Harvesting and storage device

Abstract

This invention discloses a fruit-picking and collecting device, including a bracket fixed to a vehicle body and an adjustable guide assembly mounted on the bracket. The guide assembly includes a first telescopic cylinder connected to the bracket 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, and a collecting mechanism is connected to the other side. A camera connected to a controller is mounted on the picking mechanism. In use, the camera controls the picking mechanism to pick fruit, which falls directly into the collecting mechanism. This invention features a vehicle body for moving the guide assembly, the picking mechanism, and the collecting mechanism. The camera connected to the controller allows for observation and real-time adjustment of the picking angle of the picking mechanism. Furthermore, the picking mechanism can pull branches and move individual fruits to the feeding end of the collecting mechanism, improving the accuracy of the picked fruit falling into the collecting mechanism.

Description

Technical Field

[0001] This invention relates to the field of agricultural production technology, and in particular to a fruit harvesting and storage device. Background Technology

[0002] In orchards, harvesting ripe fruit from trees is a time-consuming and laborious task, especially picking fruit from the top of the tree. Currently, various fruit harvesters designed for tall fruit trees are available on the market. These harvesters typically have soft fruit bags. However, during harvesting, because the fruit is surrounded by branches, it is easily caught or even damaged. For lighter fruits, such as citrus and lemons, the fruit bag may bump into nearby branches as it approaches the fruit, causing the fruit to move and directly impacting harvesting efficiency. It also makes it difficult to properly pick the fruit and place it in the fruit bag, resulting in inconvenience. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a fruit picking and storage device that is convenient for picking fruits and avoids interference during picking.

[0004] To solve the above-mentioned technical problems, the present invention provides a fruit picking and storage device, including a bracket fixed on a vehicle body and a guide assembly adjustablely mounted on the bracket. The guide assembly includes a first telescopic cylinder connected to the bracket 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, and a storage mechanism is connected to the other side of the output end of the second telescopic cylinder. A camera connected to a controller is mounted on the picking mechanism. In use, the camera controls the picking mechanism to pick the fruit, and the picked fruit falls directly into the storage mechanism.

[0005] With the above structure, the vehicle body is designed for easy movement and installation of the picking and storage mechanisms. The guide assembly includes a first telescopic cylinder and a second telescopic cylinder, which help to adjust the picking height of the picking mechanism by rotating vertically. A camera is installed to facilitate observation of the picking position on the controller's display screen and to reasonably and accurately adjust the operating angle of the picking mechanism. The picking mechanism can pull the branches, so that a single fruit, along with the branch, can be effectively moved to the feeding end of the storage mechanism, allowing the picked fruit to fall directly into the storage mechanism. This avoids the branches obstructing the fruit picking process and also prevents the storage mechanism from being caught by the branches.

[0006] To better adjust the usage height, preferably, two vertically arranged lead screws are symmetrically arranged on the bracket. A transmission motor that is fixedly connected to the bracket is connected to the upper end of each lead screw. A connecting block is screwed onto each lead screw. A horizontally extending support rod is provided at the opposite ends of the two connecting blocks. A guide groove is provided on one side of the connecting block. A guide boss is provided on the bracket at the position corresponding to the guide groove, and the guide groove and the guide boss are fitted together.

[0007] To simplify the structure and facilitate installation, preferably, a side bracket extending from the connecting block is provided on the other side. 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 hinged to the connecting frame. Insertion holes are provided at the positions of the corresponding support rods on the connecting frame, and the support rods at the corresponding ends are inserted into the insertion holes.

