Palm fruit picking machine

Abstract

The invention provides a palm fruit picking machine, and belongs to the technical field of palm fruit picking. Comprising a mechanical picking part and a tracked vehicle body, the mechanical picking part is installed at the top of the tracked vehicle body, the mechanical picking part comprises a bearing table, and the bearing table is rotationally installed at the top of the tracked vehicle body. Stems and leaves sheltered around palm fruits can be cut off through the shearing assembly in the execution device, meanwhile, fruit stems and leaves and stems connected with the palm fruits are clamped into a double-frame clamp through the rib breaking assembly, the fruit stems and the leaves and stems are clamped tightly through cooperation of the double-frame clamp and a bent clamp, and therefore the fruit stems and the leaves and stems are cut off. Then, an annular cutting edge is driven to cut leaves, stems, branches and leaves connected with the palm fruits, meanwhile, a second driving motor is matched to enable the double-frame clamp to do reciprocating motion in the double-frame base, therefore, fruit stems which are difficult to cut off and adhere are pulled, and the palm fruits and the fruit stems can be completely separated through pulling and twisting; the problem that an existing palm fruit picking machine is low in picking efficiency is solved.

Description

Technical Field

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

[0002] The palm fruit picking robot is a device that uses existing technical means to pick palm fruits. Through camera recognition, it can accurately pick mature palm fruits, thus replacing traditional manual picking. Existing palm fruit picking robots often use a hydraulic cutting mechanism to cut the palm fruit stems during the palm fruit picking process. Since the palm fruit stems are relatively thick and the shear force of the cutting mechanism is insufficient or the cutting knife is deformed and damaged, the palm fruit stems are not completely cut off. At this time, there will be a certain adhesion between the palm fruit and the stem, which affects the normal picking of the palm fruit. At the same time, when picking palm fruits, the larger stems and leaves will also prevent the cutting mechanism from finding a suitable angle to pick them.

[0003] Therefore, the present application provides a palm fruit picking machine to meet the needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a palm fruit picking machine, which can use the shearing component in the execution device to cut off the stems and leaves blocking the palm fruits, and at the same time use the tendon breaking component to clamp the fruit stems and leaf stems connecting the palm fruits into the double-frame clamp, and use the cooperation of the double-frame clamp and the bending clamp to clamp the fruit stems and leaf stems, and then drive the annular cutting blade to cut the leaf stems and branches connecting the palm fruits, and at the same time cooperate with the driving motor 2 to make the double-frame clamp reciprocate in the double-frame seat, so as to pull the fruit stems that are difficult to cut and adhere, and the palm fruit and the fruit stem can be completely separated by pulling and twisting, so as to solve the problem of low picking efficiency of the existing palm fruit picking machine.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A palm fruit picking machine comprises a mechanical picking part and a crawler body, wherein the mechanical picking part is mounted on the top of the crawler body, the mechanical picking part comprises a bearing platform, the bearing platform is rotatably mounted on the top of the crawler body, a lifting arm mechanism is rotatably mounted on the top of the bearing platform, and an actuator is arranged on the top of the lifting arm mechanism; The actuator includes a hanging arm, the bottom of which is fixedly connected to the top output end of the lifting arm mechanism, the side wall of the hanging arm is vertically arranged, a rotating cylinder is fixedly installed on the top inner wall of the hanging arm, a quadrangular frame is fixedly installed on the output end of the rotating cylinder, a shearing assembly is arranged in the quadrangular frame, a tendon breaking assembly is installed on the top of the shearing assembly, and a loading assembly is installed on the bottom inner wall of the hanging arm.

[0006] Optionally, both side walls at the front end of the quadrilateral frame are rotatably connected to a turntable, two groups of turntables are fixedly installed on the inner wall of the turntable, the front ends of the two groups of turntables are fixedly installed with the same base, a gear group is installed on the outer wall of the turntable on the left, the output gear of the gear group is fixedly connected to the turntable wall, a motor 1 is fixedly installed on the inner wall of the quadrilateral frame, and the output shaft of the motor 1 is fixedly connected to the input gear of the gear group.

