Automatic picking device suitable for dwarf closely-planted apples

Abstract

The invention relates to the technical field of fruit picking devices, in particular to an automatic picking device suitable for dwarf closely-planted apples, which comprises a collecting box, a twist-off mechanism, an air guide mechanism, a receiving mechanism, a switching mechanism and a collecting mechanism. According to the apple picking device, apples are fixed through the connecting arms and the clamping jaws, then pedicels are clamped through the clamping rings, the pedicels are forced to be separated from branches of fruit trees for automatic picking, the bottoms of the apples are borne through the bearing seat, and at the moment, the apples are forced to be fixed through friction force between the bearing seat and the apples; the clamping plates are driven to rotate along with the half teeth through the meshing effect of the guide teeth and the half teeth, so that the fruit pedicles and the apples are separated, the bearing base is forced to descend through the weight of the apples, the three air guide holes different in size are driven to communicate with the blowing holes according to the descending height of the bearing base, and the apples different in size are forced to fall into different buffers; and the apples can be screened according to the specification while being collected.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking devices, and in particular to an automatic picking device suitable for dwarfed and densely planted apples. Background Art

[0002] The apple tree is an important fruit tree. Its fruit tastes good and is rich in nutrients, making it very popular. Therefore, it is widely planted and commercially utilized. Apples can not only be eaten fresh, but can also be processed into juice, preserves, candies and other products, bringing rich economic benefits to farmers. Apple products and fruits need to be picked before they can be sold.

[0003] At present, when picking apples from some dwarf apple trees, it is often done manually. However, due to the growth conditions of the dwarf fruit trees themselves, the height from the ground is relatively low. When picking, manual labor is often required to bend over or squat, which is quite inconvenient. In addition, after picking, the apples are packed into boxes. In order to protect the apples in the boxes, the fruit stems often need to be removed, and fruits of different specifications need to be manually screened. The overall work is quite complicated, the work efficiency is low, and the workload is quite large. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the background technology and to propose an automatic picking device suitable for dwarfed and densely planted apples.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An automatic picking device for dwarf densely planted apples, comprising a collection box, a mechanical arm is arranged on one side of the surface of the collection box, a connecting arm is arranged on one end of the mechanical arm, the connecting arm is slidably connected to the collection box, a cylinder is fixedly connected inside the connecting arm, a connecting block is fixedly connected to the output end of the cylinder, four top bars are cosymmetrically hinged on the upper and lower surfaces of the connecting block, another hinge of the top bar is connected to a connecting bar, the connecting bar penetrates and slides on both sides of the connecting arm, one end of the connecting bar that penetrates to the outside of the connecting arm is fixedly connected to a clamping claw, and further comprises; A twisting mechanism, which is arranged above the two clamping claws and is used to twist off the apple stem; An air guide mechanism, which is arranged inside the connecting arm and is used to inflate the twist-off mechanism; A receiving mechanism, the receiving mechanism is slidably connected to the inside of the collection box, and the receiving mechanism is used to receive the apples delivered by the clamping claws; A conversion mechanism, the conversion mechanism is rotatably connected to the inside of the collection box, and the conversion mechanism is used for the conversion of the receiving mechanism; And a collecting mechanism, wherein the collecting mechanism is arranged inside the collecting box and is used for buffering and collecting the apples transported by the receiving mechanism.

[0006] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, the twisting mechanism includes a guide rod, a connecting foot and two half teeth. The guide rod is fixedly connected to the top of the connecting arm, and the two connecting feet are symmetrically slidably connected to the surface of the guide rod, and the two ends of the guide rod slide through the two connecting feet respectively, and the bottom of the connecting foot slides through the connecting bar. The two half teeth are located above the two clamping claws, and the two connecting feet are rotatably connected to the two half teeth respectively. The bottoms of the two half teeth are rotatably connected with connecting plates, and the bottoms of the connecting plates are fixedly connected with a buffer bag. The interior of the half teeth is fixedly connected with a top spring, and the other end of the top spring is fixedly connected with a clamp ring, and the clamp ring passes through between the two half teeth.

[0007] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, the air guide mechanism includes two connecting cavities, two ducts and two baffles. The two connecting cavities are symmetrically opened inside the connecting arm, and the two ducts are symmetrically connected to the two sides of the connecting arm, and the ducts and the connecting cavities are arranged through each other. The opposite sides of the two clamping jaws are fixedly connected with clamping air bags, and the sides of the two clamping air bags away from each other are respectively connected to the two ducts, and the two baffles are respectively rotatably connected to the inside of the connecting cavity.