[0008] To facilitate the swinging of the shearing assembly in the forward and backward directions, preferably, the harvesting 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, the steering assembly includes a support frame connected to the first flange, a first drive motor is fixed on one side of the support frame, and a swing shaft that horizontally passes through the support frame is connected to the output end of the first drive motor, with a vertical... A stepped hole perpendicular to the axis of the swing shaft is provided, with a fixing hole connected to the small diameter end of the stepped hole. A connecting column fixedly connected to the connecting bracket is inserted into the stepped hole, with the insertion end of the connecting column abutting against the stepped surface of the stepped hole. A tension bolt is inserted into the fixing hole, with the insertion end of the tension bolt screwed to the connecting column, and the end face of the nut of the tension bolt abutting against 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, on which a camera is provided. A first positioning groove is provided at the position of the connecting column on the support frame for the connecting column to pass through.

[0009] To simplify the structure of the shearing assembly and facilitate installation, as well as to allow for easy rotation and adjustment of the shearing assembly's operating angle, preferably, the output end of the second hollow rotary platform is connected to a second flange. The shearing assembly includes a mounting sleeve fixedly connected to the second flange and extending through the hollow portion of the second hollow rotary platform, and a second drive motor fixed on one side of the mounting sleeve. A limiting ring connected to a connecting bracket is fitted on the other side of the second drive motor. The output end of the second drive motor has a rotating rod extending into the mounting sleeve, and a pull rod is movably mounted on the rotating rod. A mounting cylinder is connected to the mounting sleeve, and a secondary bracket is provided on one side of the mounting cylinder. The secondary bracket is hinged to one side of each of the two shear plates, and the other side of each shear plate is hinged to one side of a transmission rod. The other side of each transmission rod is hinged to a pull rod.

[0010] To facilitate the formation of a cyclic shearing action, preferably, a corrugated groove is provided on the outer side wall of the rotating rod along the circumferential direction. One end of the pull rod extends out of the mounting cylinder, and the other end is provided with a connecting plate. The extended end of the pull rod is hinged to the other side of the transmission rod. A connecting sleeve is screwed onto the connecting plate. A placement groove is provided on the connecting sleeve. The bottom of the placement groove is connected to one side of the compression spring, and the other side of the compression spring is connected to one end of the guide post. The other end of the guide post extends into the corrugated groove.

[0011] To limit the displacement range of the shearing, preferably, a second positioning groove is provided on one side of the extended end of the pull rod, a connecting bolt is screwed into the mounting cylinder at the position corresponding to the second positioning groove, and a positioning block extending into the second positioning groove is screwed into the insertion end of the connecting bolt.

[0012] To ensure accurate fruit collection and prevent interference with adjacent branches, the preferred method for the receiving mechanism includes a front support connected to the output end of the second telescopic cylinder and a rear support connected to the cylinder body of the second telescopic cylinder. A snake-bone tube is connected between the front and rear supports, with one end of the snake-bone tube fixedly connected to the front support and the other end hinged to the rear support. A mesh is provided in the gap at the lower end of the snake-bone tube. A flexible hose is connected to the discharge end of the snake-bone tube, and a conveyor frame fixed to the vehicle body is connected to the discharge end of the flexible hose.

[0013] To prevent damage from collisions during the movement of the fruit, preferably, an air bladder is wound around the inner wall at the outlet end of the hose. An air inlet valve connected to an air pump is provided on one side of the hose, and an air outlet valve connected to one side of the air bladder is provided on the other side. The other side of the air bladder is connected to the air inlet valve.

[0014] To better prevent fruit from being damaged by impact, preferably, the conveyor frame includes a straight discharge cylinder connected to the discharge end of the hose and an inclined discharge cylinder connected to the discharge end of the straight discharge cylinder. A first anti-collision sponge is provided at the lower end of the inner wall at the position where the straight discharge cylinder and the inclined discharge cylinder connect, and a guide block is provided at the upper end of the inner wall at the position where the straight discharge cylinder and the inclined discharge cylinder connect. A second anti-collision sponge is provided on the upper end face of the guide block. Several rollers are arranged side by side along the axial direction of the inclined discharge cylinder inside the inclined discharge cylinder, and a connecting pin is sleeved in the middle of each roller and passes through the side wall of the inclined discharge cylinder.