[0007] Optionally, the shearing assembly includes a semiconical shell, which is composed of the same upper and lower parts. The top and bottom side walls of the semiconical shell are fixedly installed with external threaded cylinders. The inner wall of the external threaded cylinder is slidably connected to a support column, and the support column can rotate in the external threaded cylinder. The end wall of the support column located in the semiconical shell is sleeved with a support ring. The outer end wall of the external threaded cylinder is rotatably connected to an internal threaded cover, and the internal thread line of the inner wall of the internal threaded cover is meshed with the external thread line of the outer wall of the external threaded cylinder. The outer end wall of the support column is meshed with the inner wall of the internal threaded cover. The semiconical shell is connected with an active disk in rotation at the center of the inner wall at the bottom, a belt drive device is installed at the bottom of the semiconical shell, and the output end of the belt drive device is fixedly connected to the active disk, a stabilizing plate is fixedly installed on the inner wall at the bottom of the semiconical shell, and the stabilizing plate is used in conjunction with the active disk, a cover plate is fixedly installed on the top of the stabilizing plate, the top of the active disk is rotatably connected to the bottom of the cover plate, the four groups of support rings are clamped with the same annular cutting blade, and the inner wall of the annular cutting blade is meshed with the active disk, and the bottom of the semiconical shell is fixedly connected to the base.

[0008] Optionally, the tendon breaking assembly includes a double frame seat, the inner wall of the bottom of the double frame seat is fixedly connected to the outer wall of the semicircular cone shell, the inner wall of one side of the bottom of the double frame seat is rotatably connected to a screw, the inner wall of the bottom of the double frame seat is fixedly installed with a motor 2, and the output shaft of the motor 2 is fixedly connected to the end wall of the screw, a double frame clamp is arranged in the double frame seat, the bottom of the double frame clamp is meshed with the screw, and sliding grooves are provided on both sides of the top of the double frame clamp, the sliding grooves are slidably connected to the inner wall of the top of the double frame seat, the inner wall of the double frame clamp is slidably connected with an inner slide, the front end wall of the inner slide is fixedly installed with a bending clamp, the outer wall of the double frame clamp is fixedly installed with a cylinder 1, and the output end of the cylinder 1 is fixedly connected to the side wall of the inner slide.

[0009] Optionally, a barb is provided on one side of the front end of the double-frame pliers, and a hollow baffle frame is rotatably connected to the other side of the front end of the double-frame pliers. A spring is fixedly installed on one end of the hollow baffle frame, and the other end of the spring is fixedly connected to the outer wall of the double-frame pliers, and the other end of the hollow baffle frame is engaged with the barb.

[0010] Optionally, the loading assembly includes a side frame, an outer wall of the side frame is fixedly connected to the bottom of the hanging arm, an H-shaped slide rail is fixedly installed on the front end wall of the side frame, both ends of the H-shaped slide rail are slidably connected to a semicircular loading shell, and two groups of semicircular loading shells are used in combination, and cylinder two is fixedly installed on both side walls of the side frame, and the output shafts of the two groups of cylinder two are respectively fixedly connected to the side walls of the two groups of semicircular loading shells.

[0011] Compared with the prior art, the present invention has at least the following beneficial effects: In the above scheme, the mechanical picking part is transported to the bottom of the palm tree by the crawler body, and the lifting arm mechanism is directed toward the palm tree by adjusting the bearing platform. Thereafter, the lifting arm mechanism is extended to transport the actuator to the bottom of the palm tree. At this time, the rotating cylinder is driven to change the direction of the quadrilateral frame so that it rotates in the vertical direction. At the same time, the motor is driven to drive the turntable to rotate through the gear set, and the shearing assembly is driven to rotate in the horizontal direction through the turntable and the base, so that the position of the shearing assembly can be freely changed. At this time, the driving belt driving device drives the active disk to engage with the annular cutting blade, so that the annular cutting blade can cut the blocking branches and leaves around the palm fruit, thereby exposing the palm fruit.

