Flapping type picking method for multiple ground environments and multiple dry fruit types

Abstract

The invention discloses a flapping type picking method for multiple ground environments and multiple dry fruit types, and the method is characterized in that a lifting device is arranged on a walking carrier; the flapping device and the swing limiting device are both connected with the lifting device; a flapping strip in the flapping device penetrates through a gap between two limiting rods in the swing limiting device; the walking carrier is provided with multi-degree-of-freedom mechanical legs and is used for walking of the whole mechanical device and moving the flapping device to a proper position; the lifting device is used for adjusting the heights of the flapping device and the swing limiting device so as to adapt to trees with different heights; the flapping device is used for flapping the crown to enable the fruits on the tree to fall off and controlling the flapping force. The flapping type picking method can adapt to various different harvesting environments (sand land, abrupt slopes and the like), the flapping height and the flapping amplitude can be changed according to tree bodies with different heights or different crown sizes (namely multiple dry fruit types), the picking rate is high, damage to the tree bodies is reduced, and the falling risk existing in manual picking is also overcome.

Description

Technical Field

[0001] The invention relates to the field of automatic picking of dried fruits, in particular to a beating-type picking method for multiple ground environments and multiple types of dried fruits. Background Art

[0002] The beating type dried fruit picker is one of the main equipment in the process of automated dried fruit picking. It is mainly used to separate the dried fruits from the tree when the dried fruits are ripe.

[0003] The existing slapping picking method is to move the picking device to the vicinity of the target tree body through a walking mechanism (vehicle body), and drive the slapping bar to move back and forth at high speed through the high-speed movement of the eccentric shaft in the picking device, and transmit the energy generated by the slapping to the fruit through the crown, so that the fruit obtains the acceleration of detaching from the tree body, and thus falls off. However, in the actual picking process, the ground environment is complex and diverse, such as the sandy land in Xinjiang and the steep slope in Guizhou. The walking mechanism used in the picking device of the traditional slapping picking method uses traditional round wheels, which will cause slippage. The use of crawler devices will consume a lot of money costs. The traditional slapping picking method also has the problem that the slapping height and slapping amplitude cannot be changed for trees of different heights or different crown sizes, resulting in low picking rates and causing tree damage and other adverse effects. In addition, manual picking also has the risk of falling. In response to the above problems, a slapping picking method for multiple ground environments and multiple dry fruit types (i.e., trees of different heights or different crown sizes) is proposed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a beating-type picking method for multiple ground environments and multiple types of dry fruits in response to the deficiencies of the above-mentioned prior art. The beating-type picking method for multiple ground environments and multiple types of dry fruits can change the beating height and beating amplitude for trees of different heights or different crown sizes (i.e., multiple types of dry fruits), has a high picking rate, reduces damage to the tree, and overcomes the risk of falling in manual picking.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A beating-type picking method for multiple ground environments and multiple types of dry fruits, wherein a lifting device is arranged on a walking carrier; the beating device and the swing amplitude limiting device are both connected to the lifting device; the beating bar in the beating device passes through the gap between two limiting rods in the swing amplitude limiting device; the walking carrier is used for the movement of the entire mechanical device and for moving the beating device to a suitable position; the lifting device is used for adjusting the height of the beating device and the swing amplitude limiting device to adapt to trees of different heights; the beating device is used for beating the tree crown to make the fruits on the tree fall, and for controlling the beating force.

[0007] The slap picking method includes the following steps:

[0008] Step 1: The walking carrier drives the lifting device, the beating device and the swing amplitude limiting device to move to the vicinity of the tree to be picked;

[0009] Step 2: The lifting device starts to work, thereby adjusting the height of the beating device and the swing amplitude limiting device;

[0010] Step 3: After the height adjustment is completed, the swing limiting device starts to work, thereby adjusting the width of the gap between the two limiting rods 403;

[0011] Step 4: The beating device starts to work, and the rotating drive mechanism in the beating device drives the crankshaft to rotate, thereby driving the beating bar on the crankshaft to move and produce a beating effect.

