Fruit picking and storing device

Abstract

The fruit picking and storing device comprises a support fixedly arranged on a vehicle body and a guide assembly adjustably arranged on the support, and the guide assembly comprises a first telescopic cylinder connected with the support and a second telescopic cylinder hinged to the output end of the first telescopic cylinder; a picking mechanism is connected to one side of the output end of the second telescopic cylinder, a storage mechanism is connected to the other side of the output end of the second telescopic cylinder, and a camera connected with the controller is arranged on the picking mechanism. When the fruit picking device is used, the picking mechanism is controlled by the camera to pick fruits, and the picked fruits directly fall into the storage mechanism. The vehicle body is arranged to move the guiding assembly, the fruit picking mechanism and the storage mechanism conveniently, the camera connected with the controller is arranged, the picking angle of the fruit picking mechanism is conveniently observed and adjusted in real time, and the picking mechanism can pull branches and drive a single fruit to move to the feeding end of the storage mechanism; and the accuracy of the picked fruits falling into the storage mechanism is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural production, and in particular to a fruit picking and storage device. Background Art

[0002] In an orchard, when fruits are ripe, picking the ripe fruits from the trees is a time-consuming and laborious task, especially picking the fruits on the top of the trees. At present, there are many fruit pickers for such tall fruit trees on the market, and these pickers are usually equipped with soft fruit bags. When picking, the fruits are surrounded by branches and are easily hooked or even scratched by the branches. For lighter fruits, such as citrus and lemons, when the fruit bag approaches the fruit, it is easy to touch the branches near the fruit, and then the branches drive the fruit to move, which will directly affect the efficiency of picking the fruit, and it is also impossible to pick the fruit and place it in the fruit bag well, causing inconvenience in picking. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a fruit picking and storage device which is convenient for picking fruits and can avoid picking interference.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a fruit picking and storage device, including a bracket fixed on a vehicle body and a guide assembly adjustably arranged on the bracket, the guide assembly including a first telescopic cylinder connected to the bracket and a second telescopic cylinder hingedly connected to the output end of the first telescopic cylinder, a picking mechanism is connected to one side of the output end of the second telescopic cylinder, and a storage mechanism is connected to the other side of the output end of the second telescopic cylinder, and a camera connected to a controller is provided on the picking mechanism; when in use, the camera controls the picking mechanism to pick fruits, and the picked fruits fall directly into the storage mechanism.

[0005] By adopting the above structure, a vehicle body is provided to facilitate movement and installation of relevant picking mechanisms and storage mechanisms. In the provided guide assembly, the first telescopic cylinder and the second telescopic cylinder included therein help to adjust the picking height position of the picking mechanism by means of vertical rotation. A camera is provided to facilitate observation of the picking position on the display screen of the controller and to reasonably and accurately adjust the use angle of the picking mechanism. The picking mechanism can tow branches so that a single fruit together with the branches can be effectively moved to the feeding end position of the storage mechanism, so that the picked fruit can fall directly into the storage mechanism. In this way, branches can be prevented from blocking the picking of fruits and the storage mechanism can be prevented from being hooked by branches.

[0006] In order to better adjust the height of use, preferably, two vertically arranged screw rods are symmetrically provided on the bracket, and a transmission motor fixedly connected to the bracket is connected to the upper end of each screw rod, and a connecting block is screwed on each screw rod, and the facing ends of the two connecting blocks are provided with horizontally extending support rods; a guide groove block is provided on one side of the connecting block, and a guide boss is provided at a position corresponding to the guide groove block on the bracket, and the guide groove block is fitted with the guide boss.

[0007] In order to simplify the structure and facilitate installation, preferably, a side bracket extending out of the bracket is provided on the other side of the connecting block, one side of the side bracket is hinged to the cylinder body of the first telescopic cylinder, the cylinder body of the second telescopic cylinder is connected to the third flange on the third hollow rotating platform, a connecting frame is provided on one side of the third hollow rotating platform, the output end of the first telescopic cylinder is hingedly connected to the connecting frame, and sockets are provided at positions corresponding to the support rods on the connecting frame, and the support rods at the corresponding ends are inserted into the sockets.

