Compact fruit picking, collecting and transferring device

Abstract

The invention discloses a compact fruit picking, collecting and transferring device which comprises a frame. The picking mechanical arm is arranged on the frame and used for automatically picking fruits; the fruit tray frame is used for placing fruit trays, the fruit tray frame is provided with multiple layers which are distributed up and down, each layer is provided with a placing position for placing one fruit tray, and the fruit tray frame is provided with a fruit tray placing opening in the direction facing the picking mechanical arm; the automatic tray changing mechanism is arranged on the frame and comprises an outer support, a containing cavity used for containing a fruit tray frame is formed in the area defined by the outer support, and the containing cavity is opened in the direction facing the picking mechanical arm and the other opposite direction; the outer support is provided with a tray taking device used for taking and placing fruit trays, and the outer support is further provided with a driving unit used for driving the tray taking device to enter and exit the containing cavity and move up and down. During use, the tray taking device takes out an empty fruit tray from the fruit tray frame, the picking mechanical arm automatically picks fruits and then puts the fruits into the fruit tray on the tray taking device, and after the fruit tray is full of the fruits, the tray taking device puts the fruit tray full of the fruits back into the fruit tray frame.

Description

Technical Field

[0001] The invention relates to the technical field of agriculture, and in particular to a compact fruit picking, collecting and transporting device. Background Art

[0002] In modern agriculture, fruit picking, storage and transportation are key links to ensure the quality of fruits and extend their market life, especially for fruits with high damage, such as strawberries, cherry tomatoes (also known as small tomatoes) and kiwis. These fruits are loved by consumers for their freshness, juiciness and rich nutrition, but at the same time, they also have thin peels and soft flesh, which puts extremely high demands on post-picking processing methods. In traditional picking operations, the method of stacking and collecting large fruit boxes is widely used due to its convenience and cost-effectiveness. However, this method is significantly unsuitable for the above-mentioned fragile fruits.

[0003] Stacking and collection may not only cause the fruits to squeeze each other, resulting in internal bruises, affecting the overall quality and taste of the fruit, but may also accelerate the decay process of the fruit, reducing its market value and shelf life. Bruise is not easy to detect inside the fruit with the naked eye, but it will gradually appear during the subsequent storage and transportation process, causing the fruit grade to decline or even lose its commodity value. Therefore, it is particularly important to find a collection and storage method that can effectively reduce fruit damage while improving picking efficiency.

[0004] To solve this problem, the industry has begun to explore a post-harvest processing method in which each fruit is stored in a separate trough. This method provides an independent storage space for each fruit, effectively avoiding direct contact and squeezing between fruits, thereby greatly reducing the risk of fruit damage. This refined management method not only ensures the flawless appearance of the fruit, but also retains its original flavor and nutritional value to the maximum extent, thereby enhancing the market competitiveness of the fruit. In addition, the one-fruit-one-trough design also provides great convenience for the subsequent packaging and boxing process. The fruit can be taken out directly from the storage trough for packaging without the need for additional manual sorting and sorting, effectively reducing manpower consumption and improving work efficiency.

[0005] However, although the concept of storing one fruit in one slot has shown great potential in practice, in actual application, how to effectively combine it with existing automated picking equipment to achieve efficient and continuous picking, collection and transportation processes is still a major challenge currently faced. Take an automatic strawberry picking device disclosed in the patent application with publication number CN1 09156166A as an example. Although the device uses a conveyor belt to transport the fruit, the design of the collection mechanism still fails to completely avoid the stacking of the fruit, which to a certain extent limits its effect in practical application. At the same time, although the Ferris wheel storage device equipped with the device increases the storage capacity to a certain extent, its fixed nature means that when the storage container needs to be replaced, the entire picking operation must be stopped, which not only affects the picking efficiency, but also increases the difficulty of operation and labor costs.

