Shoucd picking equipment and picking method

Abstract

The invention discloses a pomegranate picking device and a picking method, relates to the field of pomegranate picking, and solves the problem that an existing pomegranate picking device is prone to causing pomegranate falling, the pomegranate picking device comprises a moving vehicle and an air bellow, the top of the moving vehicle is provided with two electric telescopic rods, and a U-shaped frame is fixedly installed between the output ends of the two electric telescopic rods; an annular air cylinder is installed on the inner side of the U-shaped frame, two arc-shaped cutters are arranged on the outer side of the annular air cylinder, and the outer side of the annular air cylinder is in butt joint with the air bellow through two telescopic air pipes; the material receiving mechanism is used for wrapping and positioning the grenade, and the material receiving mechanism is mounted on the inner side of the annular air cylinder; through the material receiving mechanism, the ring-shaped air cylinder can sleeve the to-be-picked leucas, positioning is provided for the leucas, the leucas are picked off through the two ring-shaped cutters, and the leucas in the ring-shaped air cylinder are supported through the two electric telescopic rods, so that the safe picking effect is achieved.

Description

Technical Field

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

[0002] After durian is ripe, it is usually picked manually, which requires people to climb the durian tree to pick the ripe durian. Because the durian shell is hard and covered with thorns, if it hits the human body when it falls, it may cause puncture wounds or other injuries. Durian trees are usually 20 to 30 meters high, so there is a risk of falling.

[0003] In order to improve the efficiency and safety of durian picking, some areas use mechanical equipment to pick durian instead of manual climbing to reduce the risk of falling and injury. The existing durian picking equipment uses a floating airbag to wrap the durian, allowing the durian to enter the nylon net in the middle of the airbag, and then uses a laser robotic arm to cut the durian stems. However, after the laser robotic arm picks the durian, due to its heavy weight and the great pressure exerted by the falling durian on the floating airbag, the durian is prone to fall, causing the durian to break, affecting the quality of the durian and poor safety. Summary of the invention

[0004] The object of the present invention is to provide a durian picking device and a durian picking method to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A durian picking device, comprising: a mobile vehicle and a bellows fixedly installed on the outside of the mobile vehicle, the top of the mobile vehicle is hingedly equipped with two symmetrically distributed electric telescopic rods, the outer side of the electric telescopic rod and the top of the mobile vehicle are hingedly equipped with a cylinder push rod, a U-shaped frame is fixedly installed between the output ends of the two electric telescopic rods, an annular air cylinder is installed on the inner side of the U-shaped frame, two symmetrically distributed arc-shaped cutters are arranged on the outer side of the annular air cylinder, and the outer side of the annular air cylinder is connected to the bellows through two telescopic air pipes;

[0007] Also includes:

[0008] A material receiving mechanism, used for wrapping and positioning the durian, the material receiving mechanism being installed on the inner side of the annular gas cylinder;

[0009] A picking mechanism, used for cutting off the positioned durian stems, the picking mechanism being installed on the outside of the annular gas cylinder;

[0010] The discharging mechanism is used for safely conveying the picked durian downwards, and the discharging mechanism is installed at the bottom of the U-shaped frame.

[0011] Preferably, the material receiving mechanism includes an annular air bag fixedly mounted on the inner side of the annular air cylinder, two symmetrically distributed air injection tubes are fixedly mounted on the outer side of the annular air cylinder, one end of the telescopic air tube is mounted on the inner side of the air injection tube, a mounting box is fixedly mounted on the bottom of the annular air cylinder, the mounting box is annular in structure, a toothed disc is rotatably mounted on the inner side of the mounting box, a gear motor is fixedly mounted on the outer side of the annular air cylinder, the output end of the gear motor is meshed with the toothed disc, and two symmetrically distributed first gears are rotatably mounted on the outer side of the mounting box. Wheel, the first gear is meshed with the toothed disc, a screw is fixedly installed on the inner side of the first gear, the top of the screw is rotatably installed on the bottom of the air injection pipe, a sealing groove is provided on the inner side of the air injection pipe, the top of the sealing groove is an open structure, a sealing plate is slidably installed on the inner side of the sealing groove, a connecting rod sliding through the air injection pipe is fixedly installed on the bottom of the sealing plate, a moving block matching with the screw is fixedly installed on the end of the connecting rod away from the sealing plate, and a bottom support assembly for preventing falling off is also provided on the inner side of the installation box.