[0008] In order to facilitate the swinging of the shearing assembly in the front and rear directions, preferably, the picking mechanism includes a first hollow rotating platform connected to the output end of the second telescopic cylinder, a steering assembly connected to the output end of the first hollow rotating platform, a second hollow rotating platform connected to the steering assembly, and a shearing assembly connected to the second hollow rotating platform; the output end of the first hollow rotating platform is connected to a first flange, and the steering assembly includes a supporting frame connected to the first flange, a first driving motor is fixedly provided on one side of the supporting frame, a swing shaft horizontally passing through the supporting frame is connected to the output end of the first driving motor, and a A step hole is perpendicular to the axial direction of the swing shaft, and a fixing hole is connected at the small diameter end of the step hole. A connecting column fixedly connected to the connecting bracket is inserted in the step hole, and the insertion end of the connecting column abuts the step surface of the step hole. A tightening bolt is inserted in the fixing hole, and the insertion end of the tightening bolt is threadedly connected to the connecting column, and the end surface of the nut end of the tightening bolt abuts the bottom of the fixing hole. One side of the connecting bracket is fixedly connected to the second hollow rotating platform, and the other side of the connecting bracket is provided with an inclined support rod, and a camera is provided on the inclined support rod; a positioning groove for the connecting column to pass through is provided at the position of the supporting frame corresponding to the connecting column.

[0009] In order to simplify the structure of the shearing assembly and facilitate installation, and to facilitate rotation and adjustment of the use angle of the shearing assembly, preferably, a second flange is connected to the output end of the second hollow rotating platform, and the shearing assembly includes a mounting sleeve fixedly connected to the second flange and passing through the hollow position of the second hollow rotating platform, and a second drive motor fixed on one side of the mounting sleeve, and the other side of the second drive motor is provided with a limiting ring connected to the connecting bracket, and the output end of the second drive motor is provided with a rotating rod extending into the mounting sleeve, and a pull rod is movably provided on the rotating rod; a mounting cylinder is connected to the mounting sleeve, and a sub-bracket is provided on one side of the mounting cylinder, and the sub-bracket is hingedly connected to one side of the two shearing plates, and the other side of each of the shearing plates is hingedly connected to one side of the transmission rod, and the other side of each of the transmission rods is hingedly connected to the pull rod.

[0010] In order to facilitate the formation of a cyclic shearing action, preferably, a corrugated groove is provided on the outer side wall of the rotating rod in a circumferential direction, one end of the pull rod extends out of the mounting tube, and the other end is provided with a connecting plate, and the extended end of the pull rod is hingedly connected to the other side of the transmission rod; a connecting sleeve is threadedly provided on the connecting plate, and a placement groove is provided on the connecting sleeve, the bottom of the placement groove is connected to one side of a compression spring, the other side of the compression spring is connected to one end of a guide column, and the other end of the guide column extends into the corrugated groove.

[0011] In order to limit the displacement range of shear, preferably, a positioning groove is provided on one side of the extended end of the pull rod, a connecting bolt is threadedly inserted at a position corresponding to the positioning groove on the mounting tube, and a positioning block extending into the positioning groove is threadedly provided at the insertion end of the connecting bolt.

[0012] In order to ensure accurate fruit picking without interfering with adjacent branches, preferably, the storage mechanism includes a front bracket connected to the output end of the second telescopic cylinder and a rear bracket connected to the cylinder body of the second telescopic cylinder, a snake tube is connected between the front bracket and the rear bracket, one end of the snake tube is fixedly connected to the front bracket, and the other end of the snake tube is hingedly connected to the rear bracket, and a blocking net is provided at the gap at the lower end of the snake tube; a hose is connected to the discharge end of the snake tube, and a conveying rack fixed to the vehicle body is connected to the discharge end of the hose.

[0013] In order to prevent the fruit from being damaged by collision during its circulation and movement, an air bag is preferably arranged around the inner wall of the discharge end of the hose, an air inlet valve connected to the air pump is arranged on one side of the hose, and an exhaust valve connected to one side of the air bag is arranged on the other side, and the other side of the air bag is connected to the air inlet valve.

[0014] In order to better prevent the fruit from being damaged due to impact, preferably, the conveying rack includes a straight discharge barrel connected to the discharge end of the hose and an inclined discharge barrel connected to the discharge end of the straight discharge barrel, a first anti-collision sponge is provided at the lower end of the inner side wall of the connection position between the straight discharge barrel and the inclined discharge barrel, a guide bevel is provided at the upper end of the inner side wall of the connection position between the straight discharge barrel and the inclined discharge barrel, and a second anti-collision sponge is provided on the upper end surface of the guide bevel; a plurality of rollers are arranged side by side in the inclined discharge barrel along the axial direction of the inclined discharge barrel, and a connecting pin penetrating through the side wall of the inclined discharge barrel is provided in the middle part of each of the rollers.