[0008] In the above-mentioned automatic picking device suitable for dwarfed and densely planted apples, the receiving mechanism includes a receiving seat, a rotating seat and a telescopic tube. The receiving seat and the rotating seat are both rotatably connected to the inside of the collecting box. The rotating seat is rotatably connected to the bottom of the receiving seat. The telescopic tube is connected to the bottom of the rotating seat. The other end of the telescopic tube is connected to the inside of the collecting box. A cavity is opened inside the rotating seat. Three air guide holes are opened through the top of the cavity. The apertures of the three air guide holes are different. A blowing hole is opened through the surface of the receiving seat. The blowing hole is connected to the air guide hole after the receiving seat rotates. There is a large friction between the receiving seat and the apple.

[0009] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, the conversion mechanism includes a gear ring, conical teeth and connecting teeth. The gear ring is fixedly connected to the surface of the receiving seat, the conical teeth are rotatably connected to the surface of the rotating seat, and the conical teeth are meshed with the gear ring. The connecting teeth are fixedly connected to one side of the conical teeth. A gear rod is fixedly connected to the inside of the collecting box, the gear rod is meshed with the connecting teeth, a connecting head is fixedly connected to the other side of the connecting tooth surface, a pressure spring is fixedly connected to the bottom of the connecting head, and the other end of the pressure spring is fixedly connected to the inside of the collecting box.

[0010] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, the collecting mechanism includes a collecting trough, a buffer slope and a receiving seat. The collecting trough and the buffer slope are both opened inside the collecting box, and the buffer slope and the collecting box are arranged through the three receiving seats. The three receiving seats are fixedly connected to the surface of the collecting box, and the end of the buffer slope that penetrates to the outside of the collecting box is located above the receiving seat. The rotating seat and the receiving seat are both slidably connected to the inside of the collecting trough. The heights of the highest points of the three buffer slopes gradually decrease. An air cavity is opened inside the collecting box, and a vent is opened through the surface of the buffer slope. The bottom end of the vent is connected to the air cavity, and the bottom end of the telescopic tube is arranged through the air cavity.

[0011] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, a motor is fixedly connected to the inside of the collecting box, and the output end of the motor is fixedly connected to a guide tooth via a coupling, one side of the guide tooth is penetrated by the collecting box, and the guide tooth is meshed with a half tooth on the side penetrating to the outside of the collecting box, and a guide rail is fixedly connected to the surface of the collecting box, and the bottom of the connecting arm is slidably connected to the guide rail.

[0012] In the above-mentioned automated picking device suitable for dwarfed and densely planted apples, a gear is fixedly connected to one side of the baffle, the gear is rotatably connected to the inside of the connecting arm, the inside of the connecting arm is slidably connected to a guide rod, the top of the guide rod is penetrated by the top of the connecting arm, the bottom of the guide rod is fixedly connected to a spring, and the other end of the spring is fixedly connected to the inside of the connecting arm.