[0012] Preferably, the picking mechanism includes two mounting plates symmetrically arranged on the outside of the annular air cylinder, two symmetrically distributed positioning rods are fixedly installed between the mounting plates and the annular air cylinder, mounting blocks are fixedly installed at both ends of the arc-shaped cutter, the two mounting blocks on the arc-shaped cutter are respectively located between the two mounting plates and the annular air cylinder, a second gear is fixedly installed on the outside of the mounting block, the second gear is rotatably installed on the outside of the adjacent positioning rod, a movable plate is fixedly installed on the top of the sealing plate, racks are provided on both sides of the movable plate, the racks on both sides of the movable plate are meshed with the two adjacent second gears through a third gear, and the third gear is rotatably installed on the inner side of the mounting plate.

[0013] Preferably, the discharging mechanism includes a discharging cylinder fixedly mounted on the outer side of the U-shaped frame, a mounting ring is provided at the bottom of the discharging cylinder, a cylindrical cloth bag is fixedly mounted on the bottom of the mounting ring, a material taking port is provided on the outer side of the cylindrical cloth bag, two symmetrically distributed first sets of plates are fixedly mounted on the outer side of the mounting ring, a through-hole is provided on the surface of the first set of plates, the size of the through-hole is larger than the outer diameter of the electric telescopic rod, a second set of plates is slidably mounted on the outer side of the electric telescopic rod, a buffer spring is fixedly mounted between the second set of plates and the first set of plates, two symmetrically distributed support rods are fixedly mounted between the second set of plates and the bottom of the U-shaped frame, the support rods slide through the first set of plates, two symmetrically distributed pressure rods are fixedly mounted on the bottom of the first set of plates, a sleeve for limiting the sliding of the pressure rod is fixedly mounted on the top of the second set of plates, a magnet block is fixedly mounted on the end of the pressure rod away from the first set of plates, and a copper tube is fixedly mounted on the inner side of the sleeve.

[0014] Preferably, both ends of the U-shaped frame are respectively connected to the two gas injection pipes through positioning shafts, and a balancing block is provided on the side of the annular gas cylinder away from the gear motor.

[0015] Preferably, the bottom support assembly includes four support plates symmetrically arranged at the bottom of the installation box, a sliding rod is fixedly installed on the top of the support plate, a long groove for limiting the sliding of the sliding rod is opened at the bottom of the installation box, an arc groove for limiting the sliding of the sliding rod is opened on the outer side of the toothed plate, a sliding block is fixedly installed on the end of the sliding rod away from the support plate, two symmetrically distributed limiting rods are slidably installed on the inner side of the sliding block, the limiting rod is fixedly installed on the inner side of the installation box, the limiting rod is parallel to the long groove on the installation box, two symmetrically distributed sliding rails are arranged on the outer side of the support plate, a protrusion matching the sliding rails is opened on the outer side of the support plate, and the sliding rails are fixedly installed on the bottom of the installation box.

[0016] Preferably, the sealing plate is in a T-shaped structure, and one end of the sealing plate close to the movable plate is in contact with the outer side of the gas injection pipe, and the outer side of the sealing plate is made of rubber.

[0017] Preferably, a T-shaped block is fixedly mounted on the outer side of the movable plate, and a guide groove for limiting sliding of the T-shaped block is provided on the outer side of the mounting plate.

[0018] Preferably, the top of the discharge cylinder is a hollow frustum structure.

[0019] A picking method is applicable to the above-mentioned durian picking device, and the steps of the picking method are as follows:

[0020] S1: In the material receiving stage, the electric telescopic rod is started to move the annular air cylinder upward and cover the outside of the durian, the gear motor and the bellows are started to make the sealing plate open the air injection pipe, and the bellows injects air into the annular air cylinder through the telescopic air pipe, so that the annular air bag wraps the durian;

[0021] S2: During the picking stage, when the sealing plate moves, the movable plate is pushed upward to make the two arc-shaped cutters rotate and cut off the durian stems;

[0022] S3: In the discharge stage, the bellows is closed to discharge the air in the annular airbag, the durian is released, and the durian enters the cylindrical cloth bag from the discharge barrel;

[0023] S4: During the material taking stage, the durian falls to the bottom of the bag due to friction deceleration inside the bag. The buffer spring cushions the impact of the durian's fall, and the staff takes the durian from the material taking port of the bag.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention can use the material receiving mechanism to make the annular air cylinder cover the durian to be picked, and use the annular air bag to wrap the durian to provide positioning for the durian, so that the two annular cutters can pick the durian, and provide support for the durian in the annular air cylinder through two electric telescopic rods, thereby solving the problem that the traditional durian picking device is easily affected by the impact of the falling durian, thereby achieving the effect of safe picking.

