driving cylinder 123.

[0054] The horizontal moving component 13 includes a horizontal outer tube 131, a horizontal inner tube 132 and a second driving cylinder 133. The second driving cylinder 133 can be an oil cylinder. The horizontal outer tube 131 is slidably sleeved on the outside of the horizontal inner tube 132. One end of the horizontal outer tube 131 is hinged to the upper end of the vertical inner tube 122. The second driving cylinder 133 is arranged in the horizontal inner tube 132, and the second driving cylinder 133 is connected to one end of the horizontal outer tube 131 close to the vertical inner tube 122. When working, the horizontal inner tube 132 can be driven to move by the second driving cylinder 133.

[0055] The lifting assembly 14 is a third driving cylinder connected between the vertical outer tube 121 and the horizontal outer tube 131. The third driving cylinder can be an oil cylinder. When working, the horizontal moving assembly 13 can be lifted up to a required angle by the third driving cylinder.

[0056] In some embodiments of the present invention, the picking and cutting device 2 is equipped with an angle adjustment mechanism 4, and the angle adjustment mechanism 4 can be installed between the arc-shaped support body 23 of the picking and cutting device 2 and the mechanical arm 1;

[0057] The controlling of the picking and cutting device 2 to adjust the position so that the arc-shaped supporting body 23 of the picking and cutting device 2 embraces the trunk of the fruit tree specifically includes: controlling the swing component 41 of the angle adjustment mechanism 4 to drive the picking and cutting device 2 to swing up and down, or controlling the second rotating component 42 of the angle adjustment mechanism 4 to drive the picking and cutting device 2 to rotate, so that the arc-shaped supporting body 23 of the picking and cutting device 2 embraces the trunk of the fruit tree; of course, in the process of controlling the angle adjustment mechanism 4 to adjust the picking and cutting device 2, the robotic arm 1 can also be controlled to fine-tune the picking and cutting device 2 again according to actual needs, so as to ensure that the arc-shaped supporting body 23 of the picking and cutting device 2 can reliably embrace the trunk of the fruit tree.

[0058] As a specific implementation of the present invention, please focus on Figure 4 As shown, the second rotating component 42 includes a double-shaft drive motor 421 and a motor fixing seat 422. The double-shaft drive motor 421 is fixed on one side of the motor fixing seat 422 along the vertical direction. The upper and lower ends of the double-shaft drive motor 421 are connected to the arc-shaped supporting body 23 of the picking and cutting device 2, so that the double-shaft drive motor 421 can drive the picking and cutting device 2 to rotate and adjust.

[0059] The swing assembly 41 includes an articulated shaft 411, an articulated frame 412 and a fourth drive cylinder 413. The fourth drive cylinder 413 can be an oil cylinder. The articulated frame 412 is arranged at the end of the mechanical arm 1. The lower part of the motor fixing seat 422 facing away from the double-output shaft drive motor 421 is hinged to the articulated frame 412 through the articulated shaft 411. The fourth drive cylinder 413 is connected between the end of the mechanical arm 1 and the motor fixing seat 422, and the fourth drive cylinder 413 is located above the articulated shaft 411. When working, the picking and cutting device 2 can be driven to swing up and down to achieve fine adjustment through the telescopic movement of the fourth drive cylinder 413.

[0060] The present invention can well realize precise adjustment of the picking and cutting device 2 by adopting the cooperation of the mechanical arm 1 and the angle adjustment mechanism 4, so that the picking and cutting device 2 can accurately and quickly move to the target picking position of the fruit tree and hold the trunk of the fruit tree, thereby facilitating the rapid picking of the fruit bunches.