[0013] Compared with the existing technology, the advantages of this automatic picking device for dwarf densely planted apples are: The apples are fixed by connecting arms and clamps, and then the fruit stems are clamped by clamp rings, forcing the fruit stems to separate from the branches of the fruit tree, making it easier to automatically pick the fruits and greatly reducing the workload; The bottom of the apple is received by the receiving seat, and the friction between the receiving seat and the apple forces the apple to remain fixed, and the meshing effect of the guide teeth and the half teeth drives the splint to rotate with the half teeth, thereby completing the separation of the fruit stem and the apple; After the grippers are separated, the weight of the apples forces the receiving seat to drop, and according to the height of the receiving seat, three air guide holes of different sizes are connected to the blowing holes, forcing apples of different sizes to fall into different buffers, so that the specifications of the apples can be screened while the apples are collected; In summary, the present invention fixes the apples by connecting arms and clamping claws, and then clamps the fruit stems by clamping rings, forcing the fruit stems to separate from the branches of the fruit tree for automatic picking, and the bottom of the apples is received by a receiving seat. At this time, the friction between the receiving seat and the apples forces the apples to remain fixed, and the meshing effect of the guide teeth and the half teeth drives the splint to rotate with the half teeth, thereby completing the separation of the fruit stems from the apples, and the receiving seat is forced to descend by the weight of the apples themselves, and three air guide holes of different sizes are connected to the blowing holes according to the height of the descent of the receiving seat, forcing apples of different sizes to fall into different buffers, so that the specifications of the apples can be screened while the apples are collected. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the guide rod connection structure of the present invention; Figure 3 It is a schematic diagram of the half-tooth cross-sectional structure of the present invention; Figure 4 is a schematic cross-sectional structural diagram of a connecting arm of the present invention; Figure 5 It is a schematic diagram of the cross-sectional structure of the gear of the present invention; Figure 6 The present invention Figure 5 A schematic diagram of the partially enlarged structure at center A; Figure 7 It is a schematic diagram of the cross-sectional structure of the connecting cavity of the present invention; Figure 8 It is a schematic diagram of the cross-sectional structure of the collection box of the present invention; Fig. 9 It is a schematic diagram of the cross-sectional structure of the collecting tank of the present invention; Fig.10 The present invention Fig. 9 A schematic diagram of the partially enlarged structure at B in the middle; Fig.11 is a schematic diagram of the gear ring connection structure of the present invention; Fig.12 It is a schematic diagram of the cross-sectional structure of the rotating seat of the present invention.

[0015] In the figure: 1, collecting box; 2, mechanical arm; 3, connecting arm; 4, cylinder; 5, connecting block; 6, top bar; 7, connecting bar; 8, clamping claw; 9, twisting mechanism; 901, guide rod; 902, connecting foot; 903, half tooth; 10, air guide mechanism; 101, connecting chamber; 102, guide tube; 103, baffle; 11, receiving mechanism; 111, receiving seat; 112, rotating seat; 113, telescopic tube; 12, conversion mechanism; 121, gear ring; 122, cone tooth; 123 , connecting teeth; 13, collecting mechanism; 131, collecting trough; 132, buffer slope; 133, receiving seat; 14, connecting piece; 15, buffer bag; 16, top spring; 17, clamping ring; 18, clamping air bag; 19, cavity; 20, air guide hole; 21, blowing hole; 22, gear rod; 23, connector; 24, pressure spring; 25, air cavity; 26, vent; 27, air pump; 28, motor; 29, guide teeth; 30, guide rail; 31, gear; 32, guide rod; 33, spring. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0018] Reference Figure 1-Figure 12, an automatic picking device suitable for dwarfed and densely planted apples, comprising a collecting box 1, a mechanical arm 2 is arranged on one side of the surface of the collecting box 1, a connecting arm 3 is arranged at one end of the mechanical arm 2, the connecting arm 3 is slidably connected to the collecting box 1, a cylinder 4 is fixedly connected inside the connecting arm 3, a connecting block 5 is fixedly connected to the output end of the cylinder 4, four top bars 6 are hingedly symmetrically on the upper and lower surfaces of the connecting block 5, a connecting bar 7 is hingedly connected to the other end of the top bar 6, the connecting bar 7 slides through both sides of the connecting arm 3, a clamping claw 8 is fixedly connected to one end of the connecting bar 7 that penetrates the outside of the connecting arm 3, and also comprises a twisting mechanism 9, the twisting mechanism 9 is arranged above the two clamping claws 8, the twisting mechanism 9 is used to twist off the fruit stalk of the apple, the twisting mechanism 9 comprises a guide rod 901, a connecting foot 902 and two half teeth 903, the guide rod 901 is fixedly connected to the top of the connecting arm 3, and the two connecting feet 902 are symmetrically slidably connected to the surface of the guide rod 901 The two ends of the guide rod 901 slide through the two connecting feet 902 respectively, the bottom of the connecting foot 902 slides through the connecting strip 7, the two half teeth 903 are located above the two clamping claws 8, the two connecting feet 902 are rotatably connected to the two half teeth 903 respectively, the bottoms of the two half teeth 903 are rotatably connected with connecting plates 14, the bottoms of the connecting plates 14 are fixedly connected with buffer capsules 15, the interior of the half teeth 903 is fixedly connected with a top spring 16, the other end of the top spring 16 is fixedly connected with a clamp ring 17, the clamp ring 17 penetrates between the two half teeth 903, the interior of the collection box 1 is fixedly connected with a motor 28, the output end of the motor 28 is fixedly connected with a guide tooth 29 through a coupling, one side of the guide tooth 29 is penetrated by the collection box 1, the guide tooth 29 and the side that penetrates to the outside of the collection box 1 are meshed with the half teeth 903, the surface of the collection box 1 is fixedly connected with a guide rail 30, and the bottom of the connecting arm 3 is slidably connected with the guide rail 30.