[0012] When the palm fruit is located in the two sets of semicircular loading shells, the second driving motor makes the screw rod mesh with the double-frame clamp, thereby driving the double-frame clamp as a whole to move forward in the double-frame seat. At this time, the leaf stems and branches connected to the palm fruit will squeeze the hollow baffle frame at the front end of the double-frame clamp to disengage it from the barb. As the double-frame clamp moves, when the leaf stems and branches move to the end of the double-frame clamp, the leaf stems and branches will disengage from the hollow baffle frame. At this time, the hollow baffle frame will re-engage with the barb under the drive of the restoring force of the spring, and the palm fruit connected will be The leaf stems and branches of the palm fruit are inserted into the double-frame clamp, and the cylinder 1 is driven to push the inner slide forward, so that the bent clamp at the front end of the inner slide moves forward and cooperates with the hollow baffle frame, thereby clamping the leaf stems and branches in the double-frame clamp. After that, the driving belt driving device enables the annular cutting blade to cut the leaf stems and branches connected to the palm fruit, and at the same time cooperates with the driving motor 2 to make the double-frame clamp reciprocate in the double-frame seat, so as to pull the difficult-to-cut and adhered fruit stems, and the palm fruit and the fruit stem can be completely separated by pulling and twisting. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0014] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a palm fruit picking machine; Figure 2 It is a schematic diagram of the three-dimensional structure of the mechanical picking unit; Figure 3 It is a three-dimensional structural schematic diagram of the execution device; Figure 4 This is the installation structure diagram of the shear assembly; Figure 5 A structural breakdown diagram for installing the shear assembly; Figure 6 It is a schematic diagram of the installation structure of the shearing component and the tendon breaking component; Figure 7 This is the split diagram of the shear component and the rib breaking component; Figure 8 is a schematic diagram of the structure of the shearing component; Fig. 9 This is a split diagram of the shear component; Fig.10 It is a schematic diagram of the installation structure of the annular cutting blade; Fig.11 This is a schematic diagram of the installation of the stabilizing plate and the cover plate; Fig.12 is the meshing diagram of the active disk and the annular cutting edge; Fig.13 is a schematic diagram of the structure of the belt drive device; Fig.14 It is a schematic diagram of the installation of the support column and the external threaded cylinder; Fig.15 It is a structural schematic diagram of the rib breaking assembly; Fig.16 This is the disassembled diagram of the broken tendon component; Fig.17 It is a schematic diagram of the installation of the hollow retaining frame and the double frame clamp; Fig.18 This is the assembly drawing of the hollow retaining frame and the barb; Fig.19 A schematic diagram of the structure of the loading component.

[0015] Reference numerals: Mechanical picking part 100, carrying platform 110, lifting arm mechanism 120, actuator 130, hanging arm 131, rotating cylinder 132, quadrangular frame 133, turntable 134, turntable 135, base 136, motor 137, gear set 138, shearing assembly 140, semicircular cone shell 141, external thread cylinder 142, support column 143, support ring 144, internal thread cover 145, active disk 146, belt drive device 147, Stabilizing plate 148, cover plate 149, annular cutting blade 150, rib breaking assembly 160, double frame seat 161, screw 162, motor 2 163, double frame clamp 164, slide 165, inner slide plate 166, bend card 167, cylinder 1 168, barb 169, hollow baffle frame 170, spring 171, loading assembly 180, side frame 181, H-shaped slide rail 182, semicircular loading shell 183, cylinder 2 184, crawler body 200.

[0016] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0017] The following is a detailed description of a palm fruit picking machine provided by the present invention in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0018] like Figure 1 and Fig.19 As shown, an embodiment of the present invention provides a palm fruit picker, comprising a mechanical picking part 100 and a crawler body 200, wherein the mechanical picking part 100 is mounted on the top of the crawler body 200, and the mechanical picking part 100 comprises a bearing platform 110, which is rotatably mounted on the top of the crawler body 200, and a lifting arm mechanism 120 is rotatably mounted on the top of the bearing platform 110, and an actuator 130 is arranged on the top of the lifting arm mechanism 120; The actuator 130 includes a hanging arm 131, the bottom of the hanging arm 131 is fixedly connected to the top output end of the lifting arm mechanism 120, the maximum extension length of the lifting arm mechanism 120 is 12m, and a 4-section telescopic arm structure is adopted to make the operating radius up to 4m, and the lifting arm mechanism 120 is made of aluminum alloy, which is 2 times lighter than carbon steel. The side wall of the hanging arm 131 is vertically arranged, and a rotating cylinder 132 is fixedly installed on the top inner wall of the hanging arm 131, and a quadrangular frame 133 is fixedly installed on the output end of the rotating cylinder 132, and a shearing assembly 140 is arranged in the quadrangular frame 133, and a tendon breaking assembly 160 is installed on the top of the shearing assembly 140, and a loading assembly 180 is installed on the bottom inner wall of the hanging arm 131.