[0006] Therefore, developing a fruit collection and transportation system that can truly store one fruit in one slot and can seamlessly connect with automated picking equipment to achieve efficient, continuous, and intelligent operations has become an urgent need for the current development of agricultural mechanization and intelligence. Such a system not only needs to be highly flexible and adaptable, and be able to make adaptive adjustments based on the type, size, and other characteristics of the fruit, but also needs to have intelligent management functions, be able to monitor the state of the fruit in real time, and automatically adjust the collection and transportation strategies to ensure the quality and safety of the fruit. In addition, the maintainability and scalability of the system are also important factors that need to be considered during the design process to ensure that it can be widely used in different agricultural production environments and promote the modernization of agricultural production. Summary of the invention

[0007] Based on the deficiencies in the prior art, the present invention aims to solve the problem of fruit collection and transportation after fragile fruits are picked by robots, realize automated fruit tray collection and whole-frame transportation, and provide a compact fruit picking, collection and transportation device.

[0008] To achieve the above-mentioned purpose, the specific technical scheme of the present invention is as follows:

[0009] The present invention provides a compact fruit picking, collecting and transporting device, comprising a frame and:

[0010] A picking mechanical arm, arranged on the frame, for automatically picking fruits;

[0011] A fruit tray frame, used for placing fruit trays, the fruit tray frame having multiple layers distributed up and down, each layer having a placement position for placing a fruit tray, and the fruit tray frame having a fruit tray placement opening facing the picking mechanical arm;

[0012] The automatic tray changing mechanism is arranged on the frame, and comprises an outer bracket, wherein the enclosed area of ​​the outer bracket has a placement cavity for placing the fruit tray frame, and the placement cavity is opened in the direction toward the picking mechanical arm and in another opposite direction; the outer bracket is provided with a tray taker for taking and placing the fruit tray, and the outer bracket is also provided with a driving unit for driving the tray taker to enter and exit the placement cavity and move up and down;

[0013] When in use, the plate taker takes out an empty fruit plate from the fruit plate frame, and the picking robot arm automatically picks fruits and puts them into the fruit plate on the plate taker. After the fruit plate is full of fruits, the plate taker puts the full fruit plate back into the fruit plate frame.

[0014] Specifically, the tray remover comprises a bottom support for placing the fruit tray, and the bottom support is provided with a supporting arm;

[0015] The driving unit includes a horizontal driving seat, a horizontal slide rail is provided on the horizontal driving seat, a horizontal slider is provided on the support arm, and a horizontal driving motor and a horizontal driving screw are also provided on the horizontal driving seat for driving the support arm to move horizontally; the driving unit also includes a vertical slide rail provided on the outer bracket, a vertical slider is provided on the horizontal driving seat, and a vertical driving motor and a vertical driving screw are also provided on the outer bracket for driving the horizontal driving seat to move vertically.

[0016] The tray taker includes a base and a support arm design, which enables the tray taker to stably support the fruit tray, and through the cooperation of the horizontal drive seat and the vertical drive seat, the fruit tray can be accurately moved in three-dimensional space. This design not only improves the accuracy of picking and placing the fruit tray, but also ensures that the picking robot arm can smoothly put the fruit into the fruit tray.

[0017] Preferably, the outer bracket is provided with a horizontal drive seat on each of the two side surfaces adjacent to the direction of the picking robot arm, and the base bracket is correspondingly provided with two support arms, and the support arms are connected to the side of the base bracket facing the direction of the picking robot arm; accordingly, the horizontal drive motor, horizontal drive screw, vertical drive motor and vertical drive screw are each provided with one; the bottom ends of the two vertical drive screws are provided with synchronous belts.

[0018] The above design can ensure the stability and synchronization of the plate taker during horizontal movement. This design helps to reduce the deviation caused by unilateral drive and improve the movement accuracy of the plate taker.