[0012] As a further improved technical solution of the present invention, the walking carrier includes a multi-degree-of-freedom mechanical leg and a support platform, the top of the multi-degree-of-freedom mechanical leg is connected to the support platform, and the lifting device is connected to the support platform. The multi-degree-of-freedom mechanical leg is a three-degree-of-freedom mechanical leg (including multiple motors, multiple gears, etc., to achieve multi-degree-of-freedom movement), the three-degree-of-freedom mechanical leg adopts the mechanical leg of the bionic mechanical dog in the prior art, the mechanical leg has a three-degree-of-freedom mechanical leg of the thigh and the calf, the connection between the thigh and the fuselage (support platform) is similar to the connection between the human thigh and the body, with two degrees of freedom, both realized by gear transmission, on the one hand, the front and back movement of the thigh is realized, on the other hand, the inside and outside (left and right direction) movement of the thigh is realized. The connection between the thigh and the calf has one degree of freedom, which is also realized in the form of gear transmission, and can change the angle between the thigh and the calf. The support platform can be driven to move by the three-degree-of-freedom mechanical leg by connecting to it.

[0013] As a further improved technical solution of the present invention, the lifting device includes an electric lifting platform, a telescopic rod and a horizontal support platform, the bottom of the electric lifting platform is connected to the object-bearing platform, the top is connected to the bottom of the horizontal support platform through a first vertical rod, one end of the telescopic rod is connected to the object-bearing platform, and the other end is connected to the bottom of the horizontal support platform;

[0014] In step 2, when the lifting device is working, the electric lifting platform is started, and the electric lifting platform is lifted and lowered, thereby driving the horizontal support platform to lift and lower. At the same time, under the force of the lifting and lowering of the horizontal support platform, the telescopic rod is lifted and lowered accordingly, thereby adjusting the height of the horizontal support platform. The beating device and the swing limiting device are arranged on the horizontal support platform, thereby adjusting the height of the beating device and the swing limiting device.

[0015] As a further improved technical solution of the present invention, the swing amplitude limiting device includes an automatic telescopic mechanism, a limiting outer frame and a limiting rod, the limiting outer frame is connected to the lifting device, the two opposite sides of the central opening of the limiting outer frame are connected to the automatic telescopic mechanism, the telescopic end of the automatic telescopic mechanism is connected to the limiting rod, the two limiting rods are arranged in parallel and are both located on the inner side of the central opening of the limiting outer frame, and the automatic telescopic mechanism is used to drive the two limiting rods to move towards each other or away from each other to adjust the distance between the two limiting rods;

[0016] In step 3, when the swing amplitude limiting device is working, the automatic telescopic mechanism drives the two limiting rods to move toward or away from each other to adjust the width of the gap between the two limiting rods.

[0017] As a further improved technical solution of the present invention, in the swing limiting device, the automatic telescopic mechanism adopts a cylinder, the shape of the limiting outer frame is a rectangle, the middle opening is a rectangular opening, and the limiting outer frame is connected to the top of the horizontal support platform of the lifting device through a second vertical rod.

[0018] As a further improved technical solution of the present invention, the flapping device includes a crankshaft, a flapping bar and a rotary drive mechanism; the rotary drive mechanism is connected to the lifting device through a bracket, the output end of the rotary drive mechanism is connected to one end of the crankshaft, the other end of the crankshaft is rotatably connected to the bearing seat, and the bearing seat is connected to the lifting device; one end of a plurality of flapping bars is rotatably connected to the connecting rod journal on the crankshaft, and a plurality of flapping bars are respectively tilted to lean between two limiting rods and extend upward from the middle opening of the limiting outer frame, and the crankshaft is located below the middle opening of the limiting outer frame; the flapping bar is rotatably connected to the crankshaft, and can be divided into a left flapping bar and a right flapping bar according to the direction in which the connection point deviates from the crankshaft rotation fixed axis. The flapping bar passes through the square gap between the two limiting rods in the limiting outer frame, and the square gap between the two limiting rods can limit the swing amplitude of the flapping bar, and the limiting rod is connected to the automatic telescopic mechanism, and limits its two ends to only slide along the inner wall of the middle opening of the limiting outer frame when being telescoped by the automatic telescopic mechanism, thereby changing the width of the square gap between the two limiting rods.