[0061] In some embodiments of the present invention, please refer to Fig. 9 and Fig.10 As shown, the cutting mechanism 26 includes an inclined support 261 disposed on the outer side wall of the arc-shaped slide rail 25, a cutting blade 262 movably mounted on the inclined support 261, and a blade driving assembly 263 connected to the cutting blade 262. The cutting blade 262 is inclined from bottom to top toward the inner side of the arc-shaped slide rail 25, so that the cutting blade 262 can cut the petiole and fruit bunch located on the inner side of the picking and cutting device 2 when it is active;

[0062] The control of the cutting mechanism 26 to cut the fruit bunch specifically includes: driving the cutting blade 262 to swing back and forth through the blade driving assembly 263 to cut the fruit bunch. Since the cutting blade 262 can swing back and forth under the driving of the blade driving assembly 263, the petiole and the fruit bunch can be cut reliably and effectively.

[0063] As a specific embodiment of the present invention, both sides of the cutting blade 262 form arc-shaped side edges 2621, and cutting saw teeth 2622 are distributed on the arc-shaped side edges 2621, so that both sides of the cutting blade 262 can cut the petiole and the stem of the fruit bunch, which is more convenient to use;

[0064] The lower end of the cutting blade 262 is rotatably connected to the inclined support 261 through a first limiting pin 264, so that the cutting blade 262 can rotate and swing with the first limiting pin 264 as a fulcrum; a first movable slide groove 2623 is provided in the middle part of the cutting blade 262 along the length direction, and a second limiting pin 265 is movably provided on the inclined support 261, and the second limiting pin 265 passes through the first movable slide groove 2623, and the free end of the second limiting pin 265 is equipped with a limiting block 2651, which can be specifically connected to the free end of the second limiting pin 265 by a bolt, and the limiting block 2651 is used to prevent the second limiting pin 265 from separating from the cutting blade 262; the movable end of the blade drive assembly 263 is connected to the second limiting pin 265, so that the blade drive assembly 263 is used to drive the second limiting pin 265 to move, and the blade drive assembly 263 can specifically adopt an oil cylinder. In the present invention, since the middle part of the cutting blade 262 is penetrated by a first movable slot 2623 along the length direction, and the second limiting pin 265 passes through the first movable slot 2623, when the blade driving assembly 263 drives the second limiting pin 265 to reciprocate, the second limiting pin 265 can drive the cutting blade 262 to swing back and forth within the range defined by the first movable slot 2623, so that the cutting blade 262 can synchronously and quickly cut the petiole and the stalk of the fruit bunch.

[0065] More specifically, the inclined support 261 includes a support base 2611, a lower support plate 2612, a first guide slider 2613 and an upper support plate 2614; the support base 2611 is arranged on the outer side wall of the arc-shaped slide rail 25, the lower support plate 2612 is fixedly connected to the upper end of the support base 2611, and the upper surface of the lower support plate 2612 forms a first guide slot 261a along the horizontal direction, and at least one end of the first guide slot extends to the end of the lower support plate 2612, specifically, the first guide slot 261a can cross the entire upper surface of the lower support plate 2612; the first guide slider 2613 is slidably assembled in the first guide slot 261a, the blade drive assembly 263 is arranged at the bottom of the lower support plate 2612, and the movable end of the blade drive assembly 263 is connected to one end of the first guide slider 2613, because at least one end of the first guide slot 261a extends to the lower support The end of the support plate 2612 can make at least one end of the first guide slider 2613 extend to the outside of one end of the lower support plate 2612, so as to facilitate the connection of the blade drive assembly 263 with the first guide slider 2613; the upper support plate 2614 is locked on the top of the lower support plate 2612, specifically, the lower surface of the upper support plate 2614 can be attached to the upper surface of the first guide slider 2613, thereby ensuring that the first guide slider 2613 can slide more smoothly along the first guide slot 261a; the upper support plate 2614 is penetrated by a second movable slot 261b at a position corresponding to the first guide slot 261a, and the second limiting pin 265 passes through the second movable slot 261b and is connected to the free end of the first guide slider 2613, so that the second limiting pin 265 can move along the second movable slot 261b under the drive of the first guide slider 2613.