[0019] Further preferably, at least one of the two side surfaces of the outer bracket adjacent to the picking mechanical arm is provided with a vertically arranged rotating shaft rotatably connected to the outer bracket, and a clamping block is provided on the rotating shaft;

[0020] The outer bracket is also provided with a linkage mechanism for driving the rotating shaft to rotate, and the linkage mechanism includes a group of mutually coupled bevel gears, one of which is fixed to the top of the rotating shaft, and the other is fixedly connected to a spur gear;

[0021] The horizontal driving seat on the corresponding side is provided with a rack which is coupled with the spur gear to drive the rotating shaft to rotate when it is raised to the top;

[0022] The fruit plate frame is provided with a card slot matching with the card block on the side corresponding to the rotating shaft;

[0023] When the horizontal driving seat is raised to the top, the rack drives the rotating shaft to rotate so that the card block is locked in the slot; when the horizontal driving seat is lowered from the top, the rack drives the rotating shaft to rotate so that the card block is disengaged from the slot.

[0024] Only when the tray remover moves to the top through the horizontal driving seat, the card block will be inserted into the card slot to lock the fruit tray frame. Because the fruit needs to be placed at the top, and the fruit will be moved for picking when the fruit is placed. Therefore, when the tray remover is in other positions, the card block will be disengaged from the card slot to unlock the fruit tray frame. In this state, the fruit tray frame can be pushed freely.

[0025] The linkage mechanism realizes the function of automatically unlocking the fruit tray frame when the tray remover rises to the top and relocking the fruit tray frame when it descends through the coupling of bevel gears and spur gears, as well as the coordination of racks and rotating shafts. This design not only simplifies the operation process, but also improves the degree of automation and reduces manual intervention.

[0026] Specifically, the bottom surface of the fruit tray has a positioning groove, and the bottom bracket of the tray picker is provided with a positioning protrusion that matches the positioning groove, which can ensure the stability and accuracy of the fruit tray during the picking and placing process. This design helps prevent the fruit tray from deflecting or falling during the movement, thereby improving the picking efficiency.

[0027] Preferably, the outer bracket is provided with a supporting base for placing the fruit tray frame on the bottom surface of the placement cavity, the bottom surface of the placement cavity is provided with entry and exit slide rails arranged along the opening directions of both sides of the placement cavity, and the supporting base is provided with entry and exit sliders cooperating with the slide rails;

[0028] When in use, the tray taker pushes against the fruit tray frame to push the fruit tray frame out of the placement cavity. The cooperation between the support base and the entry and exit slide rail enables the fruit tray frame to be easily moved in and out of the placement cavity. This design not only simplifies the replacement process of the fruit tray frame, but also improves the transportation efficiency. At the same time, the design of pushing the fruit tray frame out by the tray taker also avoids the tediousness and safety hazards of manual handling.

[0029] Specifically, the outer bracket is provided with first electromagnets on both sides of the placement cavity, and correspondingly, first iron sheets are provided on both sides of the fruit plate frame;

[0030] The outer bracket is provided with a second electromagnet on the supporting base, and correspondingly, a second iron sheet is provided on the bottom surface of the fruit plate frame;

[0031] When the fruit tray frame is placed in the placement cavity of the fruit tray frame, the first electromagnet is aligned with the first iron sheet, and the second electromagnet is aligned with the second iron sheet.

[0032] Preferably, each placement position of the fruit plate frame has a placement groove for placing the fruit plate, and the middle of the placement groove has a notch for avoiding the plate remover to take and place the fruit plate.

[0033] Beneficial effects of the present invention:

[0034] The automatic tray changing mechanism of the present invention is driven by the lifting motor and the telescopic motor rotating screw rod on the left and right sides to drive the tray taking device to move up and down and telescopically, so as to take out the empty tray and place the full tray. The internal fruit tray frame is adsorbed and locked by the electromagnet. The overall compact structure of the mechanism is simple and reliable, which can effectively improve the storage efficiency.

[0035] The integral frame-changing transport mechanism of the present invention allows the fruit plate frame to move as a whole, making it convenient for the transport vehicle to transport and replace the new fruit plate frame. The size of the fruit plate frame is controllable, which can effectively improve efficiency and transport speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a general diagram of the compact fruit picking, collecting and transporting device of the present invention.

[0037] Figure 2 This is a picture of a harvesting robotic arm.