[0015] Beneficial effects: The present invention features a vehicle body to facilitate the movement of the guide components, fruit picking mechanism, and storage mechanism. A camera connected to the controller is provided to facilitate observation and real-time adjustment of the picking angle of the fruit picking mechanism. The picking mechanism can also pull branches and move individual fruits to the feeding end of the storage mechanism, improving the accuracy of the picked fruits falling into the storage mechanism. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

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

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

[0019] Figure 3 This is a schematic diagram of the bracket's installation structure.

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

[0021] Figure 5 This is a schematic diagram of the steering assembly.

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

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

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

[0025] Figure 9 This is a schematic diagram showing the usage status of the cut component.

[0026] Figure 10This is a schematic diagram showing the operational status of the fruit-picking facility.

[0027] Figure 11 This is a schematic diagram of the folded structure of the snake-bone tube.

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

[0029] The meanings of the labels in the attached diagram are as follows:

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

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

[0032] Second hollow rotary platform-3; Third hollow rotary platform-30; Second flange-31; Mounting sleeve-32; Second drive motor-33; Rotating rod-34; Tie rod-35; Mounting cylinder-36; Shear plate-37; Transmission rod-38; Third flange-39;

[0033] Corrugated groove-4; Connecting plate-40; Connecting sleeve-41; Placement groove-42; Guide column-43; Sub-bracket-44; Second positioning groove-45; Positioning block-46; Connecting bolt-47; Compression spring-48;

[0034] Front support - 5; Rear support - 50; Snake bone tube - 51; Flexible hose - 52; Net - 53; Airbag - 60; Intake valve - 61; Exhaust valve - 62;

[0035] Straight discharge cylinder - 7; Inclined discharge cylinder - 70; First anti-collision sponge - 71; Second anti-collision sponge - 72; Guide inclined block - 73; Roller - 74; Connecting pin - 75; Camera - 8; Inclined support rod - 80. Detailed Implementation

[0036] Depend on Figures 1 to 12As shown, the present invention includes a bracket 10 fixed on the vehicle body 1 and a guide assembly adjustablely mounted on the bracket 10. The guide assembly includes a first telescopic cylinder 11 connected to the bracket 10 and a second telescopic cylinder 12 hinged 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. A camera 8 connected to a controller (not shown) is provided on the picking mechanism. In use, the camera 8 controls the picking mechanism to pick the fruit, and the picked fruit falls directly into the storage mechanism.

[0037] Specifically, two vertically arranged lead screws 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 lead screw 13. A connecting block 15 is screwed onto each lead screw 13. A horizontally extending support rod 19 is provided at the opposite ends of the two connecting blocks 15. A guide groove block 16 is provided on one side of the connecting block 15. A guide boss 17 is provided on the bracket 10 at the position corresponding to the guide groove block 16. The guide groove block 16 and the guide boss 17 are fitted together. On the other side of the connecting block 15, there is a side bracket 18 extending from the bracket 10. One side of the side bracket 18 is hinged 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 hinged to the connecting frame 120. Insertion holes are provided on the connecting frame 120 at the positions corresponding to the support rods 19. The support rods 19 at the corresponding ends are inserted into the insertion holes.

[0038] The harvesting 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 fixed to 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 stepped hole 24 perpendicular to the axis of the swing shaft 23 is provided on the swing shaft 23. The small-diameter end of hole 24 is connected to a fixing hole 25. A connecting post 26, which is fixedly connected to the connecting bracket 28, is inserted into the stepped hole 24. The insertion end of the connecting post 26 abuts against the stepped surface of the stepped hole 24. A tension bolt 27 is inserted into the fixing hole 25. The insertion end of the tension bolt 27 is screwed to the connecting post 26, and the end face of the nut end of the tension bolt 27 abuts against the bottom of the fixing hole 25. The connecting bracket 28 is fixedly connected to the second hollow rotating platform 3 on one side. An inclined support rod 80 is provided on the other side of the connecting bracket 28. A camera 8 is provided on the inclined support rod 80. A first positioning groove 29 is provided on the support frame 20 at the position corresponding to the connecting post 26, through which the connecting post 26 passes.