[0019] Among them, through the mutual cooperation of the mechanical arm 2 and the connecting arm 3, the cylinder 4 drives the two connecting bars 7 to approach each other through the connecting block 5 and the top bar 6, forcing the clamping claw 8 to clamp the apple to be picked, and at this time the two half teeth 903 approach each other and dock, at this time the other top spring 16 will drive the two clamping rings 17 to approach each other, clamp the apple stem, so that the apple is picked from the branch and sent to the inside of the collection box 1, in the process of the clamping claw 8 driving the apple to move to the top of the receiving seat 111, the bottom of the connecting arm 3 will slide with the guide rail 30, so that the connecting arm 3 will drive the clamping claw 8 upward and gradually approach the upper half tooth 903, and force the top of the apple to contact the buffer capsule 15, and the guide tooth 29 is driven to rotate by the motor 28, so that the two half teeth 903 can be driven to rotate together, and due to the friction between the receiving seat 111, the buffer capsule 15 and the apple, it is guaranteed that the apple itself will not rotate, so that the process of the half tooth 903 driving the clamping ring 17 to rotate will automatically twist off the fruit stem and remove it.

[0020] The air guide mechanism 10 is arranged inside the connecting arm 3, and the air guide mechanism 10 is used to inflate the twisting mechanism 9. The air guide mechanism 10 includes two connecting chambers 101, two conduits 102 and two baffles 103. The two connecting chambers 101 are symmetrically opened inside the connecting arm 3, and the two conduits 102 are symmetrically connected to the two sides of the connecting arm 3, and the conduits 102 are arranged through the connecting chamber 101. The opposite sides of the two clamping jaws 8 are fixedly connected with clamping air bags 18, and the sides of the two clamping air bags 18 away from each other are respectively connected with the two conduits 102, wherein the two baffles 103 are respectively rotatably connected to the inside of the connecting chamber 101, and one side of the baffle 103 is fixedly connected with a gear 31, and the gear 31 is rotatably connected to the inside of the connecting arm 3. The inside of the connecting arm 3 is slidably connected with a guide rod 32, and the top of the guide rod 32 is arranged through the top of the connecting arm 3, and the bottom of the guide rod 32 is fixedly connected with a spring 33, and the other end of the spring 33 is fixedly connected to the inside of the connecting arm 3.

[0021] When the connecting arm 3 slides to one end of the guide rail 30, the guide rod 32 will be squeezed to slide toward the inside of the connecting arm 3, and drive the gear 31 to rotate. At this time, the baffle 103 will rotate from the original closed state to the connecting cavity 101 to the open state. At this time, the connecting arm 3 drives the clamping claw 8 to rise in height, and the air in the clamping airbag 18 will be squeezed and enter the connecting cavity 101 through the conduit 102, ensuring that in this process, the squeezing effect of the clamping airbag 18 and the clamping claw 8 on the apple will not affect the rising work of the clamping claw 8, and because the connecting arm 3 drives the clamping claw 8 to rise in height, .... The air pressure in the connecting chamber 101 is relatively large at this time. After the clamping claw 8 and the clamping airbag 18 are separated from the apple, a part of the airflow in the connecting chamber 101 will return to the clamping airbag 18. After the connecting arm 3 is separated from the guide rail 30, the spring 33 will push the guide rod 32 to slide upward. At this time, it will be driven by the gear 31 to further drive the baffle 103 to re-close the conduit 102 and the connecting chamber 101, so as to ensure the stability of the air pressure in the clamping airbag 18, ensure the clamping effect of the clamping claw 8 on the apple and prevent the apple from being damaged.