[0019] In step 4, when the beating device is working, the rotary drive mechanism drives the crankshaft to rotate, and the crankshaft drives one end of the beating bar to move to produce a beating effect.

[0020] As a further improved technical solution of the present invention, in the beating device, the rotation drive mechanism is connected to the horizontal support platform of the lifting device through a bracket, and the bearing seat is connected to the horizontal support platform of the lifting device.

[0021] As a further improved technical solution of the present invention, the rotary drive mechanism adopts a motor.

[0022] As a further improved technical solution of the present invention, it also includes a box body, which is a rectangular parallelepiped, and the bottom and the top are both open structures. The bottom of the box body is connected to the loading platform in the walking carrier, the lifting device and the beating device are located inside the box body, and the beating bar in the beating device passes through the opening structure at the top of the box body.

[0023] As a further improved technical solution of the present invention, the beating bar can be changed into a retractable beating bar so that it can beat tree crowns of different sizes. The lifting platform can be converted into a retractable cylinder to increase the range of variation of the height of the beating device. The bottom of the multi-degree-of-freedom mechanical leg can be added with a material with stronger gripping ability, or the number of multi-degree-of-freedom mechanical legs can be increased to share the deadweight of the entire mechanical device.

[0024] The beneficial effects of the present invention are:

[0025] The walking carrier in the slapping picking method of the present invention adopts an electric multi-degree-of-freedom mechanical leg, which can walk flexibly on different ground surfaces and adapt to a variety of different harvesting environments (sandy land, steep slopes, etc.). It has strong obstacle avoidance ability in orchards with various soil types and orchards with multiple terrains, and has good passability on undulating terrain. The height of the slapping bar can also be adjusted by a lifting device to slap tree crowns (dried fruit tree bodies) of different heights. The movement range of the slapping bar can also be adjusted by a swing limiting device to output more appropriate energy, that is, the slapping amplitude is adjusted to slap tree crowns of different sizes. The present invention has a higher generalization ability for different ground environments, dry fruit tree bodies of different heights and tree crowns of different sizes, improves picking efficiency, and avoids the risks of manual picking.

[0026] The walking carrier of the present invention is used to carry the lifting device and the beating device, so that it moves to the vicinity of the tree body, the lifting device is used to adjust the height of the beating device and the swing limiting device, and the beating device is used to beat the tree body so that the fruit can fall after the tree body is beaten. During operation, after receiving the moving signal sent by the controller, the multiple motors in the four multi-freedom mechanical legs in the walking carrier cooperate with each other through operations such as bending and rotating to realize the walking of the entire mechanical device. In the sandy environment, the multi-freedom mechanical legs can produce a gripping effect during the walking process, so that the entire device will not slip on the sand. On a relatively inclined ground, the entire device moves to the vicinity of the tree body with the assistance of the multi-freedom mechanical legs, and the multi-freedom mechanical legs bend to make the object bearing platform of the walking body perpendicular to the direction of gravity. After receiving the signal, the motor in the electric lifting platform in the lifting device adjusts the height of the beating device and the swing limiting device through the lifting of the electric lifting platform, and then adjusts the height of the beating bar to beat the crowns (dried fruit trees) of different heights. When the beating device and the swing limiting device are adjusted to the appropriate height, the cylinder in the swing limiting device starts to work, and by controlling the extension and contraction of the cylinder, the width of the square gap between the two limiting rods that limit the movement of the beating bar is changed, thereby adjusting the movement range of the beating bar, that is, adjusting the beating amplitude, so as to beat the crowns of different sizes. When the width of the square gap is adjusted, the motor that controls the rotation of the crankshaft starts to work, so that the crankshaft rotates at a suitable constant frequency, driving the beating bars on both sides of the hinge point that deviates from the rotating shaft to cross-beat, and after the crown is beaten, the fruits fall off, and the later collection work can be carried out. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1-2 It is a schematic diagram of the overall structure of the beating type picking machine in the present invention.

[0028] Figure 3-5 It is a schematic diagram of the structure of the beating type picking machine after the box body is hidden in the present invention.