[0019] In this embodiment, if Figures 4 to 7 As shown, both side walls at the front end of the quadrilateral frame 133 are rotatably connected to a turntable 134, two sets of turntables 135 are fixedly installed on the inner wall of the turntable 134, and the front ends of the two sets of turntables 135 are fixedly installed with the same base 136, and a gear set 138 is installed on the outer wall of the left turntable 134, and the output gear of the gear set 138 is fixedly connected to the wall of the turntable 134, and a motor 137 is fixedly installed on the inner wall of the quadrilateral frame 133, and the output shaft of the motor 137 is fixedly connected to the input gear of the gear set 138. In the present invention, the mechanical picking part 100 is transported to the Under the palm tree, the lifting arm mechanism 120 is oriented toward the palm tree by adjusting the supporting platform 110, and then the lifting arm mechanism 120 is extended to transport the actuator 130 to the bottom of the palm tree. At this time, the rotating cylinder 132 is driven to change the direction of the quadrilateral 133 to rotate in the vertical direction. At the same time, the motor 137 is driven to drive the turntable 134 to rotate through the gear set 138, and the shearing assembly 140 is driven to rotate in the horizontal direction through the turntable 135 and the base 136, so that the position of the shearing assembly 140 can be freely changed.

[0020] As an implementation method in this embodiment, Figures 8 to 14As shown, the shearing assembly 140 includes a semi-conical shell 141, which is composed of the same upper and lower parts. The top and bottom side walls of the semi-conical shell 141 are fixedly installed with external threaded cylinders 142, and the inner wall of the external threaded cylinder 142 is slidably connected with a support column 143, and the support column 143 can rotate in the external threaded cylinder 142. The end wall of the support column 143 located in the semi-conical shell 141 is sleeved with a support ring 144, and the support ring 144 can stabilize the work of the annular cutting blade 150 and support the annular cutting blade 150. The outer end wall of the threaded cylinder 142 is rotatably connected with an internal threaded cover 145, and the internal thread line of the inner wall of the internal threaded cover 145 is meshed with the external thread line of the outer wall of the external threaded cylinder 142. The outer end wall of the support column 143 is plugged into the inner wall of the internal threaded cover 145. By rotating the internal threaded cover 145 to make it mesh with the external threaded cylinder 142, the support column 143 can be moved forward, so that the support ring 144 at the front end of the support column 143 is engaged with the annular cutting blade 150. The center of the inner wall at the bottom of the semi-conical shell 141 is rotatably connected with an active disk 146. The bottom of the semi-conical shell 141 is installed A belt drive device 147 is installed, and the output end of the belt drive device 147 is fixedly connected to the active disk 146. The belt drive device 147 is composed of a motor and a conveyor belt device. The conveyor belt device can be driven by the driving motor to operate, thereby driving the active disk 146 to rotate. A stabilizing plate 148 is fixedly installed on the inner wall of the bottom of the semicircular cone shell 141, and the stabilizing plate 148 is used in conjunction with the active disk 146. A cover plate 149 is fixedly installed on the top of the stabilizing plate 148. The top of the active disk 146 is rotatably connected to the bottom of the cover plate 149. The four sets of support rings 144 are on The same annular cutting blade 150 is engaged, and the inner wall of the annular cutting blade 150 is engaged with the active disk 146, and the bottom of the semicircular shell 141 is fixedly connected to the base 136. In the present invention, the driving belt driving device 147 drives the active disk 146 to engage with the annular cutting blade 150, so that the annular cutting blade 150 can cut the branches and leaves that block the palm fruits around the palm fruits, thereby exposing the palm fruits, and at the same time drive the two groups of cylinders 184 to drive the two groups of semicircular loading shells 183 to engage, so that the exposed palm fruits are located in the two groups of semicircular loading shells 183.