[0022] A receiving mechanism 11 is slidably connected to the inside of the collecting box 1. The receiving mechanism 11 is used to receive the apples sent through the clamping claw 8. The receiving mechanism 11 includes a receiving seat 111, a rotating seat 112 and a telescopic tube 113. The receiving seat 111 and the rotating seat 112 are both rotatably connected to the inside of the collecting box 1. The rotating seat 112 is rotatably connected to the bottom of the receiving seat 111. The telescopic tube 113 is connected to the bottom of the rotating seat 112. The other end of the telescopic tube 113 is connected to the inside of the collecting box 1. A cavity 19 is opened inside the rotating seat 112. Three air guide holes 20 are opened through the top of the cavity 19. The apertures of the three air guide holes 20 are different. A blowing hole 21 is opened through the surface of the receiving seat 111. The blowing hole 21 is connected to the air guide hole 20 after following the rotation of the receiving seat 111 There is a large friction between the receiving seat 111 and the apple, the conversion mechanism 12, the conversion mechanism 12 is rotatably connected to the inside of the collecting box 1, the conversion mechanism 12 is used for the conversion of the receiving mechanism 11, the conversion mechanism 12 includes a gear ring 121, a bevel gear 122 and a connecting tooth 123, the gear ring 121 is fixedly connected to the surface of the receiving seat 111, the bevel gear 122 is rotatably connected to the surface of the rotating seat 112, and the bevel gear 122 is meshed with the gear ring 121, the connecting tooth 123 is fixedly connected to one side of the bevel gear 122, the inside of the collecting box 1 is fixedly connected with a gear rod 22, the gear rod 22 is meshed with the connecting tooth 123, the other side of the surface of the connecting tooth 123 is fixedly connected with a connecting head 23, the bottom of the connecting head 23 is fixedly connected with a pressure spring 24, and the other end of the pressure spring 24 is fixedly connected to the inside of the collecting box 1.

[0023] Among them, after receiving the apple through the receiving seat 111 and twisting off the fruit stem in cooperation with the buffer capsule 15, the clamping claw 8 is completely separated from the apple. At this time, the apple will press down the receiving seat 111 due to its own gravity, and force the receiving seat 111 to drop to different heights according to the magnitude of gravity. When the gravity of the apple is particularly small, the height of the receiving seat 111 and the conversion seat to drop is relatively low. At this time, the connecting teeth 123 will not mesh with the gear rod 22, and the rotating seat 112 will not rotate. At this time, the airflow injected into the cavity 19 by the telescopic tube 113 will be blown out through the one with the largest aperture among the three air guide holes 20, and blown to the bottom of the apple through the blowing hole 21, so that the apple is blown down from the top of the receiving seat 111; If the weight of the apple is relatively large, the height of the receiving seat 111 will be the largest. At this time, the connecting teeth 123 are meshed with the guide teeth 29, and the gear ring 121 is driven to rotate through the bevel teeth 122, forcing the air guide hole 20 with the smallest aperture to blow out air. Since the aperture through which the air passes is relatively small, the pressure of the air flow will be relatively large at this time, which can ensure that the air flow can blow the relatively large apple from the top of the receiving seat 111. When the apple is of moderate quality, the receiving seat 111 will drop to a certain height and the connecting teeth 123 will also mesh with the gear rod 22, and the rotation amplitude of the receiving seat 111 is smaller than that when the apple is of relatively large quality, so as to ensure that the air guide hole 20 with a relatively moderate diameter is connected with the blowing hole 21, and ensure that the airflow can blow the apple normally.

[0024] The collecting mechanism 13 is arranged inside the collecting box 1. The collecting mechanism 13 is used to buffer and collect the apples transported by the receiving mechanism 11. The collecting mechanism 13 includes a collecting groove 131, a buffer slope 132 and a receiving seat 133. The collecting groove 131 and the buffer slope 132 are both opened inside the collecting box 1, and the buffer slope 132 is arranged to penetrate the collecting box 1. The three receiving seats 133 are fixedly connected to the surface of the collecting box 1, and the buffer slope 132 penetrates to one end outside the collecting box 1. Located above the receiving seat 133, the rotating seat 112 and the receiving seat 111 are both slidably connected to the inside of the collecting tank 131, and the height of the highest point of the three buffer slopes 132 gradually decreases. An air cavity 25 is opened inside the collecting box 1, and a vent 26 is opened on the surface of the buffer slope 132. The bottom end of the vent 26 is connected to the air cavity 25, and the bottom end of the telescopic tube 113 is penetrated by the air cavity 25. An air pump 27 is fixedly connected to one side of the surface of the collecting box 1, and the air pump 27 is used to inject air into the air cavity 25.