[0039] The output end of the second hollow rotating platform 3 is connected to a second flange 31. The shearing assembly includes a mounting sleeve 32 fixedly connected to the second flange 31 and passing 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. The other side of the second drive motor 33 is fitted with a limiting ring 281 connected to the connecting bracket 28. The output end of the second drive motor 33 is provided with a rotating rod 34 extending into the mounting sleeve 32. A pull rod 35 is movably mounted on the rotating rod 34. A mounting cylinder 36 is connected to the mounting sleeve 32. A secondary bracket 44 is provided on one side of the mounting cylinder 36. The secondary bracket 44 is hinged to one side of each of the two shear plates 37. The other side of each shear plate 37 is hinged to one side of a transmission rod 38. The other side of each transmission rod 38 is hinged to a 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 cylinder 36, and the other end is provided with a connecting plate 40. The extended end of the pull rod 35 is hinged to the other side of the transmission rod 38. A connecting sleeve 41 is screwed onto 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 the compression spring 48. The other side of the compression spring 48 is connected to one end of the guide post 43. The other end of the guide post 43 extends into the corrugated groove 4. A second positioning groove 45 is provided on one side of the extended end of the pull rod 35. A connecting bolt 47 is screwed into the mounting cylinder 36 at the position corresponding to the second positioning groove 45. A positioning block 46 extending into the second positioning groove 45 is screwed into the insertion end of the connecting bolt 47.

[0041] The storage mechanism includes a front support 5 connected to the output end of the second telescopic cylinder 12 and a rear support 50 connected to the cylinder body of the second telescopic cylinder 12. A snake-bone tube 51 is connected between the front support 5 and the rear support 50. One end of the snake-bone tube 51 is fixedly connected to the front support 5, and the other end of the snake-bone tube 51 is hinged to the rear support 50. A barrier net 53 is provided in the gap at the lower end of the snake-bone tube 51. A flexible hose 52 is connected to the discharge end of the snake-bone tube 51, and a conveyor frame fixed on the vehicle body 1 is connected to the discharge end of the flexible hose 52.

[0042] The conveyor frame includes a straight discharge cylinder 7 connected to the discharge end of the hose 52 and an inclined discharge cylinder 70 connected to the discharge end of the straight discharge cylinder 7. A first anti-collision sponge 71 is provided at the lower end of the inner sidewall at the position where the straight discharge cylinder 7 and the inclined discharge cylinder 70 are connected. A guide block 73 is provided at the upper end of the inner sidewall at the position where the straight discharge cylinder 7 and the inclined discharge cylinder 70 are connected. A second anti-collision sponge 72 is provided on the upper end face of the guide block 73. Several rollers 74 are arranged side by side along the axial direction of the inclined discharge cylinder 70 inside the inclined discharge cylinder 70. A connecting pin 75 passing through the sidewall of the inclined discharge cylinder 70 is sleeved in the middle of each roller 74.

[0043] An air bladder 60 is wound around the inner wall at 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, and an air outlet valve 62 connected to one side of the air bladder 60 is provided on the other side. The other side of the air bladder 60 is connected to the air inlet valve 61.