[0026] 2. The present invention uses a picking mechanism to enable two annular cutters to rotate upward and close synchronously when air is injected into the annular air cylinder to cut the stems of the durian, making it easier for the inflated annular airbag to catch the durian. Compared with traditional cutters, the cutting range is larger and crooked stems can be cut, thereby achieving a quick picking effect.

[0027] 3. The present invention uses a discharge mechanism, so that when the annular air cylinder is deflated, the durian can enter the cylindrical bag from the discharge cylinder, so that the spikes on the outside of the durian can roll in the cylindrical bag, and the friction between the spikes and the inside of the cylindrical bag can provide a buffer for the fall of the durian. When the durian enters the bottom of the cylindrical bag, the elasticity of the buffer spring can be used to further provide a buffer for the durian, and the electromagnetic damping characteristics between the magnet and the copper tube can be used to provide a deceleration for the contraction of the buffer spring to prevent the buffer spring from rebounding, thereby achieving the effect of safe discharge, avoiding damage to the durian, and ensuring the quality of picking the durian. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the annular gas cylinder and the cylindrical cloth bag in the present invention;

[0030] Figure 3 It is a schematic diagram of the structure of the annular airbag and the mounting box in the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the toothed disc and the sliding rod in the present invention;

[0032] Figure 5 It is a schematic diagram of the support plate and the slider structure in the present invention;

[0033] Figure 6 It is a schematic diagram of the sealing block and connecting rod structure in the present invention;

[0034] Figure 7 It is a schematic diagram of the structure of the mounting plate and the movable plate in the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the magnet block and the copper tube in the present invention.

[0036] In the figure: 1, mobile car; 2, bellows; 3, electric telescopic rod; 4, cylinder push rod; 5, U-shaped frame; 6, annular air cylinder; 7, arc cutter; 8, telescopic air pipe; 9, annular air bag; 10, air injection pipe; 11, installation box; 12, toothed disc; 13, gear motor; 14, first gear; 15, screw; 16, sealing plate; 17, connecting rod; 18, moving block; 19, installation plate; 20, positioning rod; 21, installation Mounting block; 22. Second gear; 23. Moving plate; 24. Discharge barrel; 25. Mounting ring; 26. Cylindrical cloth bag; 27. First set of plates; 28. Second set of plates; 29. ​​Buffer spring; 30. Support rod; 31. Pressure rod; 32. Magnet block; 33. Copper tube; 34. Positioning shaft; 35. Support plate; 36. Sliding rod; 37. Sliding block; 38. Limiting rod; 39. T-block; 40. Sleeve; 41. Third gear. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Example 1: Please refer to Figure 1-Figure 8 The durian picking device shown in the figure includes a mobile vehicle 1 and a bellows 2 fixedly installed on the outside of the mobile vehicle 1. The top of the mobile vehicle 1 is hingedly equipped with two symmetrically distributed electric telescopic rods 3. The outer side of the electric telescopic rod 3 and the top of the mobile vehicle 1 are hingedly equipped with a cylinder push rod 4 to provide support for the electric telescopic rod 3 and to adjust the angle of the electric telescopic rod 3. A U-shaped frame 5 is fixedly installed between the output ends of the two electric telescopic rods 3. An annular air cylinder 6 is installed on the inner side of the U-shaped frame 5. Two symmetrically distributed arc-shaped cutters 7 are arranged on the outer side of the annular air cylinder 6 for cutting the stems of durian. The outer side of the annular air cylinder 6 is connected to the bellows 2 through two telescopic air pipes 8, so that the bellows 2 can inject air into the annular air cylinder 6 through the telescopic air pipe 8, and when the electric telescopic rod 3 is extended, the telescopic air pipe 8 can be extended; it also includes: a material receiving mechanism for positioning the durian package, and the material receiving mechanism is installed on the inner side of the annular air cylinder 6;