[0015] Beneficial effects: The present invention is provided with a vehicle body to facilitate the movement of the guide assembly, the fruit picking mechanism and the storage mechanism, and is provided with a camera connected to the controller, so as to facilitate the observation and real-time adjustment of the picking angle of the fruit picking mechanism. The picking mechanism can pull the tree branches and drive a single fruit to move to the feeding end of the storage mechanism, thereby improving the accuracy of the picked fruit falling into the storage mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is a schematic diagram of the installation structure of the present invention.

[0018] Figure 2 for Figure 1 Enlarged view of point A in .

[0019] Figure 3 A schematic diagram of the bracket installation structure.

[0020] Figure 4 It is a schematic diagram of the installation structure of the first telescopic cylinder and the second telescopic cylinder.

[0021] Figure 5 A schematic diagram of the structure of the steering assembly.

[0022] Figure 6 It is a schematic diagram of the installation structure of the shearing assembly and the steering assembly.

[0023] Figure 7 It is a schematic diagram of the installation structure connecting the bracket and the swing shaft.

[0024] Figure 8 It is a schematic diagram of the transmission installation structure of the rotating rod and the shear plate.

[0025] Fig. 9 This is a schematic diagram of the use status of the shearing component.

[0026] Fig.10This is a schematic diagram of the use status of the fruit picking mechanism.

[0027] Fig.11 This is a schematic diagram of the structure of the snake bone tube in the folded state.

[0028] Fig.12 This is a schematic diagram of the principle structure of the hollow rotating platform.

[0029] The meanings of the symbols in the accompanying drawings are:

[0030] Car body-1; bracket-10; first telescopic cylinder-11; second telescopic cylinder-12; connecting frame-120; screw rod-13; transmission motor-14; connecting block-15; guide groove block-16; guide boss-17; side bracket-18; support rod-19;

[0031] first hollow rotating platform-2; support frame-20; first flange-21; first driving motor-22; swing shaft-23; step hole-24; fixing hole-25; connecting column-26; tightening bolt-27; connecting bracket-28; limiting ring-281; ​​positioning groove-29;

[0032] The second hollow rotating platform-3; the third hollow rotating platform-30; the second flange-31; the mounting sleeve-32; the second driving motor-33; the rotating rod-34; the pull rod-35; the mounting cylinder-36; the shear plate-37; the transmission rod-38; the third flange-39;

[0033] Corrugated groove-4; connecting plate-40; connecting sleeve-41; placing groove-42; guide column-43; auxiliary bracket-44; positioning groove-45; positioning block-46; connecting bolt-47; compression spring-48;

[0034] Front bracket-5; rear bracket-50; snake tube-51; hose-52; screen-53; air bag-60; intake valve-61; exhaust valve-62;

[0035] Straight discharge barrel-7; oblique discharge barrel-70; first anti-collision sponge-71; second anti-collision sponge-72; guide oblique block-73; roller-74; connecting pin-75; camera-8; oblique support rod-80. DETAILED DESCRIPTION

[0036] Depend on Figures 1 to 12As shown, the present invention includes a bracket 10 fixed on a vehicle body 1 and a guide assembly adjustably arranged on the bracket 10, the guide assembly includes a first telescopic cylinder 11 connected to the bracket 10 and a second telescopic cylinder 12 hingedly connected to the output end of the first telescopic cylinder 11, a picking mechanism is connected to one side of the output end of the second telescopic cylinder 12, and a storage mechanism is connected to the other side of the output end of the second telescopic cylinder 12, and a camera 8 connected to a controller (not shown) is provided on the picking mechanism; when in use, the camera 8 controls the picking mechanism to pick fruits, and the picked fruits fall directly into the storage mechanism.

[0037] Specifically, two vertically arranged screw rods 13 are symmetrically arranged on the bracket 10, and a transmission motor 14 fixedly connected to the bracket 10 is connected to the upper end of each screw rod 13, and a connecting block 15 is screwed on each screw rod 13, and the two connecting blocks 15 are provided with horizontally extended support rods 19 at the opposite ends; a guide groove block 16 is provided on one side of the connecting block 15, and a guide boss 17 is provided at a position corresponding to the guide groove block 16 on the bracket 10, and the guide groove block 16 is arranged in a close fit with the guide boss 17. A side bracket 18 extending from the bracket 10 is provided on the other side of the connecting block 15, one side of the side bracket 18 is hingedly connected to the cylinder body of the first telescopic cylinder 11, the cylinder body of the second telescopic cylinder 12 is connected to the third flange 39 on the third hollow rotating platform 30, a connecting frame 120 is provided on one side of the third hollow rotating platform 30, the output end of the first telescopic cylinder 11 is hingedly connected to the connecting frame 120, and sockets are provided at positions corresponding to the support rods 19 on the connecting frame 120, and the support rods 19 at the corresponding ends are inserted into the sockets.