[0044] The working principle of this invention is as follows:

[0045] like Figures 1 to 4As shown, during use, the vehicle body 1 is moved to the fruit tree. The height of the fruit picking mechanism needs to be adjusted according to the height of the target fruit. Specifically, the controller first starts the transmission motor 14, which drives the lead screw 13 to rotate and simultaneously drives the screwed connecting block 15 to move upward along the axis of the guide boss 17 from the guide groove block 16, that is, to move upward on the bracket 10. After moving to the appropriate height, the transmission motor 14 is turned off, and then the second telescopic cylinder 12 is started. The extended end of the second telescopic cylinder 12 drives the fruit picking mechanism to move to the target position of the fruit picking. At the same time, the output end of the second telescopic cylinder 12 is also pulled by the front bracket 5 to one end of the snake tube 51. When the output end of the second telescopic cylinder 12 moves into place, that is, the snake tube 51 is in the straightened position, the fruit picking mechanism is located above the snake tube 51.

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

[0047] Then, the controller starts the first telescopic cylinder 11, and the output end of the second telescopic cylinder 12 drives the two shear plates 37 to move towards the branch position of the target fruit. After the two shear plates 37 move to both sides of the branch position, the first telescopic cylinder 11 is closed. Then, the controller starts the second drive motor 33, which drives the transmission rod 34 to rotate. Since the outer wall of the rotating rod 34 is provided with a corrugated groove 4 along the circumferential direction, the guide post 43 in the corrugated groove 4 moves with the wave and drives the connecting plate 40 and the pull rod 35 connected to it to move synchronously. That is, it drives the pull rod 35 to move back and forth in the axial direction of the mounting cylinder 36, thereby driving the two shear plates 37 to move back and forth at the same time, thus forming a shearing action, which can cut the branch and achieve the purpose of picking the target fruit. Similarly, it can also be used for pruning operations when there is interference with the branch. It is flexible in use and can improve the fruit picking efficiency.

[0048] Among these, such as Figure 8 and Figure 9 As shown, a connecting sleeve 41 is screwed onto 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 the compression spring 48, and the other side of the compression spring 48 is connected to one end of the guide post 43. This ensures that the guide post 43 moves smoothly in the corrugated groove 4, that is, it ensures the smoothness of the reciprocating movement of the pull rod 35 and the shearing action of the two shear plates 37.

[0049] It should be noted that, since the snake bone tube 51 is at an angle at this time, the fruit being cut and picked is not directly above the upper end of the snake bone tube 51. That is, the cut fruit cannot accurately fall into the snake bone tube 51 at this time. Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 10 As shown, during the aforementioned operation, the rotation of the second drive motor 33 is controlled, and the two shears 37 are moved to the position to clamp the branch. At this time, the branch is not cut. Then, the first drive motor 22 is started, and the first flange 21 drives the swing shaft 23 to rotate. Simultaneously, the connecting column 26 inserted in the step hole 24 moves along the first positioning groove 29 in the front and back directions. That is, the entire fruit picking mechanism rotates in the front and back directions. This simultaneously drives the two shears 37 to clamp the branch and move the target fruit to the top of the snake bone tube 51. After it is moved into place, the second drive motor 33 is started again to drive the two shears 37 to cut the branch, and the target fruit can fall directly into the snake bone tube 51.

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

[0051] like Figure 1 As shown, because a net 53 is provided at the gap at the lower end of the snake-bone tube 51, it can prevent fruit from falling out and avoid fruit getting stuck in the gap. Therefore, fruit falling into the snake-bone tube 51 can quickly move down into the flexible tube 52. Since the discharge end of the flexible tube 52 is set vertically, and an airbag 60 is wrapped around the inner wall of the discharge end of the flexible tube 52, the fruit falling into the airbag 60 is wrapped and its free fall speed is slowed down to prevent the fruit from being damaged. Among these, the airbag 60 is wrapped around the flexible tube 52. To prevent the fruit from being tightly wrapped and thus hindering its removal, an air inlet valve 61 connected to an air pump is provided on one side of the flexible tube 52, and an exhaust valve 62 connected to one side of the airbag 60 is provided on the other side. The other side of the airbag 60 is connected to the air inlet valve 61. This allows for timely adjustment of the fruit passage diameter in the position of the airbag 60. Finally, the fruit falling into the inclined discharge cylinder 70 is moved out of the inclined discharge cylinder 70 by gravity along several inclined rollers 74 for collection.