[0039] The material receiving mechanism includes an annular airbag 9 fixedly mounted on the inner side of the annular air cylinder 6. When the annular air cylinder 6 is filled with air, the annular airbag 9 can be expanded to wrap the durian and position it. Two symmetrically distributed air injection pipes 10 are fixedly mounted on the outer side of the annular air cylinder 6. One end of the telescopic air pipe 8 is mounted on the inner side of the air injection pipe 10, so that air enters the annular air cylinder 6 through the air injection pipe 10. Both ends of the U-shaped frame 5 are respectively connected to the two air injection pipes 10 through the positioning shaft 34. The weight of the durian in the annular air cylinder 6 and the two positioning shafts 34 can be used to keep the annular air cylinder 6 in a horizontal state. A balancing block is provided on one side of the annular air cylinder 6 away from the gear motor 13. A mounting box 11 is fixedly installed at the bottom of the annular air cylinder 6. The mounting box 11 is annular in structure. A toothed disc 12 is rotatably installed on the inner side of the mounting box 11. A gear motor 13 is fixedly installed on the outer side of the annular air cylinder 6. The output end of the gear motor 13 is meshed with the toothed disc 12. The gear motor 13 can drive the toothed disc 12 to reciprocate. Two symmetrically distributed first gears 14 are rotatably installed on the outer side of the mounting box 11. The first gear 14 is meshed with the toothed disc 12. The toothed disc 12 can drive two The first gear 14 rotates synchronously, and a screw 15 is fixedly installed on the inner side of the first gear 14. The top of the screw 15 is rotatably installed on the bottom of the gas injection pipe 10. A sealing groove is provided on the inner side of the gas injection pipe 10. The top of the sealing groove is an open structure. A sealing plate 16 is slidably installed on the inner side of the sealing groove. When the sealing plate 16 moves, the gas injection pipe 10 can be opened to allow air to enter the annular air cylinder 6. The sealing plate 16 is in a T-shaped structure, and the end of the sealing plate 16 close to the moving plate 23 contacts the outer side of the gas injection pipe 10. The outer side of the sealing plate 16 is made of rubber. To improve the sealing performance of the sealing plate 16 to the air injection pipe 10, a connecting rod 17 is fixedly installed at the bottom of the sealing plate 16 and slides through the air injection pipe 10. When the connecting rod 17 moves, it can drive the sealing plate 16 to move along the sealing groove of the air injection pipe 10. A moving block 18 that cooperates with the screw 15 is fixedly installed at one end of the connecting rod 17 away from the sealing plate 16, so that when the first gear 14 rotates, it can drive the screw 15 to rotate, so that the screw 15 opens or closes the sealing plate 16 through the moving block 18 and the connecting rod 17. A bottom support assembly for preventing falling off is also provided on the inner side of the installation box 11.

[0040] Example 2: Please refer to Figure 2-Figure 7, this embodiment further explains the first embodiment, the picking mechanism shown in the figure includes two mounting plates 19 symmetrically arranged on the outside of the annular gas cylinder 6, two symmetrically distributed positioning rods 20 are fixedly installed between the mounting plates 19 and the annular gas cylinder 6, and mounting blocks 21 are fixedly installed at both ends of the arc cutter 7. The two mounting blocks 21 on the arc cutter 7 are respectively located between the two mounting plates 19 and the annular gas cylinder 6. A second gear 22 is fixedly installed on the outside of the mounting block 21. The second gear 22 is rotatably installed on the outside of the adjacent positioning rod 20, so that when the second gear 22 rotates, the arc cutter 7 can be driven to rotate with the positioning rod 20 as a fulcrum through the mounting block 21, and the sealing plate 1 A moving plate 23 is fixedly installed on the top of 6, and racks are provided on both sides of the moving plate 23. The racks on both sides of the moving plate 23 are meshed with two adjacent second gears 22 through third gears 41. The second gear 22 is rotatably installed on the inner side of the mounting plate 19. When the moving plate 23 moves upward, the two third gears 41 can be driven to rotate through the racks on the outer side thereof, so that the third gear 41 rotates the second gear 22 to rotate, thereby realizing the upward swing of the arc cutter 7 and cutting the stems of the durian. A T-shaped block 39 is fixedly installed on the outer side of the moving plate 23, and a guide groove for the limited sliding of the T-shaped block 39 is provided on the outer side of the mounting plate 19, thereby improving the stability of the movement of the moving plate 23.