[0038] The picking mechanism includes a first hollow rotating platform 2 connected to the output end of the second telescopic cylinder 12, a steering assembly connected to the output end of the first hollow rotating platform 2, a second hollow rotating platform 3 connected to the steering assembly, and a shearing assembly connected to the second hollow rotating platform 3; the output end of the first hollow rotating platform 2 is connected to a first flange 21, the steering assembly includes a support frame 20 connected to the first flange 21, a first drive motor 22 is fixedly provided on one side of the support frame 20, a swing shaft 23 horizontally passing through the support frame 20 is connected to the output end of the first drive motor 22, a step hole 24 perpendicular to the axial direction of the swing shaft 23 is provided on the swing shaft 23, and a step hole 24 perpendicular to the axial direction of the swing shaft 23 is provided on the platform The small diameter end of the step hole 24 is connected to a fixing hole 25, and a connecting column 26 fixedly connected to a connecting bracket 28 is inserted in the step hole 24, and the insertion end of the connecting column 26 abuts against the step surface of the step hole 24, and a tightening bolt 27 is inserted in the fixing hole 25, and the insertion end of the tightening bolt 27 is threadedly connected to the connecting column 26, and the end surface of the nut end of the tightening bolt 27 abuts against the bottom of the fixing hole 25, and is fixedly connected to the second hollow rotating platform 3 on one side of the connecting bracket 28, and an inclined support rod 80 is provided on the other side of the connecting bracket 28, and a camera 8 is provided on the inclined support rod 80; a positioning groove 29 for the connecting column 26 to pass through is provided at the position corresponding to the connecting column 26 on the support frame 20.

[0039] A second flange 31 is connected to the output end of the second hollow rotating platform 3, and the shearing assembly includes a mounting sleeve 32 fixedly connected to the second flange 31 and extending through the hollow position of the second hollow rotating platform 3, and a second drive motor 33 fixed on one side of the mounting sleeve 32, and the other side of the second drive motor 33 is sleeved with a limiting ring 281 connected to the connecting bracket 28, and the output end of the second drive motor 33 is provided with a rotating rod 34 extending into the mounting sleeve 32, and a pull rod 35 is movably provided on the rotating rod 34; a mounting cylinder 36 is connected to the mounting sleeve 32, and a sub-bracket 44 is provided on one side of the mounting cylinder 36, and the sub-bracket 44 is hingedly connected to one side of two shear plates 37, and the other side of each of the shear plates 37 is hingedly connected to one side of a transmission rod 38, and the other side of each of the transmission rods 38 is hingedly connected to the pull rod 35.

[0040] A corrugated groove 4 is provided on the outer side wall of the rotating rod 34 along the circumferential direction, one end of the pull rod 35 extends out of the mounting tube 36, and the other end is provided with a connecting plate 40, and the extended end of the pull rod 35 is hingedly connected to the other side of the transmission rod 38; a connecting sleeve 41 is screwed on the connecting plate 40, and a placement groove 42 is provided on the connecting sleeve 41, the groove bottom of the placement groove 42 is connected to one side of a compression spring 48, and the other side of the compression spring 48 is connected to one end of a guide column 43, and the other end of the guide column 43 extends into the corrugated groove 4; a positioning groove 45 is provided on one side of the extended end of the pull rod 35, and a connecting bolt 47 is screwed and inserted at the position of the mounting tube 36 corresponding to the positioning groove 45, and a positioning block 46 extending into the positioning groove 45 is screwed on the insertion end of the connecting bolt 47.

[0041] The storage mechanism includes a front bracket 5 connected to the output end of the second telescopic cylinder 12 and a rear bracket 50 connected to the cylinder body of the second telescopic cylinder 12, and a snake tube 51 is connected between the front bracket 5 and the rear bracket 50, one end of the snake tube 51 is fixedly connected to the front bracket 5, and the other end of the snake tube 51 is hingedly connected to the rear bracket 50, and a blocking net 53 is provided at the gap at the lower end of the snake tube 51; a hose 52 is connected to the discharge end of the snake tube 51, and a conveying rack fixedly installed on the vehicle body 1 is connected to the discharge end of the hose 52.