[0052] Throughout the entire process, the image acquired by camera 8 is used to determine the position of the fruit and then to perform precise operations on the controller. Camera 8, which is aimed at the fruit picking mechanism, should be aligned with the shearing plate 37. In order to better determine the spatial position of the fruit and the shape of the branches so as to adjust the angle, it is advisable to set up multiple cameras 8 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 existing technologies. Their structure and operating principle are as follows: Figure 12 As shown, it includes a turntable and a servo motor connected to the side of the turntable. The turntable has a hollow structure, and a boss is provided in the hollow structure to engage with the through hole in the middle of the roller bearing. A gear is fitted on the outside of the roller bearing, and the gear is meshed with the transmission gear 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 parts, which will not be described in detail here.

[0054] Therefore, in this embodiment, at the position of the first hollow rotating platform 2, only the support frame 20 is connected to the first flange 21 to drive the entire picking mechanism to rotate along the circumference of the first flange 21. At the position of the third hollow rotating platform 30, only the second telescopic cylinder 12 is connected to the third flange 39, which can drive the picking mechanism to adjust the longitudinal rotation angle twice in one piece, 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 together to realize the adjustment of the relevant shearing angles described above. 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 fruit.

[0055] After use, remove the threaded hose 52 from the snake-bone tube 51, and then activate the second telescopic cylinder 12 via the controller. The second telescopic cylinder 12 drives the fruit-picking mechanism to move back. At the same time, since there are gaps between each sleeve of the snake-bone tube 51, and the front support 5 is connected to the output end of the second telescopic cylinder 12, and with the rear support 50 hinged to the snake-bone tube 51, the movement of the output end of the second telescopic cylinder 12 also causes the snake-bone tube 51 to bend and retract (e.g., Figure 11 (As shown), to avoid causing movement interference.

[0056] Meanwhile, in this invention, the drive motor, servo motor, transmission motor 14 telescopic cylinder, intake valve 61 and exhaust valve 62 are all connected to the controller.

Claims

1. A fruit-picking and storage device, characterized in that: The system includes a bracket (10) fixed to the vehicle body (1) and a guide assembly adjustablely mounted on the bracket (10). The guide assembly includes a first telescopic cylinder (11) connected to the bracket (10) and a second telescopic cylinder (12) hinged 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). A camera (8) connected to a controller is mounted on the picking mechanism. 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). A first flange (21) is connected to the output end of the first hollow rotating platform (2). The steering assembly includes a support frame (20) connected to the first flange (21). A first drive motor (22) is fixed to one side of the support frame (20). The output end of the first drive motor (22) is connected to a swing shaft (23) that passes horizontally through the support frame (20). A stepped hole (24) perpendicular to the axis of the swing shaft (23) is provided on the swing shaft (23). A fixing hole (25) is provided at the small diameter end of the stepped hole (24). A connecting post (26) fixedly connected to the connecting bracket (28) is inserted into the stepped hole (24). The insertion end of the connecting post (26) abuts against the stepped surface of the stepped hole (24). A tensioning screw is inserted into the fixing hole (25). The bolt (27) is screwed to the connecting column (26) at the insertion end, and the end face of the nut of the bolt (27) abuts against the bottom of the fixing hole (25). It is fixedly connected to the second hollow rotating platform (3) on one side of the connecting bracket (28). The other side of the connecting bracket (28) is provided with a diagonal support rod (80), and a camera (8) is provided on the diagonal support rod (80). A first positioning groove (29) is provided on the support frame (20) at the position corresponding to the connecting column (26) for the connecting column (26) to pass through. 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). 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 hinged to the rear bracket (50). A net (53) is provided in 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 conveyor frame fixed on the vehicle body (1) is connected to the discharge end of the hose (52). When in use, the picking mechanism is controlled by the camera (8) to pick the fruit, and the picked fruit falls directly into the storage mechanism.