[0041] Example 3: Please refer to Figure 2 and Figure 8, this embodiment further explains other embodiments. The discharging mechanism shown in the figure includes a discharging barrel 24 fixedly mounted on the outside of the U-shaped frame 5. The top of the discharging barrel 24 is a hollow truncated cone structure, which is convenient for the durian to enter the discharging barrel 24. A mounting ring 25 is provided at the bottom of the discharging barrel 24. The top of the mounting ring 25 contacts the bottom of the discharging barrel 24. A cylindrical cloth bag 26 is fixedly mounted at the bottom of the mounting ring 25, so that the durian passes through the mounting ring 25 and enters the cylindrical cloth bag 26. A material taking port is provided on the outside of the cylindrical cloth bag 26. Two symmetrically distributed first sets of plates 27 are fixedly mounted on the outside of the mounting ring 25. The surface of the first sets of plates 27 is provided with perforations. The size of the perforations is larger than the outer diameter of the electric telescopic rod 3, so that the first sets of plates 27 can move along the outer side of the electric telescopic rod 3. A second set of plates 28 is slidably mounted on the outer side of the electric telescopic rod 3. The second set of plates 28 and the first set of plates A buffer spring 29 is fixedly installed between the first set of plates 27, so that when the first set of plates 27 moves downward under the gravity of the durian in the cylindrical cloth bag 26, the buffer spring 29 can be compressed to provide a buffer for the gravity of the durian. Two symmetrically distributed support rods 30 are fixedly installed between the second set of plates 28 and the bottom of the U-shaped frame 5. The support rods 30 slide through the first set of plates 27. Two symmetrically distributed pressure rods 31 are fixedly installed at the bottom of the first set of plates 27, so that the first set of plates 27 can drive the pressure rods 31 to move synchronously. A sleeve 40 for limiting the sliding of the pressure rods 31 is fixedly installed on the top of the second set of plates 28. A magnet block 32 is fixedly installed on one end of the pressure rod 31 away from the first set of plates 27. A copper tube 33 is fixedly installed on the inner side of the sleeve 40. The electromagnetic damping characteristics between the magnet block 32 and the copper tube 33 can be used to provide resistance to the movement of the pressure rod 31 to prevent the buffer spring 29 from rebounding quickly.

[0042] Example 4: Please refer to Figure 3-Figure 5The present embodiment further illustrates other embodiments. The bottom support assembly shown in the figure includes four support plates 35 symmetrically arranged at the bottom of the installation box 11. A slide bar 36 is fixedly installed on the top of the support plate 35. A long groove for limiting the sliding of the slide bar 36 is provided at the bottom of the installation box 11. An arc groove for limiting the sliding of the slide bar 36 is provided on the outer side of the toothed disc 12. When the toothed disc 12 rotates, the slide bar 36 can be driven by the arc groove to move linearly along the long groove on the installation box 11. A slider 37 is fixedly installed on the end of the slide bar 36 away from the support plate 35. Two symmetrically distributed limit rods 38 are slidably installed on the inner side of the slider 37. The limiting rod 38 is fixedly installed on the inner side of the installation box 11, so that the slide bar 36 drives the slider 37 to move along the outer side of the limiting rod 38, thereby improving the stability of the movement of the slide bar 36. The limiting rod 38 is parallel to the long groove on the installation box 11, and two symmetrically distributed slide rails are arranged on the outer side of the support plate 35. The outer side of the support plate 35 is provided with a protrusion that matches the slide rail. The slide rail is fixedly installed on the bottom of the installation box 11 to provide auxiliary support for the support plate 35, so that the slide bar 36 can move to the bottom of the durian when driving the support plate 35 to move, thereby providing anti-fall support for the durian and preventing the durian from being too small to be clamped by the annular airbag 9.