[0066] The present invention adopts the method of rotatably connecting the lower end of the cutting blade 262 with the inclined support 261 through the first limiting pin 264, and setting a first movable slide groove 2623 through the middle of the cutting blade 262 along the length direction; forming a first guide slide groove 261a along the horizontal direction on the lower support plate 2612 of the inclined support 261, slidingly setting a first guide slider 2613 in the first guide slide groove 261a, connecting one end of the first guide slider 2613 with the blade driving assembly 263, and setting a first movable slide groove 2623 at the other end of the first guide slider 2613. The second limiting pin 265 is configured to pass through the second movable slide groove 261b and the first movable slide groove 2623 in sequence; during specific operation, the blade driving assembly 263 can be used to drive the first guide slider 2613 to link the cutting blade 262 to swing back and forth, so that the cutting blade 262 can effectively and synchronously cut the petiole and the stem of the fruit bunch; at the same time, cutting teeth 2622 are distributed on both sides of the cutting blade 262, so that both sides of the cutting blade 262 can realize the cutting function, which is more convenient to use.

[0067] In some embodiments of the present invention, a movable channel 231 is formed in the arc-shaped supporting body 23 along the circumferential direction, and the arc-shaped slide rail 25 is slidably assembled in the movable channel 231, so that the arc-shaped slide rail 25 can move along the circumferential direction; the hook mechanism 21 is arranged at one end of the arc-shaped supporting body 23, and the cutting mechanism 26 is arranged on the arc-shaped slide rail 25 and is located at an end away from the hook mechanism 21, so that the hook mechanism 21 and the cutting mechanism 26 will not interfere with each other.

[0068] As a specific embodiment of the present invention, the slide rail driving mechanism 24 includes a driving motor 241, a driving sprocket 242 and a transmission chain 243, wherein the driving sprocket 242 can specifically adopt a double-row sprocket, and the transmission chain 243 can specifically adopt a double-row chain; the driving motor 241 is installed on the arc-shaped support body 23, and the driving sprocket 242 is connected to the output end of the driving motor 241; the transmission chain 243 is arranged on the outer side wall of the arc-shaped slide rail 25, and the driving chain 243 and the driving sprocket 242 are connected. The transmission chain 243 is meshed with each other, and since it can bend, it can adapt well to the curved wall structure of the outer wall of the curved slide rail 25; when the slide rail driving mechanism 24 is working, the driving motor 241 can be driven to rotate the driving sprocket 242 by forward and reverse rotation. Since the driving sprocket 242 is meshed with the transmission chain 243, and the transmission chain 243 is installed on the outer wall of the curved slide rail 25, the driving sprocket 242 can link the curved slide rail 25 to slide along the circumferential direction during the rotation process.

[0069] In the present invention, the top and bottom surfaces of the arc-shaped slide rail 25 are formed with second guide slots 251, and each second guide slot 251 is slidably provided with a second guide slider 252, which is connected to the arc-shaped support body 23; the top and bottom of the movable channel 231 are rotatably provided with a plurality of abutting rollers 232 abutting against the inner and outer side walls of the arc-shaped slide rail 25. By adopting the above structural design, the arc-shaped slide rail 25 can be reliably limited, ensuring that the arc-shaped slide rail 25 can drive the cutting mechanism 26 to move smoothly along the circumferential direction.

[0070] In some embodiments of the present invention, please refer to Figure 8As shown, the hook mechanism 21 includes an arc-shaped upper hook plate 211, an arc-shaped lower hook plate 212, a connecting piece 213 and a fifth driving cylinder 214; the inner side of the arc-shaped upper hook plate 211 close to one end of the arc-shaped support body 23 is rotatably connected to the top of the arc-shaped support body 23, and the inner side of the arc-shaped lower hook plate 212 close to one end of the arc-shaped support body 23 is rotatably connected to the bottom of the arc-shaped support body 23, so that the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 can both rotate relative to the arc-shaped support body 23; the inner side edges of the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 are evenly spaced with arc-shaped notches 2151, so that a tooth portion 2152 is formed between two adjacent arc-shaped notches 2151, and a spacing is left between the free ends of the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 and the free end of the arc-shaped support body 23; the arc-shaped upper hook plate 2 The arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 are connected by connecting pieces 213 on both sides close to one end of the arc-shaped support body 23 and at one end away from the arc-shaped support body 23, so that the arc-shaped upper hook plate 211 can be reliably connected to the arc-shaped lower hook plate 212 as a whole, and at the same time, a space for the arc-shaped slide rail 25 to move can be formed between the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212; the fifth driving cylinder 214 is arranged on the outer side of the arc-shaped support body 23, so that the fifth driving cylinder 214 will not interfere with the sliding of the arc-shaped slide rail 25, and the movable end of the fifth driving cylinder 214 is rotatably connected to the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212, and the fifth driving cylinder 214 can be an oil cylinder; when working, the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 can be driven to open outward or hold inward together through the telescopic activity of the fifth driving cylinder 214.