[0038] Figure 3 This is a schematic diagram of the fruit tray frame and automatic tray changing mechanism during picking.

[0039] Figure 4 This is a side view of the fruit tray frame and automatic tray changing mechanism during picking.

[0040] Figure 5 This is a schematic diagram of the overall state of the fruit tray frame and the automatic tray changing mechanism when picking. The fruit tray frame is pulled out to present the overall state.

[0041] Figure 6 It is a side view of the automatic disc changing mechanism.

[0042] Figure 7 This is a diagram of the disk remover and drive unit.

[0043] Figure 8 This is a bottom view of the plate remover after the device has taken out the fruit plate.

[0044] Fig. 9 Schematic diagram of the fruit plate frame when changing plates.

[0045] Fig.10 This is a schematic diagram of an empty fruit plate frame.

[0046] Fig.11 This is a side view of the fruit plate frame.

[0047] Fig.12 for Fig.11 Medium AA cutting diagram.

[0048] Markings in the figure: 1-frame, 2-picking mechanical arm, 3-fruit plate frame, 31-fruit plate, 311-positioning slot, 32-card slot, 33-supporting bottom bracket, 331-slider, 332-second electromagnet, 34-first iron sheet, 35-second iron sheet, 36-placing slot, 4-automatic plate changing mechanism, 41-outer bracket, 411-plate taker, 4111-bottom bracket, 41111-support arm, 411111-horizontal slider, 4112-positioning protrusion, 412-drive unit, 41 21-horizontal drive seat, 41211-horizontal slide rail, 41212-horizontal drive motor, 41213-horizontal drive screw, 41214-vertical slider, 41215-rack, 4122-vertical slide rail, 413-vertical drive motor, 414-vertical drive screw, 415-synchronous belt, 416-rotating shaft, 4161-block, 4162-linkage mechanism, 41621-bevel gear, 41622-spur gear, 417-first electromagnet, 42-slide rail. DETAILED DESCRIPTION

[0049] Depend on Figure 1-12 As shown, the present invention provides a compact fruit picking, collecting and transporting device, including a frame 1, a picking mechanical arm 2, a fruit tray frame 3 and an automatic tray changing mechanism 4.

[0050] Among them, the picking mechanical arm 2 is arranged on the frame 1 and is used for automatically picking fruits, which belongs to the prior art, such as Figure 2 shown.

[0051] The fruit tray frame 3 is used to place the fruit tray 31. The fruit tray frame 3 has multiple layers distributed up and down, each layer has a placement position for placing a fruit tray 31, and the fruit tray frame 3 has a fruit tray 31 placement opening facing the picking robot arm 2;

[0052] There is also an automatic tray changing mechanism 4 also arranged on the vehicle frame 1, and the automatic tray changing mechanism 4 includes an outer bracket 41, and the enclosed area of ​​the outer bracket 41 has a placement cavity for placing the fruit tray frame 3, and the placement cavity is opened in the direction toward the picking mechanical arm 2 and in another opposite direction; the outer bracket 41 is provided with a tray taker 411 for taking and placing the fruit tray 31, and the outer bracket 41 is also provided with a driving unit 412 for driving the tray taker 411 to enter and exit the placement cavity and move up and down;

[0053] When in use, the tray taker 411 takes out an empty fruit tray 31 from the fruit tray frame 3, and the picking robot arm 2 automatically picks the fruits and puts them into the fruit tray 31 on the tray taker 411. After the fruit tray 31 is full of fruits, the tray taker 411 puts the fruit tray 31 full of fruits back into the fruit tray frame 3.