[0043] Working principle: First, the staff moves the mobile vehicle 1 to the bottom of the durian tree, starts the electric telescopic rod 3, and makes the electric telescopic rod 3 push the U-shaped frame 5 to move upward. The U-shaped frame 5 drives the annular air cylinder 6 to move upward synchronously through the two air injection pipes 10, and cooperates with the cylinder push rod 4 to adjust the angle of the electric telescopic rod 3, so that the annular air cylinder 6 is sleeved on the outside of the durian. Then, the staff closes the electric telescopic rod 3 and starts the gear motor 13 and the bellows 2. The gear motor 13 drives the toothed disc 12 to rotate, so that the toothed disc 12 drives the two first gears 14 to rotate synchronously, and the first gear 14 drives the screw 15 to rotate synchronously. The screw 15 is connected to the connecting rod 17 through the moving block 18. The sealing plate 16 is driven to move along the sealing groove of the air injection pipe 10, so that the sealing plate 16 opens the air injection pipe 10, and the bellows 2 can inject air into the annular air cylinder 6 through the telescopic air pipe 8 and the air injection pipe 10, so that the annular airbag 9 expands and wraps the durian. At the same time, the sealing plate 16 pushes the movable plate 23 to move synchronously, so that the two racks on the movable plate 23 drive the corresponding two third gears 41 to rotate synchronously, and the third gear 41 drives the corresponding second gear 22 to rotate, so that the second gear 22 drives the arc cutter 7 to rotate upward with the positioning rod 20 as the fulcrum through the mounting block 21, and the two arc cutters 7 can move close to each other to cut the stems of the durian. Compared with the traditional cutter, the two arc-shaped cutters 7 have a larger cutting range and can cut crooked stems. Then, the staff closes the bellows 2 again to discharge the air between the annular air cylinder 6 and the annular air bag 9, loosens the durian, and the durian can enter the cylindrical bag 26 from the discharge barrel 24. As the durian falls, the spikes on the outside of the durian will contact the inside of the cylindrical bag 26, and the friction between the durian and the cylindrical bag 26 is used to provide deceleration for the durian. When the durian falls to the bottom of the cylindrical bag 26, the inertia generated pulls the mounting ring 25 downward, and the mounting ring 25 drives the pressure rod 31 on the first set plate 27 along the sleeve 4 0 moves to the inner side and compresses the buffer spring 29, and utilizes the elasticity of the buffer spring 29 to provide buffering for the cylindrical cloth bag 26. At the same time, the pressure rod 31 drives the magnet block 32 to enter the inner side of the copper tube 33, and utilizes the electromagnetic damping characteristics between the magnet block 32 and the copper tube 33 to provide resistance for the movement of the pressure rod 31, thereby reducing the compression speed of the buffer spring 29, thereby further providing buffering for the cylindrical cloth bag 26 and preventing the buffer spring 29 from rebounding quickly. Finally, the staff takes out the durian from the feeding port outside the cylindrical cloth bag 26 and puts it on the mobile vehicle 1, and then the next durian can be picked, thereby achieving the effect of safe picking.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, a picking method, an article or an apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, a picking method, an article or an apparatus.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A durian picking device, characterized in that: include: A mobile vehicle (1) and a bellows (2), wherein two electric telescopic rods (3) are arranged on the top of the mobile vehicle (1), a U-shaped frame (5) is installed between the output ends of the two electric telescopic rods (3), an annular air cylinder (6) is installed on the inner side of the U-shaped frame (5), two arc-shaped cutters (7) are arranged on the outer side of the annular air cylinder (6), and the outer side of the annular air cylinder (6) is connected to the bellows (2) via two telescopic air pipes (8); Also includes: A material receiving mechanism, used for wrapping and positioning the durian, the material receiving mechanism being installed on the inner side of the annular air cylinder (6); A picking mechanism, used for cutting off the durian stems after positioning, the picking mechanism being installed on the outside of the annular air cylinder (6); The discharge mechanism is used for safely conveying the picked durian downwards, and the discharge mechanism is installed at the bottom of the U-shaped frame (5).

2. A durian picking device according to claim 1, characterized in that: The material receiving mechanism comprises an annular air bag (9) installed on the inner side of the annular air cylinder (6), two air injection pipes (10) are installed on the outer side of the annular air cylinder (6), a mounting box (11) is installed on the bottom of the annular air cylinder (6), a toothed disc (12) is rotatably mounted on the inner side of the mounting box (11), a gear motor (13) is installed on the outer side of the annular air cylinder (6), the output end of the gear motor (13) is meshed with the toothed disc (12), and the mounting box (11) is installed on the inner side of the annular air cylinder (6). Two first gears (14) are rotatably mounted on the outer side of the box (11), a screw rod (15) is fixedly mounted on the inner side of the first gear rod (14), a sealing plate (16) is slidably mounted on the inner side of the gas injection pipe (10), a connecting rod (17) is mounted on the bottom of the sealing plate (16), a moving block (18) matching with the screw rod (15) is mounted on one end of the connecting rod (17), and a bottom support assembly for preventing falling off is also arranged on the inner side of the installation box (11).