[0029] Figure 6 It is a schematic diagram of the beating principle of the beating bar in the beating type picking machine of the present invention. DETAILED DESCRIPTION

[0030] The specific embodiments of the present invention are further described below according to the accompanying drawings:

[0031] like Figure 1-5 As shown, this embodiment first provides a beating type picking machine for multiple ground environments and multiple types of dried fruits, including a walking carrier 1, a lifting device 2, a beating device 3, a swing limiting device 4 and a box 5; the lifting device 2 and the box 5 are arranged on the walking carrier 1; the beating device 3 and the swing limiting device 4 are both connected to the lifting device 2, and the lifting device 2 is located on the inner side of the box 5.

[0032] like Figure 3-5 As shown, the swing limiting device 4 includes an automatic telescopic mechanism 401, a limiting outer frame 402 and a limiting rod 403. The limiting outer frame 402 is connected to the lifting device 2. The two opposite sides of the central opening of the limiting outer frame 402 are connected with the automatic telescopic mechanism 401. The telescopic end of the automatic telescopic mechanism 401 is connected to the limiting rod 403. The two limiting rods 403 are arranged in parallel and are both located on the inner side of the central opening of the limiting outer frame 402. The automatic telescopic mechanism 401 is used to drive the two limiting rods 403 to move toward or away from each other to adjust the spacing of the square gap between the two limiting rods 403.

[0033] like Figure 3-5 As shown, the beating device 3 includes a crankshaft 301, a beating bar 302 and a rotating drive mechanism 303; the rotating drive mechanism 303 is connected to the lifting device 2 through a bracket 304, the output end of the rotating drive mechanism 303 is connected to one end of the crankshaft 301, the other end of the crankshaft 301 is rotatably connected to a bearing seat 305, and the bearing seat 305 is connected to the lifting device 2; a plurality of beating bars 302 are respectively rotatably connected to the connecting rod journal 3011 on the crankshaft 301, and a plurality of beating bars 302 are respectively inclined to lean between two limiting rods 403 and extend upward from the middle opening of the limiting outer frame 402, and the crankshaft 301 is located below the middle opening of the limiting outer frame 402.

[0034] The walking carrier 1 includes a multi-degree-of-freedom mechanical leg 102 and an object-carrying platform 101 . The top of the multi-degree-of-freedom mechanical leg 102 is connected to the object-carrying platform 101 . The multi-degree-of-freedom mechanical leg 102 is a three-degree-of-freedom mechanical leg.

[0035] like Figure 2As shown, the multi-freedom mechanical leg 102 has a three-freedom mechanical leg of a thigh and a shank. The connection between the thigh 1028 and the object support platform 101 is similar to the connection between a human thigh and a body, with two degrees of freedom, both of which are realized by gear transmission, on the one hand, the front and back movement of the thigh is realized, and on the other hand, the inside and outside (left and right direction) movement of the thigh is realized. The connection between the thigh 1028 and the shank 1032 has one degree of freedom, which is also realized by gear transmission, and the angle between the thigh and the shank can be changed. The specific structure is as follows: the multi-freedom mechanical leg 102 includes a motor 1 1021, a gear 1 1022, a gear 2 1023, a rotating shaft 1024, a motor 2 1025, a gear 3 1026, a gear 4 1027, a thigh 1028, a motor 3 1029, a gear 5 1030, a gear 6 1031, and a shank 1032. The motor 1021 is connected to the support platform 101, the output end of the motor 1021 is connected to the gear 1022, the gear 1022 is meshed with the gear 2 1023, the middle part of the gear 2 1023 is connected to the shaft 1024, the shaft 1024 is rotatably connected to the connecting plate at the bottom of the support platform 101, the housing of the motor 2 1025 is fixedly connected to the shaft 1024, the output end of the motor 2 1025 is connected to the gear 3 1026, the gear 3 1026 is meshed with the gear 4 1027, the gear 4 1028 is meshed with the gear 4 1029, and the gear 4 1029 is meshed with the gear 4 1028. The middle part of 027 is fixedly connected to the thigh 1028, the upper end of the thigh 1028 is hinged on the housing of the motor 2 1025 with the axis of the gear 4 1027 as the center, the thigh 1028 is provided with a motor 3 1029, the output end of the motor 3 1029 is connected to the gear 5 1030, the gear 5 1030 is meshed with the gear 6 1031, the middle part of the gear 6 1031 is fixedly connected to the calf 1032, and the upper end of the calf 1032 is hinged to the lower end of the thigh 1028 with the axis of the gear 6 1031 as the center. When the motor 1021 is working, the gear 1022 and the gear 2 1023 are used to drive the shaft 1024, the motor 2 1025, the thigh 1028 and the shank 1032 to move left and right (swing) around the axis of the shaft 1024 relative to the support platform 101; when the motor 2 1025 is working, the gear 3 1026 and the gear 4 1027 are used to drive the thigh 1028 and the shank 1032 to move forward and backward (swing) around the axis of the gear 4 1027 relative to the housing of the motor 2 1025; when the motor 3 1029 is working, the gear 5 1030 and the gear 6 1031 are used to drive the shank 1032 to move forward and backward (swing) around the axis of the gear 6 1031 relative to the thigh 1028, thereby changing the angle between the thigh 1028 and the shank 1032. There are 4 multi-degree-of-freedom mechanical legs 102 in this embodiment. Two of the multi-degree-of-freedom mechanical legs 102 share the same shaft 1024.