[0021] As an implementation method in this embodiment, Figures 15 to 18As shown, the tendon breaking assembly 160 includes a double frame seat 161, the inner wall of the bottom of the double frame seat 161 is fixedly connected to the outer wall of the semicircular cone shell 141, the inner wall of one side of the bottom of the double frame seat 161 is rotatably connected to a screw 162, a motor 163 is fixedly installed on the inner wall of the bottom of the double frame seat 161, and the output shaft of the motor 163 is fixedly connected to the end wall of the screw 162, a double frame clamp 164 is arranged in the double frame seat 161, the bottom of the double frame clamp 164 is meshed with the screw 162, and slide grooves 165 are provided on both sides of the top of the double frame clamp 164, and the slide grooves 165 are slidably connected to the inner wall of the top of the double frame seat 161, the inner wall of the double frame clamp 164 is slidably connected to an inner slide plate 166, the front end wall of the inner slide plate 166 is fixedly installed with a bending card 167, and the outer wall of the double frame clamp 164 is fixedly installed with a cylinder 1 168, and the output end of the cylinder 168 is fixedly connected to the side wall of the inner slide 166. In the present invention, when the leaf stems and branches connected to the palm fruit are inserted into the double-frame clamp 164, the cylinder 168 is driven to push the inner slide 166 forward, so that the bent card 167 at the front end of the inner slide 166 moves forward and cooperates with the hollow baffle 170, thereby clamping the leaf stems and branches in the double-frame clamp 164. Thereafter, the driving belt driving device 147 enables the annular cutting blade 150 to cut the leaf stems and branches connected to the palm fruit, and at the same time cooperates with the driving motor 2 163 to make the double-frame clamp 164 reciprocate in the double-frame seat 161, so as to pull the fruit stems that are difficult to cut and adhere, and the palm fruit and the fruit stem can be completely separated by pulling and twisting.

[0022] In this embodiment, if Fig.17 and Fig.18 As shown, a barb 169 is provided on one side of the front end of the double-frame clamp 164, and a hollow retaining frame 170 is rotatably connected to the other side of the front end of the double-frame clamp 164. A spring 171 is fixedly installed on one end of the hollow retaining frame 170, and the other end of the spring 171 is fixedly connected to the outer wall of the double-frame clamp 164. The other end of the hollow retaining frame 170 is engaged with the barb 169. In the present invention, after the palm fruit is located in the two sets of semicircular loading shells 183, the second motor 163 is driven to make the screw 162 engage with the double-frame clamp 164, so that The double-frame clamp 164 is driven to move forward as a whole in the double-frame seat 161. At this time, the leaf stems and branches connected to the palm fruit will squeeze the hollow baffle frame 170 at the front end of the double-frame clamp 164, causing it to disengage from the barb 169. As the double-frame clamp 164 moves, when the leaf stems and branches move to the end of the double-frame clamp 164, the leaf stems and branches will disengage from the hollow baffle frame 170. At this time, the hollow baffle frame 170 will re-engage with the barb 169 driven by the restoring force of the spring 171.

[0023] As an implementation method in this embodiment, Figure 2 and Fig.19As shown, the loading assembly 180 includes a side frame 181, the outer wall of the side frame 181 is fixedly connected to the bottom of the hanging arm 131, the front end wall of the side frame 181 is fixedly installed with an H-shaped slide rail 182, both ends of the H-shaped slide rail 182 are slidably connected with a semicircular loading shell 183, and two groups of semicircular loading shells 183 are used in conjunction with each other, and the two side walls of the side frame 181 are fixedly installed with a cylinder 184, and the output shafts of the two groups of cylinders 184 are respectively fixedly connected to the side walls of the two groups of semicircular loading shells 183. In the present invention, after the annular cutting blade 150 is used to cut off the larger stems and leaves around the palm fruit, the lifting arm mechanism 120 is driven to transport the loading assembly 180 to the bottom of the palm fruit. At this time, the two groups of cylinders 184 are driven to drive the two groups of semicircular loading shells 183 to engage, so that the exposed palm fruit is located in the two groups of semicircular loading shells 183, thereby facilitating the carrying of the cut palm fruit.