3. A durian picking device according to claim 2, characterized in that: The picking mechanism comprises two mounting plates (19) arranged on the outside of the annular air cylinder (6), two positioning rods (20) are installed between the mounting plates (19) and the annular air cylinder (6), mounting blocks (21) are installed at both ends of the arc-shaped cutter (7), a second gear (22) is installed on the outside of the mounting block (21), and the second gear (22) is rotatably installed on the outside of the adjacent positioning rod (20), a moving plate (23) is installed on the top of the sealing plate (16), racks are provided on both sides of the moving plate (23), and the racks on both sides of the moving plate (23) are meshed with two adjacent second gears (22) through a third gear (41).

4. A durian picking device according to claim 3, characterized in that: The discharging mechanism comprises a discharging cylinder (24) mounted on the outside of the U-shaped frame (5), a mounting ring (25) being provided at the bottom of the discharging cylinder (24), a cylindrical cloth bag (26) being installed at the bottom of the mounting ring (25), a material taking port being provided at the outside of the cylindrical cloth bag (26), two first sets of plates (27) being installed at the outside of the mounting ring (25), a second set of plates (28) being slidably installed at the outside of the electric telescopic rod (3), a buffer spring (29) being installed between the second set of plates (28) and the first set of plates (27), two supporting rods (30) being installed between the second set of plates (28) and the bottom of the U-shaped frame (5), two pressure rods (31) being installed at the bottom of the first set of plates (27), a sleeve (40) being installed at the top of the second set of plates (28), a magnet block (32) being installed at one end of the pressure rod (31), and a copper tube (33) being installed at the inner side of the sleeve (40).

5. The durian picking device according to claim 2, characterized in that: Both ends of the U-shaped frame (5) are respectively connected to the two gas injection pipes (10) via positioning shafts (34), and a balancing block is provided on one side of the annular gas cylinder (6).

6. A durian picking device according to claim 2, characterized in that: The bottom support assembly comprises four support plates (35) arranged at the bottom of the installation box (11), a slide bar (36) is installed on the top of the support plate (35), a long groove for limiting the sliding of the slide bar (36) is opened at the bottom of the installation box (11), an arc groove for limiting the sliding of the slide bar (36) is opened on the outer side of the toothed plate (12), a slider (37) is installed at one end of the slide bar (36), two limiting rods (38) are slidably installed on the inner side of the slider (37), and the limiting rods (38) are installed on the inner side of the installation box (11).

7. The durian picking device according to claim 3, characterized in that: The sealing plate (16) has a T-shaped structure, and one end of the sealing plate (16) close to the movable plate (23) is in contact with the outer side of the gas injection pipe (10), and the outer side of the sealing plate (16) is made of rubber.

8. The durian picking device according to claim 3, characterized in that: A T-shaped block (39) is installed on the outer side of the movable plate (23), and a guide groove for limiting sliding of the T-shaped block (39) is provided on the outer side of the mounting plate (19).

9. The durian picking device according to claim 4, characterized in that: The top of the discharge cylinder (24) is a hollow truncated cone structure.

10. A durian picking device according to any one of claims 1 to 9 further comprising a picking method, characterized in that: The picking method includes the following steps: S1: In the material receiving stage, the electric telescopic rod (3) is started to move the annular air cylinder (6) upward and cover the outside of the durian, the gear motor (13) and the bellows (2) are started to make the sealing plate (16) open the air injection pipe (10), and the bellows (2) injects air into the annular air cylinder (6) through the telescopic air pipe (8), so that the annular air bag (9) covers the durian; S2: During the picking stage, the sealing plate (16) moves, pushing the movable plate (23) upward, so that the two arc-shaped cutters (7) rotate and cut off the durian stems; S3: Discharging stage, the bellows (2) is closed to discharge the air in the annular airbag (9), the durian is released, and the durian enters the cylindrical cloth bag (26) from the discharging cylinder (24); S4: Material taking stage, the durian falls to the bottom of the tubular bag (26) through friction deceleration inside the tubular bag (26), the buffer spring (29) buffers the impact of the durian falling, and the staff takes the durian from the material taking port of the tubular bag (26).

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