2. The fruit-picking and storage device as described in claim 1, characterized in that: Two vertically arranged lead screws (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 lead screw (13). A connecting block (15) is screwed onto each lead screw (13). A horizontally extending support rod (19) is provided at the opposite ends of the two connecting blocks (15). A guide groove block (16) is provided on one side of the connecting block (15). A guide boss (17) is provided on the bracket (10) at the position corresponding to the guide groove block (16). The guide groove block (16) and the guide boss (17) are fitted together.

3. The fruit-picking and storage device as described in claim 2, characterized in that: On the other side of the connecting block (15), there is a side bracket (18) for extending the bracket (10). One side of the side bracket (18) is hinged 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 hinged to the connecting frame (120). A socket is provided on the connecting frame (120) at the position corresponding to the support rod (19). The support rod (19) at the corresponding end is inserted into the socket.

4. The fruit-picking and storage device as described in claim 1, characterized in that: The output end of the second hollow rotating platform (3) is connected to a second flange (31). The shearing assembly includes a mounting sleeve (32) fixedly connected to the second flange (31) and passing 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). The other side of the second drive motor (33) is fitted with a limiting ring (281) connected to the connecting bracket (28). The output end of the second drive motor (33) is provided with a rotating rod (34) extending into the mounting sleeve (32). A pull rod (35) is movably provided on the rotating rod (34). A mounting cylinder (36) is connected to the mounting sleeve (32). A secondary bracket (44) is provided on one side of the mounting cylinder (36). The secondary bracket (44) is hinged to one side of the two shear plates (37). The other side of each shear plate (37) is hinged to one side of the transmission rod (38). The other side of each transmission rod (38) is hinged to the pull rod (35).

5. The fruit-picking and storage device as described in claim 4, characterized in that: 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 cylinder (36), and the other end is provided with a connecting plate (40). The extended end of the pull rod (35) is hinged to the other side of the transmission rod (38). A connecting sleeve (41) is screwed onto 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 the compression spring (48), and the other side of the compression spring (48) is connected to one end of the guide post (43). The other end of the guide post (43) extends into the corrugated groove (4).

6. The fruit-picking and storage device as described in claim 5, characterized in that: A second positioning groove (45) is provided on one side of the extended end of the pull rod (35). A connecting bolt (47) is screwed into the mounting cylinder (36) at the position corresponding to the second positioning groove (45). A positioning block (46) extending into the second positioning groove (45) is screwed into the insertion end of the connecting bolt (47).

7. The fruit-picking and storage device as described in claim 1, characterized in that: An air bladder (60) is wound around the inner wall of the outlet end of the hose (52). An air inlet valve (61) connected to an air pump is provided on one side of the hose (52), and an exhaust valve (62) connected to one side of the air bladder (60) is provided on the other side. The other side of the air bladder (60) is connected to the air inlet valve (61).

8. The fruit-picking and storage device as described in claim 7, characterized in that: The conveyor frame includes a straight discharge cylinder (7) connected to the discharge end of the hose (52) and an inclined discharge cylinder (70) connected to the discharge end of the straight discharge cylinder (7). A first anti-collision sponge (71) is provided at the lower end of the inner wall of the position where the straight discharge cylinder (7) and the inclined discharge cylinder (70) are connected. A guide inclined block (73) is provided at the upper end of the inner wall of the position where the straight discharge cylinder (7) and the inclined discharge cylinder (70) are connected. A second anti-collision sponge (72) is provided on the upper end face of the guide inclined block (73). Several rollers (74) are arranged side by side in the inclined discharge cylinder (70) along the axial direction of the inclined discharge cylinder (70). A connecting pin (75) is sleeved in the middle of each roller (74) and passes through the side wall of the inclined discharge cylinder (70).

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