[0071] The hook mechanism 21 of the present invention includes an arc-shaped upper hook plate 211 and an arc-shaped lower hook plate 212, and the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 are connected by a connecting piece 213 on both sides close to one end of the arc-shaped support body 23 and at one end away from the arc-shaped support body 23, so that the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 can be reliably combined into one, and a space for the arc-shaped slide rail 25 to move can be formed between the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212; at the same time, the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 are connected to each other. The inner side edge spacing of the hook plate 212 forms a tooth portion 2152, and the free end of the tooth portion 2152 is an arc-shaped edge, so that during use, the trunk of the fruit tree can be reliably grasped and damage to the trunk of the fruit tree can be avoided; in addition, a spacing is left between the free ends of the arc-shaped upper hook plate 211 and the arc-shaped lower hook plate 212 and the free end of the arc-shaped support body 23, which is conducive to better and faster control of the arc-shaped support body 23 to embrace the trunk of the fruit tree, and can also facilitate the arc-shaped slide rail 25 to drive the cutting mechanism 26 to move, thereby reducing the interference of the hook mechanism 21 on the cutting mechanism 26.

[0072] In the present invention, shooting mechanisms 22 are provided on both sides of the angle adjustment mechanism 4 and the cutting mechanism 26, wherein the shooting mechanism 22 on the angle adjustment mechanism 4 can shoot relevant images during the adjustment process, and transmit the relevant images to the terminal device (not shown) in the cab of the traveling vehicle 3, so that the operator can better control the picking and cutting device 2 to embrace the trunk of the fruit tree; the shooting mechanisms 22 on both sides of the cutting mechanism 26 can shoot relevant images during the cutting process, and transmit the relevant images to the terminal device in the cab of the traveling vehicle 3, so that the operator can better control the cutting mechanism 26 to cut the petioles and fruit bunches.

[0073] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A fruit picking method, characterized in that: The picking method comprises the following steps: The picking and cutting device is driven by the mechanical arm of the picking machine to move to the target picking position of the fruit tree; Control the hook mechanism of the picking and cutting device to open outwards, and according to the fruit tree picture transmitted back by the shooting mechanism on the picking and cutting device, control the picking and cutting device to adjust its position so that the arc-shaped support body of the picking and cutting device embraces the trunk of the fruit tree, and control the hook mechanism of the picking and cutting device to hook inwards so that the arc-shaped support body embraces the trunk of the fruit tree; According to the fruit bunch image transmitted back by the shooting mechanism, the arc-shaped slide rail is driven by the slide rail driving mechanism on the picking and cutting device to drive the cutting mechanism to move along the circumferential direction to the position where the fruit bunch is located, and the cutting mechanism is controlled to cut the fruit bunch, and the cut fruit bunch falls down into the hopper of the picking and cutting device; After the fruit bunch at the current target picking position is picked, the hook mechanism of the picking and cutting device is controlled to open outward, and the mechanical arm is controlled to drive the picking and cutting device to leave the current target picking position; The cutting mechanism comprises an inclined support arranged on the outer side wall of the arc-shaped slide rail, a cutting blade movably mounted on the inclined support, and a blade driving assembly connected to the cutting blade, wherein the cutting blade is inclined from bottom to top toward the inner side of the arc-shaped slide rail; the lower end of the cutting blade is rotatably connected to the inclined support through a first limiting pin, a first movable slide groove is penetrated through the middle part of the cutting blade along the length direction, a second limiting pin is movably arranged on the inclined support, the second limiting pin passes through the first movable slide groove, a limiting block is arranged at the free end of the second limiting pin, and the movable end of the blade driving assembly is connected to the second limiting pin; the control of the cutting mechanism to cut the fruit bunch specifically comprises: driving the cutting blade to swing back and forth through the blade driving assembly to realize the cutting operation of the fruit bunch; The tilted support comprises a support base, a lower support plate, a first guide slider and an upper support plate; the support base is arranged on the outer wall of the arc slide rail, the lower support plate is fixedly connected to the upper end of the support base, the upper surface of the lower support plate forms a first guide slide groove along the horizontal direction, and at least one end of the first guide slide groove extends to the end of the lower support plate; the first guide slide groove is slidably assembled in the first guide slide groove, the blade drive assembly is arranged at the bottom of the lower support plate, and the movable end of the blade drive assembly is connected to one end of the first guide slide groove; the upper support plate is locked above the lower support plate, the lower surface of the upper support plate is attached to the upper surface of the first guide slide groove, and the upper support plate is penetrated by a second movable slide groove at the position corresponding to the first guide slide groove, and the second limit pin passes through the second movable slide groove and is connected to the free end of the first guide slide groove.