[0054] Specifically, the tray remover 411 on the outer bracket 41 includes a bottom bracket 4111 for placing the fruit tray 31, and the bottom bracket 4111 has a support arm 41111, so that the tray remover 411 can stably support the fruit tray 31;

[0055] The driving unit 412 on the outer bracket 41 includes a horizontal driving seat 4121, on which a horizontal slide rail 41211 is provided, and on which a horizontal slider 411111 is provided on the support arm 41111. The horizontal driving seat 4121 is also provided with a horizontal driving motor 41212 and a horizontal driving screw 41213 for driving the support arm 41111 to move horizontally; the driving unit 412 also includes a vertical slide rail 4122 arranged on the outer bracket 41, on which a vertical slider 41214 is provided, and on which a vertical driving motor 413 and a vertical driving screw 414 for driving the horizontal driving seat 4121 to move vertically are provided. Through the cooperation of the horizontal driving seat 4121 and the mechanism elements driving the horizontal driving seat 4121, the fruit tray can be accurately moved in three-dimensional space, thereby improving the accuracy of picking and placing the fruit tray and ensuring that the picking robot arm can smoothly put the fruit into the fruit tray.

[0056] Furthermore, the outer bracket 41 is provided with a horizontal driving seat 4121 on each of the two side surfaces adjacent to the direction toward the picking robot arm 2, and two supporting arms 41111 are correspondingly provided on the base support 4111, and the supporting arms 41111 are connected to the side of the base support 4111 facing the picking robot arm 2; accordingly, a horizontal driving motor 41212, a horizontal driving screw 41213, a vertical driving motor 413 and a vertical driving screw 414 are each provided; the bottom ends of the two vertical driving screws 414 are provided with synchronous belts 415, which can ensure the stability and synchronization of the disc remover during horizontal movement, and at the same time help to reduce the deviation caused by unilateral drive and improve the movement accuracy of the disc remover.

[0057] In order to reduce manual intervention and improve the degree of automation, the outer bracket 41 is provided with a vertically arranged rotating shaft 416 rotatably connected to the outer bracket 41 on at least one of the two side surfaces adjacent to the picking robot arm 2, and a clamping block 4161 is provided on the rotating shaft 416;

[0058] The outer bracket 41 is also provided with a linkage mechanism 4162 for driving the rotating shaft 416 to rotate. The linkage mechanism includes a group of mutually coupled bevel gears 41621, one of which is fixed to the top of the rotating shaft 416, and the other is fixedly connected to a spur gear 41622.

[0059] The horizontal driving seat 4121 on the corresponding side is provided with a rack 41215 which is coupled with the spur gear 41622 to drive the rotating shaft 416 to rotate when it is raised to the top;

[0060] The fruit tray frame 3 is provided with a slot 32 cooperating with the block 4161 on the side corresponding to the rotating shaft 416;

[0061] When in use, when the horizontal driving seat 4121 is raised to the top, the rack 41215 drives the rotating shaft 416 to rotate so that the block 4161 is locked in the slot 32; when the horizontal driving seat 4121 is lowered from the top, the rack 41215 drives the rotating shaft 416 to rotate so that the block 4161 is disengaged from the slot 32.

[0062] The linkage mechanism couples the bevel gear and the spur gear, and cooperates with the rack and the rotating shaft, so that the tray remover automatically unlocks the fruit tray frame when it rises to the top and re-locks the fruit tray frame when it descends. The fruit tray frame can be fixed and will not be misplaced during loading or picking, while simplifying the operation process.

[0063] To prevent the fruit tray 31 from shaking during operation, the bottom surface of the fruit tray 31 has a positioning groove 311, and the bottom support of the tray taker 411 is correspondingly provided with a positioning protrusion 4112 that matches the positioning groove 311, which can ensure the stability and accuracy of the fruit tray during the process of taking and placing. This design helps prevent the fruit tray from deflecting or falling during movement, thereby improving the picking efficiency.

[0064] At the same time, in order to simplify the replacement process of the fruit tray frame and improve the transportation efficiency, the outer bracket 41 is provided with a supporting base 33 for placing the fruit tray frame 3 on the bottom surface of the placement cavity, and the bottom surface of the placement cavity is provided with an in-and-out slide rail 42 arranged along the opening direction of both sides of the placement cavity, and the supporting base 33 is provided with an in-and-out slider 331 cooperating with the slide rail 42;

[0065] When in use, the dish taker 411 pushes against the fruit dish frame 3 to push the fruit dish frame 3 out of the placement cavity, thus avoiding the tedious manual handling and potential safety hazards.