[0024] The working principle of the technical solution provided by the present invention is as follows: the mechanical picking part 100 is transported to the bottom of the palm fruit tree by the crawler body 200, and the lifting arm mechanism 120 is oriented toward the palm fruit tree by adjusting the bearing platform 110. Thereafter, the lifting arm mechanism 120 is extended to transport the actuator 130 to the bottom of the palm fruit. At this time, the rotating cylinder 132 is driven to change the direction of the quadrilateral frame 133 so that it rotates in the vertical direction, and at the same time, the motor 137 is driven to drive the turntable 134 to rotate through the gear set 138. , and the shearing assembly 140 is driven to rotate in the horizontal direction through the rotating frame 135 and the base 136, so that the position of the shearing assembly 140 can be freely changed. At this time, the driving belt driving device 147 drives the active disk 146 to engage with the annular cutting blade 150, so that the annular cutting blade 150 can cut the obstructing branches and leaves around the palm fruit, thereby exposing the palm fruit, and at the same time drive the two sets of cylinders 184 to drive the two sets of semicircular loading shells 183 to engage, so that the exposed palm fruit is located in the two sets of semicircular loading shells 183; After the palm fruit is located in the two sets of semicircular loading shells 183, the driving motor 2 163 makes the screw 162 mesh with the double frame clamp 164, thereby driving the double frame clamp 164 to move forward as a whole in the double frame seat 161. At this time, the leaf stems and branches connected to the palm fruit will squeeze the hollow baffle 170 at the front end of the double frame clamp 164, so that it will be separated from the barb 169. As the double frame clamp 164 moves, when the leaf stems and branches move to the end of the double frame clamp 164, the leaf stems and branches will be separated from the hollow baffle 170. At this time, the hollow baffle 170 will be re-engaged with the barb 169 under the drive of the restoring force of the spring 171, and the palm fruit will be re-engaged with the barb 169. The leaf stems and branches connected to the palm fruit are inserted into the double-frame clamp 164, and at the same time, the cylinder 168 is driven to push the inner slide 166 forward, so that the bent card 167 at the front end of the inner slide 166 moves forward and cooperates with the hollow baffle 170, thereby clamping the leaf stems and branches in the double-frame clamp 164. After that, the driving belt drive device 147 enables the annular cutting blade 150 to cut the leaf stems and branches connected to the palm fruit, and at the same time cooperates with the driving motor 2 163 to make the double-frame clamp 164 reciprocate in the double-frame seat 161, so as to pull the fruit stems that are difficult to cut and stick together, and the palm fruit and the fruit stem can be completely separated by pulling and twisting.

[0025] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A palm fruit picking machine, comprising a mechanical picking unit (100) and a crawler vehicle body (200), wherein the mechanical picking unit (100) is mounted on the top of the crawler vehicle body (200), characterized in that: The mechanical picking unit (100) comprises a bearing platform (110), the bearing platform (110) being rotatably mounted on the top of the crawler vehicle body (200), a lifting arm mechanism (120) being rotatably mounted on the top of the bearing platform (110), and an execution device (130) being arranged on the top of the lifting arm mechanism (120); The actuator (130) comprises a hanging arm (131), the bottom of the hanging arm (131) is fixedly connected to the top output end of the lifting arm mechanism (120), the side wall of the hanging arm (131) is arranged vertically, a rotating cylinder (132) is fixedly mounted on the top inner wall of the hanging arm (131), a quadrangular frame (133) is fixedly mounted on the output end of the rotating cylinder (132), a shearing assembly (140) is arranged in the quadrangular frame (133), a tendon breaking assembly (160) is mounted on the top of the shearing assembly (140), and a loading assembly (180) is mounted on the bottom inner wall of the hanging arm (131).

2. A palm fruit picking machine according to claim 1, characterized in that: Both side walls at the front end of the quadrangular frame (133) are rotatably connected to a turntable (134); two groups of turntables (135) are fixedly mounted on the inner wall of the turntable (134); the front ends of the two groups of turntables (135) are fixedly mounted with a same base (136); a gear set (138) is mounted on the outer wall of the turntable (134) on the left side; an output gear of the gear set (138) is fixedly connected to the wall of the turntable (134); a motor 1 (137) is fixedly mounted on the inner wall of the quadrangular frame (133); an output shaft of the motor 1 (137) is fixedly connected to an input gear of the gear set (138).