[0042] The conveying rack includes a straight discharge barrel 7 connected to the discharge end of the hose 52 and an inclined discharge barrel 70 connected to the discharge end of the straight discharge barrel 7, a first anti-collision sponge 71 is provided at the lower end of the inner side wall at the connection position between the straight discharge barrel 7 and the inclined discharge barrel 70, a guide bevel block 73 is provided at the upper end of the inner side wall at the connection position between the straight discharge barrel 7 and the inclined discharge barrel 70, and a second anti-collision sponge 72 is provided on the upper end surface of the guide bevel block 73; a plurality of rollers 74 are arranged side by side in the inclined discharge barrel 70 along the axial direction of the inclined discharge barrel 70, and the middle part of each of the rollers 74 is sleeved with a connecting pin 75 penetrated through the side wall of the inclined discharge barrel 70.

[0043] An air bag 60 is wound around the inner wall of the discharge end of the hose 52, an air inlet valve 61 connected to the air pump is provided on one side of the hose 52, and an exhaust valve 62 connected to one side of the air bag 60 is provided on the other side, and the other side of the air bag 60 is connected to the air inlet valve 61.

[0044] The use principle of the present invention is as follows:

[0045] like Figures 1 to 4As shown, when in use, the vehicle body 1 is started and moved under the fruit tree. According to the height of the target fruit to be picked, the height of the fruit picking mechanism needs to be adjusted. Specifically, the controller first starts the transmission motor 14 to drive the screw rod 13 to rotate, and simultaneously drives the threaded connection block 15 to move upward along the axial direction of the guide boss 17 from the guide groove block 16, that is, to make an upward movement on the bracket 10; when it moves to a suitable height, the transmission motor 14 is turned off, and the second telescopic cylinder 12 is started again. The extended end of the second telescopic cylinder 12 drives the fruit picking mechanism to move to the target position for picking fruit. At the same time, the output end of the second telescopic cylinder 12 also pulls one end of the snake bone tube 51 by the front bracket 5. When the output end of the second telescopic cylinder 12 moves into position, that is, the snake bone tube 51 is in a straightened position, at this time, the fruit picking mechanism is located above the snake bone tube 51.

[0046] Then, according to the image obtained by the camera 8, the position between the cutting board 37 and the target fruit is determined, such as Figure 1 , Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, the controller first starts the first telescopic cylinder 11, driving the cylinder body of the second telescopic cylinder 12 to rotate around the support rod 19, that is, further adjusting the height position of the fruit picking mechanism in the vertical direction. When reaching the fruit position, the first hollow rotating platform 2 is started according to the position of the branch connected to the fruit, and the first flange 21 drives the support frame 20 to rotate, that is, synchronously drives the fruit picking mechanism to rotate in the longitudinal direction of the second telescopic cylinder 12, and adjusts the longitudinal angle of the two shearing plates 37 to shear the branch. If the inclination angle between the shearing surface of the two shearing plates 37 and the axial direction of the branch is small, the second hollow rotating platform 3 is started again, and the second flange 31 drives the mounting sleeve 32 and the mounting cylinder 36 to rotate synchronously, that is, drives the two shearing plates 37 connected to the mounting cylinder 36 to rotate synchronously, so as to adjust the lateral angle of the two shearing plates 37 to shear the branch.

[0047] Then, the controller starts the first telescopic cylinder 11, and the output end of the second telescopic cylinder 12 drives the two shearing plates 37 to move to the branch position of the target fruit. When the two shearing plates 37 move to both sides of the branch position, the first telescopic cylinder 11 is closed, and the controller starts the second drive motor 33 to drive the transmission rod 34 to rotate. Since the outer wall of the rotating rod 34 is provided with a corrugated groove 4 in the circumferential direction, the guide column 43 in the corrugated groove 4 moves with the waveform and drives the connecting plate 40 and the pull rod 35 connected thereto to move synchronously, that is, the pull rod 35 is driven to reciprocate in the axial direction of the mounting tube 36, thereby driving the two shearing plates 37 to reciprocate at the same time, thereby forming a shearing action, which can cut the branches and achieve the purpose of picking the target fruit; similarly, it can also be used for pruning operations when there is interference with the branches, which is flexible to use and can improve the efficiency of picking fruits.