2. A fruit picking method as claimed in claim 1, characterized in that: The method of driving the picking and cutting device to move to the target picking position of the fruit tree by the mechanical arm of the picker specifically includes: controlling the first rotating component of the mechanical arm to drive the picking and cutting device to rotate and adjust, controlling the vertical lifting component of the mechanical arm to drive the picking and cutting device to rise, controlling the horizontal moving component of the mechanical arm to drive the picking and cutting device to move horizontally and adjust, or controlling the lifting component of the mechanical arm to drive the picking and cutting device to lift and adjust, so as to move the picking and cutting device to the target picking position of the fruit tree.

3. A fruit picking method as claimed in claim 1, characterized in that: The picking and cutting device is equipped with an angle adjustment mechanism; The method of controlling the position adjustment of the picking and cutting device so that the arc-shaped supporting body of the picking and cutting device embraces the trunk of the fruit tree specifically includes: controlling the swing component of the angle adjustment mechanism to drive the picking and cutting device to swing up and down or controlling the second rotating component of the angle adjustment mechanism to drive the picking and cutting device to rotate, so that the arc-shaped supporting body of the picking and cutting device embraces the trunk of the fruit tree.

4. A fruit picking method as claimed in claim 1, characterized in that: Both sides of the cutting blade form arc-shaped side edges, and cutting saw teeth are distributed on the arc-shaped side edges.

5. A fruit picking method as claimed in claim 1, characterized in that: A movable channel is formed in the arc-shaped support body along the circumferential direction, and the arc-shaped slide rail is slidably assembled in the movable channel; the hook mechanism is arranged at one end of the arc-shaped support body, and the cutting mechanism is arranged on the arc-shaped slide rail and is located at an end away from the hook mechanism.

6. A fruit picking method as claimed in claim 5, characterized in that: The slide rail driving mechanism includes a driving motor, a driving sprocket and a transmission chain; the driving motor is mounted on the arc-shaped support body, and the driving sprocket is connected to the output end of the driving motor; the transmission chain is arranged on the outer side wall of the arc-shaped slide rail, and the transmission chain is meshed with the driving sprocket; The top and bottom surfaces of the arc-shaped slide rail are formed with second guide grooves, and a second guide slider is slidably arranged in each second guide groove, and the second guide slider is connected to the arc-shaped support body; the top and bottom of the movable channel are rotatably provided with a plurality of abutting rollers that abut against the inner and outer walls of the arc-shaped slide rail.

7. A fruit picking method as claimed in claim 3, characterized in that: Both sides of the angle adjustment mechanism and the cutting mechanism are provided with shooting mechanisms.

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