[0066] In order to facilitate the replacement and transportation of the fruit bowl frame, the outer bracket 41 is also provided with a first electromagnet 417 on both sides of the placement cavity, and correspondingly, a first iron sheet 34 is provided on both sides of the fruit bowl frame 3; the outer bracket 41 is provided with a second electromagnet 332 on the supporting base 33, and correspondingly, a second iron sheet 35 is provided on the bottom surface of the fruit bowl frame 3; when the fruit bowl frame 3 is placed in the placement cavity of the fruit bowl frame 3, the first electromagnet 417 is aligned with the first iron sheet 34, and the second electromagnet 332 is aligned with the second iron sheet 35. The cooperation between the electromagnet and the iron sheet can play a positioning role, realize the firm locking and convenient unlocking of the fruit bowl frame in the placement cavity, and can also improve the stability of the fruit bowl frame. At the same time, it can also be Figure 4 The fruit tray frame 3 is provided with an iron sheet on one side away from the picking mechanical arm 2, which is used to cooperate with the transfer tool with an electromagnet to take the fruit tray frame away. The rapid response characteristics of the electromagnet also improve the automation of the entire device.

[0067] In order to facilitate the plate taking and placing operation of the plate remover, each placement position of the fruit plate frame 3 has a placement groove 36 for placing the fruit plate, and the middle of the placement groove 36 has a gap for avoiding the plate remover 411 to take and place the fruit plate 31.

[0068] When the present invention is in use, in the initial state, the fruit plates 31 in the fruit plate frame 3 are all empty plates. The controller can automatically start to take from the top layer after receiving the signal. The plate remover 411 first drives the vertical driving screw 414 through the vertical driving motor 413 to reach the middle empty layer of the two-layer fruit plate frame 3, and then drives the horizontal driving screw 41213 to move horizontally to the bottom of the fruit plate 31 through the horizontal driving motor 41212, and then drives the vertical driving screw 414 through the vertical driving motor 413 to move the empty fruit plate 31 to the plate remover 411, completing the plate taking action.

[0069] The picking robot arm 2 starts to pick the fruits and place them in the fruit tray 31 in the tray picker 411. The picking robot arm 2 records the number of fruits picked and placed. When the fruit tray 31 is full, the picking robot arm 2 sends a signal to the tray changing device to place the fruit tray 31 into the fruit tray frame 3. The automatic tray changing mechanism 4 controller automatically records the picking and placing positions to prevent the empty tray from colliding with the full tray.

[0070] The tray taker 411 circulates in sequence to take out the fruit trays 31 of each layer. When the fruit trays 31 of each layer are full, the first electromagnets 417 on both sides of the placement cavity of the outer bracket 41 are powered off, and the tray taker 411 pushes against the fruit tray frame 3 to push the fruit tray frame 3 out of the placement cavity, waiting for the transfer vehicle to take the fruit tray frame 3, or manually changing the fruit tray frame 3. At this point, the fruit picking and collection and transportation are completed.

Claims

1. A compact fruit picking and collecting and transporting device, comprising a frame, characterized in that: Also includes: A picking mechanical arm, arranged on the frame, for automatically picking fruits; A fruit tray frame, used for placing fruit trays, the fruit tray frame having multiple layers distributed up and down, each layer having a placement position for placing a fruit tray, and the fruit tray frame having a fruit tray placement opening facing the picking mechanical arm; The automatic tray changing mechanism is arranged on the frame, and comprises an outer bracket, wherein the enclosed area of ​​the outer bracket has a placement cavity for placing the fruit tray frame, and the placement cavity is opened in the direction toward the picking mechanical arm and in another opposite direction; the outer bracket is provided with a tray taker for taking and placing the fruit tray, and the outer bracket is also provided with a driving unit for driving the tray taker to enter and exit the placement cavity and move up and down; When in use, the plate taker takes out an empty fruit plate from the fruit plate frame, and the picking robot arm automatically picks fruits and puts them into the fruit plate on the plate taker. After the fruit plate is full of fruits, the plate taker puts the full fruit plate back into the fruit plate frame.