[0048] Among them, Figure 8 and Fig. 9 As shown, since a connecting sleeve 41 is screwed on the connecting plate 40, a placement groove 42 is provided on the connecting sleeve 41, the bottom of the placement groove 42 is connected to one side of a compression spring 48, and the other side of the compression spring 48 is connected to one end of a guide column 43, which can ensure the smooth movement of the guide column 43 in the corrugated groove 4, that is, ensure the reciprocating movement of the pull rod 35 and the smoothness of the shearing action of the two shear plates 37.

[0049] It should be noted that, since the snake bone tube 51 is in an inclined state at this time, the cut and picked fruits are not located directly above the high end of the snake bone tube 51, that is, the cut fruits cannot accurately fall into the snake bone tube 51 at this time. Figure 1 , Figure 2 , Figure 5 , Figure 6 and Fig.10 As shown, during the aforementioned operation, the second drive motor 33 is controlled to rotate, and the two shear plates 37 are moved to the position of clamping the branch. At this time, the branch is not cut. Then, the first drive motor 22 is started, and the swing shaft 23 is driven to rotate by the first flange 21, and the connecting column 26 inserted in the step hole 24 is also synchronously driven to move along the positioning groove 29 in the front and rear directions, that is, the fruit picking mechanism is driven to rotate in the front and rear directions as a whole, thereby synchronously driving the two shear plates 37 to clamp the branch and drive the target fruit to move to the top of the high end of the snake bone tube 51. After moving into place, the second drive motor 33 is started again to drive the two shear plates 37 to cut the branch, and the target fruit can directly fall into the snake bone tube 51.

[0050] Repeat the above operation to pick and store the remaining target fruits.

[0051] like Figure 1 As shown in the figure, since a blocking net 53 is provided at the gap at the lower end of the snake-bone tube 51, it can prevent the fruit from falling out and prevent the fruit from getting stuck at the gap. Therefore, the fruit falling into the snake-bone tube 51 can quickly move down into the hose 52. Since the discharge end of the hose 52 is vertically arranged and an air bag 60 is wound around the inner wall at the discharge end of the hose 52, the fruit falling into the air bag 60 and being wrapped can slow down the moving speed of the free fall to prevent the fruit from being damaged. Among them, since the air bag 60 is wound around the hose 52, the fruit can be easily transported to the hose 52. On the inner wall of the hose 52, in order to prevent the fruits from being wrapped tightly and affecting the removal of the fruits, an air inlet valve 61 connected to the air pump is provided on one side of the hose 52, and an exhaust valve 62 connected to one side of the air bag 60 is provided on the other side. The other side of the air bag 60 is connected to the air inlet valve 61. In this way, it is convenient to adjust the inner diameter of the fruit passage of the position of the air bag 60 in time; finally, the fruits falling into the oblique discharge barrel 70 are moved out of the oblique discharge barrel 70 along a plurality of oblique rollers 74 under the action of gravity for collection.

[0052] During the entire use process, it is necessary to use the image obtained by the camera 8 to determine the position of the fruit and then perform precise operations on the controller. The camera 8 aimed at the fruit picking mechanism should be aimed at the shear plate 37. At the same time, in order to better judge the spatial position of the fruit and the style of the branches so as to adjust the angle, it is advisable to set cameras 8 at multiple points on the inclined support rod 80.

[0053] It should be noted that the first hollow rotating platform 2, the second hollow rotating platform 3 and the third hollow rotating platform 30 have the same structure and are all prior art. The structure and use principle thereof are as follows: Fig.12 As shown, it includes a turntable and a servo motor connected to the side of the turntable. The turntable is a hollow structure. A boss is provided at the position of the hollow structure and is sleeved with a through hole in the middle of the roller bearing. A gear plate is sleeved on the outer side of the roller bearing, and the gear plate is meshed with a transmission tooth connected to the output end of the servo motor. A flange is connected to the end face of the roller bearing. The flange is used to connect with the working part and will not be repeated here.