[0036] The lifting device 2 includes an electric lifting platform 201, a telescopic rod 202 and a horizontal support platform 203. The bottom of the electric lifting platform 201 is connected to the object platform 101, and the top is connected to the bottom of the horizontal support platform 203 through a first vertical rod. One end of the telescopic rod 202 is connected to the object platform 101, and the other end is connected to the bottom of the horizontal support platform 203.

[0037] The electric lifting platform 201 adopts an electric scissor-type lifting platform.

[0038] In the swing limiting device 4, the automatic telescopic mechanism 401 adopts a cylinder, the limiting outer frame 402 has a rectangular shape, and the middle opening is a rectangular opening. The limiting outer frame 402 is connected to the top of the horizontal support platform 203 of the lifting device 2 through a second vertical rod.

[0039] In the beating device 3 , the rotation driving mechanism 303 is connected to the horizontal support platform 203 of the lifting device 2 via a bracket 304 , and the bearing seat 305 is connected to the horizontal support platform 203 of the lifting device 2 .

[0040] The rotation driving mechanism 303 adopts a motor.

[0041] The box body 5 described in this embodiment is a rectangular parallelepiped, and both the bottom and the top are open structures. The bottom of the box body 5 is connected to the object-carrying platform 101 in the walking carrier 1. The lifting device 2 and the beating device 3 are located inside the box body 5, and the beating bar 302 in the beating device 3 passes through the opening structure at the top of the box body 5. The swing limiting device 4 is located above the top of the box body 5. The box body 5 has a fence function. In this embodiment, each motor is connected to a power supply, and the cylinder is connected to an air source through a control valve.

[0042] For example, the picking of Guizhou mountain walnuts. The growing ground of Guizhou mountain walnuts is usually steep, and the bearing device using the center wheel is difficult to walk, and the bearing device using the crawler needs to be equipped with a diesel engine, which is bulky and expensive. This embodiment can solve the problems existing in the above environment.

[0043] The working process of this embodiment is as follows: when the entire mechanical device is in this environment and in working condition, the multiple motors in the four multi-degree-of-freedom mechanical legs in the walking carrier 1 begin to cooperate with each other after receiving signals from the surrounding environment, and the multi-degree-of-freedom mechanical legs bend, rotate and other actions to enable the entire mechanical device to start walking smoothly on the mountain. After reaching the vicinity of the target tree, the motor in the electric scissor lift platform starts to work, and the lifting device 2 starts to extend and retract, moving the flapping device to the vicinity of the center of the tree crown. After moving to the appropriate position, the swing limiting device 4 starts to move, and the square gap between the two limiting rods 403 is adjusted by extending and retracting the cylinder therein. After the adjustment is completed, the motor drives the crankshaft 301 to start moving, and the crankshaft 301 rotates around the fixed axis. One end of the beating bar 302 is hinged on the crankshaft 301 at a place deviating from the crankshaft axis, that is, on the connecting rod journal 3011 on the crankshaft 301, and leans on the edge of the square gap between the two limiting rods 403. During the movement of the crankshaft 301, the beating bar 302 will always lean on the edge of the square gap between the two limiting rods 403, and the absolute movement of the hinge point is a circular motion, which causes the beating bar to produce a beating effect, and the size of the square gap is controlled to obtain a suitable beating amplitude, and the speed of the crankshaft 301 is controlled to obtain a suitable beating frequency. As the beating proceeds, the fruits fall off, and then they can be collected.