2. The compact fruit picking, collecting and transporting device according to claim 1 is characterized in that: The tray remover comprises a bottom support for placing the fruit tray, and the bottom support is provided with a supporting arm; The driving unit includes a horizontal driving seat, a horizontal slide rail is provided on the horizontal driving seat, a horizontal slider is provided on the support arm, and a horizontal driving motor and a horizontal driving screw are also provided on the horizontal driving seat for driving the support arm to move horizontally; the driving unit also includes a vertical slide rail provided on the outer bracket, a vertical slider is provided on the horizontal driving seat, and a vertical driving motor and a vertical driving screw are also provided on the outer bracket for driving the horizontal driving seat to move vertically.

3. The compact fruit picking, collecting and transporting device according to claim 2 is characterized in that: The outer bracket is provided with a horizontal drive seat on each of the two side surfaces adjacent to the direction of the picking robot arm, and two support arms are correspondingly provided on the base support, and the support arms are connected to the side of the base support facing the direction of the picking robot arm; accordingly, the horizontal drive motor, horizontal drive screw, vertical drive motor and vertical drive screw are each provided with one; the bottom ends of the two vertical drive screws are provided with synchronous belts.

4. The compact fruit picking, collecting and transporting device according to claim 3 is characterized in that: At least one of the two side surfaces of the outer bracket adjacent to the picking mechanical arm is provided with a vertically arranged rotating shaft rotatably connected to the outer bracket, and a clamping block is provided on the rotating shaft; The outer bracket is also provided with a linkage mechanism for driving the rotating shaft to rotate, and the linkage mechanism includes a group of mutually coupled bevel gears, one of which is fixed to the top of the rotating shaft, and the other is fixedly connected to a spur gear; The horizontal driving seat on the corresponding side is provided with a rack which is coupled with the spur gear to drive the rotating shaft to rotate when it is raised to the top; The fruit plate frame is provided with a card slot matching with the card block on the side corresponding to the rotating shaft; When the horizontal driving seat is raised to the top, the rack drives the rotating shaft to rotate so that the card block is locked in the slot; when the horizontal driving seat is lowered from the top, the rack drives the rotating shaft to rotate so that the card block is disengaged from the slot.

5. The compact fruit picking, collecting and transporting device according to claim 2 is characterized in that: The bottom surface of the fruit plate is provided with a positioning groove, and the bottom support of the plate remover is correspondingly provided with a positioning protrusion that matches the positioning groove.

6. The compact fruit picking, collecting and transporting device according to claim 1, characterized in that: The outer bracket is provided with a supporting base for placing the fruit tray frame on the bottom surface of the placement cavity, the bottom surface of the placement cavity is provided with entry and exit slide rails arranged along the opening direction of both sides of the placement cavity, and the supporting base is provided with an entry and exit slider that cooperates with the slide rail; When in use, the dish taker abuts against the fruit dish frame to push the fruit dish frame out of the placement cavity.

7. The compact fruit picking, collecting and transporting device according to claim 6, characterized in that: The outer bracket is provided with first electromagnets on both sides of the placement cavity, and correspondingly, first iron sheets are provided on both sides of the fruit plate frame; The outer bracket is provided with a second electromagnet on the supporting base, and correspondingly, a second iron sheet is provided on the bottom surface of the fruit plate frame; When the fruit tray frame is placed in the placement cavity of the fruit tray frame, the first electromagnet is aligned with the first iron sheet, and the second electromagnet is aligned with the second iron sheet.

8. The compact fruit picking, collecting and transporting device according to claim 1, characterized in that: Each placement position of the fruit plate frame is provided with a placement groove for placing the fruit plate, and a notch is provided in the middle of the placement groove for avoiding the plate taker to take and place the fruit plate.

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