[0054] Therefore, in this embodiment, at the position of the first hollow rotating platform 2, the support frame 20 is only connected to the first flange 21 so as to drive the picking mechanism as a whole to rotate along the circumferential direction of the first flange 21. At the position of the third hollow rotating platform 30, the second telescopic cylinder 12 is only connected to the third flange 39, which can drive the picking mechanism to adjust the longitudinal rotation angle twice so as to quickly cut off the branches. At the position of the second flange 31, the mounting sleeve 32 is connected to the second flange 31 and passes through the hollow structure of the turntable, that is, it also passes through the inner ring of the roller bearing. In this way, the rotation of the second flange 31 synchronously drives the second drive motor 33, the pull rod 35 and the shear plate 37 to rotate. The two hollow rotating platforms are used in combination to realize the adjustment of the relevant shearing angles recorded in the aforementioned content. At the same time, it does not affect the second drive motor 33 driving the pull rod 35 and the two shear plates 37 to move back and forth so as to quickly and effectively pick the fruits.

[0055] After use, the hose 52 screwed to the snake tube 51 is removed, and the controller turns on the second telescopic cylinder 12, which drives the fruit picking mechanism to move back. At the same time, since there is a gap between each tube sleeve constituting the snake tube 51, and the front bracket 5 is connected to the output end of the second telescopic cylinder 12, under the premise that the rear bracket 50 and the snake tube 51 are hinged, the return of the output end of the second telescopic cylinder 12 also drives the snake tube 51 to bend and contract (such as Fig.11 to avoid motion interference.

[0056] Meanwhile, in the present invention, the driving motor, servo motor, transmission motor 14 telescopic cylinder, air inlet valve 61 and exhaust valve 62 used are all connected to the controller.

Claims

1. A fruit picking and storage device, characterized in that: The invention comprises a support (10) fixedly mounted on a vehicle body (1) and a guide assembly adjustably mounted on the support (10), wherein the guide assembly comprises a first telescopic cylinder (11) connected to the support (10) and a second telescopic cylinder (12) hingedly connected to the output end of the first telescopic cylinder (11), a picking mechanism is connected to one side of the output end of the second telescopic cylinder (12), a storage mechanism is connected to the other side of the output end of the second telescopic cylinder (12), and a camera (8) connected to a controller is provided on the picking mechanism; when in use, the camera (8) controls the picking mechanism to pick fruits, and the picked fruits fall directly into the storage mechanism.

2. The fruit picking and storage device according to claim 1, characterized in that: Two vertically arranged screw rods (13) are symmetrically arranged on the bracket (10); a transmission motor (14) fixedly connected to the bracket (10) is connected to the upper end of each screw rod (13); a connecting block (15) is screwed on each screw rod (13); and horizontally extending support rods (19) are arranged at the opposite ends of the two connecting blocks (15); a guide groove block (16) is arranged on one side of the connecting block (15); a guide boss (17) is arranged at a position corresponding to the guide groove block (16) on the bracket (10); and the guide groove block (16) and the guide boss (17) are arranged in close contact with each other.

3. The fruit picking and storage device according to claim 2, characterized in that: A side bracket (18) extending from the bracket (10) is provided on the other side of the connection block (15); one side of the side bracket (18) is hingedly connected to the cylinder body of the first telescopic cylinder (11); the cylinder body of the second telescopic cylinder (12) is connected to a third flange (39) on the third hollow rotating platform (30); a connecting frame (120) is provided on one side of the third hollow rotating platform (30); the output end of the first telescopic cylinder (11) is hingedly connected to the connecting frame (120); and sockets are provided at positions corresponding to the support rods (19) on the connecting frame (120); the support rods (19) at the corresponding ends are inserted into the sockets.

4. The fruit picking and storage device according to claim 3, characterized in that: The picking mechanism comprises a first hollow rotating platform (2) connected to the output end of the second telescopic cylinder (12), a steering assembly connected to the output end of the first hollow rotating platform (2), a second hollow rotating platform (3) connected to the steering assembly, and a shearing assembly connected to the second hollow rotating platform (3); the output end of the first hollow rotating platform (2) is connected to a first flange (21); the steering assembly comprises a support frame (20) connected to the first flange (21); a first drive motor (22) is fixedly provided on one side of the support frame (20); a swing shaft (23) horizontally passing through the support frame (20) is connected to the output end of the first drive motor (22); a step hole (24) perpendicular to the axial direction of the swing shaft (23) is provided on the swing shaft (23); a step hole (24) is provided in the step hole (24) A fixing hole (25) is provided at the small diameter end thereof, a connecting column (26) fixedly connected to the connecting bracket (28) is inserted into the step hole (24), the insertion end of the connecting column (26) abuts against the step surface of the step hole (24), a tensioning bolt (27) is inserted into the fixing hole (25), the insertion end of the tensioning bolt (27) is threadedly connected to the connecting column (26), and the end surface of the nut end of the tensioning bolt (27) abuts against the bottom of the fixing hole (25), one side of the connecting bracket (28) is fixedly connected to the second hollow rotating platform (3), the other side of the connecting bracket (28) is provided with an inclined support rod (80), and a camera (8) is provided on the inclined support rod (80); a positioning groove (29) for the connecting column (26) to pass through is provided at a position corresponding to the connecting column (26) on the support frame (20).