[0044] like Figure 6 As shown, when the bottom of the beating bar 302 moves from point A to point B with the movement of the crankshaft 301, due to the existence of the swing amplitude limiting device 4, the beating bar 302 will always lean on it to produce a swing effect. Because the beating bar 302 is very long, even if the inclination angle of the beating bar 302 changes relatively little, a relatively large swing amplitude will be generated near the end to achieve fruit picking.

[0045] The specific structural form of the multi-degree-of-freedom mechanical leg of this embodiment adopts the existing technology, and the internal motor control method also adopts the existing technology. The motor in the multi-degree-of-freedom mechanical leg, the motor in the rotary drive mechanism 303, and the motor in the electric lift 201 are all connected to a power source, and the cylinder is connected to an air source through a control valve. The motor in the multi-degree-of-freedom mechanical leg, the motor in the rotary drive mechanism 303, the motor in the electric lift 201 and the control valve are all connected to a controller, and the operation of each device is controlled by the controller. The controller controls the action of the control valve and then controls the extension and retraction of the cylinder. The controller can be set on a flapping-type harvester. Of course, the controller can also be wirelessly connected to a remote control device, and the operation of the controller is controlled by the remote control device.

[0046] This embodiment also provides a slapping picking method for multiple ground environments and multiple types of dried fruits, including the following steps:

[0047] Step 1, the walking carrier 1 drives the lifting device 2, the beating device 3 and the swing amplitude limiting device 4 to move to the vicinity of the tree to be picked;

[0048] Step 2, the lifting device 2 starts to work, that is, the electric lifting platform 201 is started, and the electric lifting platform 201 is lifted and lowered, thereby driving the horizontal support platform 203 to lift and lower. At the same time, under the force of the lifting and lowering of the horizontal support platform 203, the telescopic rod 202 is lifted and lowered accordingly, thereby adjusting the height of the horizontal support platform 203. Since the beating device 3 and the swing limiting device 4 are arranged on the horizontal support platform 203, the heights of the beating device 3 and the swing limiting device 4 are thereby adjusted;

[0049] Step 3: After the height adjustment is completed, the swing limiting device 4 starts to work, that is, the automatic telescopic mechanism 401 drives the two limiting rods 403 to move toward or away from each other to adjust the width of the gap between the two limiting rods 403;

[0050] Step 4, the beating device 3 starts to work, that is, the rotation drive mechanism 303 drives the crankshaft 301 to rotate, and the crankshaft 301 drives one end of the beating bar 302 to move to produce a beating effect.

[0051] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A beating picking method for multiple ground environments and multiple types of dried fruits, characterized in that: The lifting device (2) is arranged on the walking carrier (1); the beating device (3) and the swing amplitude limiting device (4) are both connected to the lifting device (2); the beating bar (302) in the beating device (3) penetrates the gap between the two limiting rods (403) in the swing amplitude limiting device (4); The slap picking method includes the following steps: Step 1: The walking carrier (1) drives the lifting device (2), the beating device (3) and the swing amplitude limiting device (4) to move to the vicinity of the tree to be picked; Step 2, the lifting device (2) starts to work, thereby adjusting the height of the beating device (3) and the swing amplitude limiting device (4); Step 3: After the height adjustment is completed, the swing limiting device (4) starts to work, thereby adjusting the width of the gap between the two limiting rods 403; Step 4: The beating device (3) starts to work, and the rotary drive mechanism (303) in the beating device (3) drives the crankshaft (301) to rotate, thereby driving the beating bar (302) on the crankshaft (301) to move and produce a beating effect.

2. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 1 is characterized in that: The walking carrier (1) comprises a multi-degree-of-freedom mechanical leg (101) and an object support platform (101), the top of the multi-degree-of-freedom mechanical leg (101) is connected to the object support platform (101), and the lifting device (2) is connected to the object support platform (101).

3. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 1 is characterized in that: The lifting device (2) comprises an electric lifting platform (201), a telescopic rod (202) and a horizontal support platform (203); the bottom of the electric lifting platform (201) is connected to the object support platform (101), and the top is connected to the bottom of the horizontal support platform (203) via a first vertical rod; one end of the telescopic rod (202) is connected to the object support platform (101), and the other end is connected to the bottom of the horizontal support platform (203); In step 2, when the lifting device (2) is working, the electric lifting platform (201) is started, and the electric lifting platform (201) is lifted and lowered, thereby driving the horizontal support platform (203) to lift and lower. At the same time, under the action of the lifting and lowering of the horizontal support platform (203), the telescopic rod (202) is lifted and lowered accordingly, thereby adjusting the height of the horizontal support platform (203), the beating device (3) and the swing amplitude limiting device (4).

4. The slapping picking method for multiple ground environments and multiple types of dried fruits according to claim 1, characterized in that: The swing limiting device (4) comprises an automatic telescopic mechanism (401), a limiting outer frame (402) and a limiting rod (403); the limiting outer frame (402) is connected to the lifting device (2); the two opposite sides of the middle opening of the limiting outer frame (402) are connected to the automatic telescopic mechanism (401); the telescopic end of the automatic telescopic mechanism (401) is connected to the limiting rod (403); the two limiting rods (403) are arranged in parallel and are both located on the inner side of the middle opening of the limiting outer frame (402); the automatic telescopic mechanism (401) is used to drive the two limiting rods (403) to move towards each other or away from each other so as to adjust the distance between the two limiting rods (403); In the step 3, when the swing limiting device (4) is working, the automatic telescopic mechanism (401) drives the two limiting rods (403) to move towards each other or away from each other to adjust the width of the gap between the two limiting rods (403).

5. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 4, characterized in that: In the swing limiting device (4), the automatic telescopic mechanism (401) adopts a cylinder, the limiting outer frame (402) has a rectangular shape, and the middle opening is a rectangular opening. The limiting outer frame (402) is connected to the top of the horizontal support platform (203) of the lifting device (2) through a second vertical rod.

6. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 4, characterized in that: The beating device (3) comprises a crankshaft (301), a beating bar (302) and a rotating drive mechanism (303); the rotating drive mechanism (303) is connected to the lifting device (2) through a bracket (304); the output end of the rotating drive mechanism (303) is connected to one end of the crankshaft (301); the other end of the crankshaft (301) is rotatably connected to a bearing seat (305); and the bearing seat (305) is connected to the lifting device (2); one end of a plurality of beating bars (302) is rotatably connected to a connecting rod journal (3011) on the crankshaft (301); the plurality of beating bars (302) are respectively tilted and lean against two limiting rods (403) and extend upward from a middle opening of a limiting outer frame (402); the crankshaft (301) is located below the middle opening of the limiting outer frame (402); In step 4, when the beating device (3) is working, the rotation drive mechanism (303) drives the crankshaft (301) to rotate, and the crankshaft (301) drives one end of the beating bar (302) to move, thereby generating a beating effect.

7. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 6, characterized in that: In the beating device (3), the rotating drive mechanism (303) is connected to the horizontal support platform (203) of the lifting device (2) through a bracket (304), and the bearing seat (305) is connected to the horizontal support platform (203) of the lifting device (2).

8. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 7, characterized in that: The rotary drive mechanism (303) adopts a motor.

9. The beating picking method for multiple ground environments and multiple types of dried fruits according to claim 1, characterized in that: The invention also comprises a box body (5), wherein the box body (5) is a rectangular parallelepiped, and both the bottom and the top are open structures, the bottom of the box body (5) is connected to the object support platform (101) in the walking carrier (1), the lifting device (2) and the beating device (3) are located inside the box body (5), and the beating bar (302) in the beating device (3) passes through the open structure at the top of the box body (5).

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