3. A palm fruit picking machine according to claim 2, characterized in that: The shearing assembly (140) comprises a semiconical shell (141), the semiconical shell (141) comprising two identical upper and lower parts, the top and bottom side walls of the semiconical shell (141) are fixedly mounted with externally threaded cylinders (142), the inner wall of the externally threaded cylinder (142) is slidably connected with a support column (143), and the support column (143) can rotate in the externally threaded cylinder (142), the end wall of the support column (143) located in the semiconical shell (141) is sleeved with a support ring (144), the outer end wall of the externally threaded cylinder (142) is rotatably connected with an internally threaded cover (145), and the internal thread line of the inner wall of the internally threaded cover (145) is meshed with the external thread line of the outer wall of the externally threaded cylinder (142), the outer end wall of the support column (143) is plugged into the inner wall of the internally threaded cover (145), and the semiconical shell (141) is provided with a plurality of support columns (143) and a plurality of support columns (143) connected to the outer wall of the externally threaded cylinder (142). An active disk (146) is rotatably connected at the center of the inner wall at the bottom of the table shell (141); a belt drive device (147) is installed at the bottom of the semicircular table shell (141), and the output end of the belt drive device (147) is fixedly connected to the active disk (146); a stabilizing plate (148) is fixedly installed on the inner wall at the bottom of the semicircular table shell (141), and the stabilizing plate (148) is used in conjunction with the active disk (146); a cover plate (149) is fixedly installed on the top of the stabilizing plate (148), and the top of the active disk (146) is rotatably connected to the bottom of the cover plate (149); the four groups of support rings (144) are clamped with the same annular cutting blade (150), and the inner wall of the annular cutting blade (150) is meshed with the active disk (146); the bottom of the semicircular table shell (141) is fixedly connected to the base (136).

4. A palm fruit picking machine according to claim 3, characterized in that: The tendon breaking assembly (160) comprises a double frame seat (161), the inner wall of the bottom of the double frame seat (161) is fixedly connected to the outer wall of the semi-circular cone shell (141), a screw rod (162) is rotatably connected to the inner wall of one side of the bottom of the double frame seat (161), a second motor (163) is fixedly installed on the inner wall of the bottom of the double frame seat (161), and the output shaft of the second motor (163) is fixedly connected to the end wall of the screw rod (162), and a double frame clamp (164) is arranged in the double frame seat (161), and the bottom of the double frame clamp (164) is The double-frame clamp (164) is meshed with a screw rod (162), and both sides of the top of the double-frame clamp (164) are provided with slide grooves (165), and the slide grooves (165) are slidably connected to the inner wall of the top of the double-frame seat (161). The inner wall of the double-frame clamp (164) is slidably connected to an inner slide plate (166), and a bend clamp (167) is fixedly installed on the front end wall of the inner slide plate (166). The outer wall of the double-frame clamp (164) is fixedly installed with a cylinder 1 (168), and the output end of the cylinder 1 (168) is fixedly connected to the side wall of the inner slide plate (166).

5. A palm fruit picking machine according to claim 4, characterized in that: A barb (169) is provided on one side of the front end of the double-frame clamp (164), and a hollow retaining frame (170) is rotatably connected to the other side of the front end of the double-frame clamp (164). A spring (171) is fixedly mounted on one end of the hollow retaining frame (170), and the other end of the spring (171) is fixedly connected to the outer wall of the double-frame clamp (164), and the other end of the hollow retaining frame (170) is engaged with the barb (169).

6. A palm fruit picking machine according to claim 1, characterized in that: The loading assembly (180) comprises a side frame (181), the outer wall of the side frame (181) is fixedly connected to the bottom of the hanging arm (131), an H-shaped slide rail (182) is fixedly installed on the front wall of the side frame (181), both ends of the H-shaped slide rail (182) are slidably connected to a semicircular loading shell (183), and the two groups of semicircular loading shells (183) are used in conjunction with each other, and the two side walls of the side frame (181) are fixedly installed with cylinder 2 (184), and the output shafts of the two groups of cylinder 2 (184) are respectively fixedly connected to the side walls of the two groups of semicircular loading shells (183).

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