5. The fruit picking and storage device according to claim 4, characterized in that: The output end of the second hollow rotating platform (3) is connected with a second flange (31), the shearing assembly comprises a mounting sleeve (32) fixedly connected to the second flange (31) and extending through the hollow position of the second hollow rotating platform (3), and a second driving motor (33) fixedly mounted on the mounting sleeve (32) on one side, the second driving motor (33) being sleeved with a limiting ring (281) connected to the connecting bracket (28) on the other side, and the output end of the second driving motor (33) is provided with a mounting sleeve (32) extending into the mounting sleeve (32). A rotating rod (34) in the mounting sleeve (32) has a pull rod (35) movably provided on the rotating rod (34); a mounting sleeve (36) is connected to the mounting sleeve (32), and a secondary bracket (44) is provided on one side of the mounting sleeve (36); the secondary bracket (44) is hingedly connected to one side of two shear plates (37); the other side of each of the shear plates (37) is hingedly connected to one side of a transmission rod (38); the other side of each of the transmission rods (38) is hingedly connected to the pull rod (35).

6. The fruit picking and storage device according to claim 5, characterized in that: A corrugated groove (4) is provided on the outer wall of the rotating rod (34) in the circumferential direction; one end of the pull rod (35) extends out of the mounting tube (36) and the other end is provided with a connecting plate (40); the extended end of the pull rod (35) is hingedly connected to the other side of the transmission rod (38); a connecting sleeve (41) is threadedly provided on the connecting plate (40), and a placement groove (42) is provided on the connecting sleeve (41); the bottom of the placement groove (42) is connected to one side of a compression spring (48), and the other side of the compression spring (48) is connected to one end of a guide column (43); the other end of the guide column (43) extends into the corrugated groove (4).

7. The fruit picking and storage device according to claim 6, characterized in that: A positioning groove (45) is provided on one side of the extended end of the pull rod (35), a connecting bolt (47) is threadedly inserted at a position corresponding to the positioning groove (45) on the mounting tube (36), and a positioning block (46) extending into the positioning groove (45) is threadedly provided at the insertion end of the connecting bolt (47).

8. The fruit picking and storage device according to claim 3, characterized in that: The storage mechanism comprises a front bracket (5) connected to the output end of the second telescopic cylinder (12) and a rear bracket (50) connected to the cylinder body of the second telescopic cylinder (12); a snake tube (51) is connected between the front bracket (5) and the rear bracket (50); one end of the snake tube (51) is fixedly connected to the front bracket (5); the other end of the snake tube (51) is hingedly connected to the rear bracket (50); a blocking net (53) is provided at the gap at the lower end of the snake tube (51); a hose (52) is connected to the discharge end of the snake tube (51); and a conveying frame fixedly mounted on the vehicle body (1) is connected to the discharge end of the hose (52).

9. The fruit picking and storage device according to claim 8, characterized in that: An air bag (60) is wound around the inner wall of the discharge end of the hose (52); an air inlet valve (61) connected to an air pump is provided on one side of the hose (52); an exhaust valve (62) connected to one side of the air bag (60) is provided on the other side; and the other side of the air bag (60) is connected to the air inlet valve (61).

10. The fruit picking and storage device according to claim 9, characterized in that: The conveying frame comprises a straight discharge barrel (7) connected to the discharge end of the hose (52) and an oblique discharge barrel (70) connected to the discharge end of the straight discharge barrel (7); a first anti-collision sponge (71) is provided at the lower end of the inner side wall at the communication position between the straight discharge barrel (7) and the oblique discharge barrel (70); a guide oblique block (73) is provided at the upper end of the inner side wall at the communication position between the straight discharge barrel (7) and the oblique discharge barrel (70); a second anti-collision sponge (72) is provided on the upper end surface of the guide oblique block (73); a plurality of rollers (74) are arranged side by side in the oblique discharge barrel (70) along the axial direction of the oblique discharge barrel (70); a connecting pin (75) penetrating the side wall of the oblique discharge barrel (70) is sleeved on the middle part of each roller (74).

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