[0025] Among them, through three buffer slopes 132 with different heights, apples of different masses falling through the receiving seat 111 can be received, and air is continuously injected into the cavity 19 through the air pump 27, forcing the air to be blown out through the vent 26, so as to blow and buffer the apples falling on the surface of the buffer slope 132, further preventing the apples from being damaged by a large number of collisions, and finally entering the receiving seat 133 to be conveniently collected by workers.

[0026] The specific working principle and use method of the present invention are explained in detail below: When in use, in the first step, through the cooperation between the mechanical arm 2 and the connecting arm 3, the cylinder 4 drives the two connecting bars 7 to approach each other through the connecting block 5 and the top bar 6, forcing the clamping claw 8 to clamp the apple to be picked, and at this time, the two half teeth 903 approach each other and dock, and at this time, another top spring 16 will drive the two clamping rings 17 to approach each other, clamping the apple stem, so that the apple is picked from the branch and sent to the inside of the collection box 1, and the clamping claw 8 drives the apple to move When the connecting arm 3 moves to the top of the receiving seat 111, the bottom of the connecting arm 3 will slide with the guide rail 30, so that the connecting arm 3 will drive the clamping claw 8 upward and gradually approach the upper half tooth 903, and force the top of the apple to contact the buffer capsule 15. The guide tooth 29 is driven by the motor 28 to rotate, which can drive the two half teeth 903 to rotate together. Due to the friction between the receiving seat 111, the buffer capsule 15 and the apple, the apple itself will not rotate. Therefore, the half tooth 903 drives the clamping ring 17 to rotate, and the fruit stem is automatically twisted off and removed. In the second step, the apple is received by the receiving seat 111, and after the fruit stem is twisted off in cooperation with the buffer capsule 15, the clamping claw 8 is completely separated from the apple. At this time, the apple will press down the receiving seat 111 due to its own gravity, and force the receiving seat 111 to drop to different heights according to the magnitude of gravity. When the gravity of the apple is particularly small, the height of the receiving seat 111 and the conversion seat to drop is relatively low. At this time, the connecting teeth 123 will not mesh with the gear rod 22, and the rotating seat 112 will not rotate. At this time, the airflow injected into the cavity 19 by the telescopic tube 113 will be blown out through the one with the largest aperture among the three air guide holes 20, and blown to the bottom of the apple through the blowing hole 21, so that the apple is blown down from the top of the receiving seat 111; In the third step, three buffer slopes 132 of different heights can be used to receive apples of different masses falling through the receiving seat 111, and air is continuously injected into the cavity 19 through the air pump 27, forcing the air to be blown out through the vent 26, so as to blow and buffer the apples falling on the surface of the buffer slope 132, further preventing the apples from being damaged by a large number of collisions, and finally entering the receiving seat 133 to be conveniently collected by workers.

[0027] It is further explained that the above-mentioned fixed connection should be understood in a broad sense unless otherwise clearly specified and limited. For example, it can be welding, gluing, or one-piece molding, etc., which are conventional means well known to those skilled in the art.

[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic picking device suitable for dwarfed and densely planted apples, characterized in that: The invention comprises a collection box (1), wherein a mechanical arm (2) is arranged on one side of the surface of the collection box (1), a connecting arm (3) is arranged on one end of the mechanical arm (2), the connecting arm (3) is slidably connected to the collection box (1), a cylinder (4) is fixedly connected inside the connecting arm (3), the output end of the cylinder (4) is fixedly connected to a connecting block (5), four top bars (6) are hingedly connected symmetrically on the upper and lower surfaces of the connecting block (5), the other end of the top bar (6) is hingedly connected to a connecting bar (7), the connecting bar (7) penetrates and slides through both sides of the connecting arm (3), one end of the connecting bar (7) that penetrates to the outside of the connecting arm (3) is fixedly connected to a clamping claw (8), and further comprises: A twisting mechanism (9), the twisting mechanism (9) being arranged above the two clamping claws (8), and being used to twist off the apple stem; An air guide mechanism (10), the air guide mechanism (10) being arranged inside the connecting arm (3), and the air guide mechanism (10) being used to inflate the twisting mechanism (9); A receiving mechanism (11), the receiving mechanism (11) being slidably connected to the inside of the collecting box (1), and the receiving mechanism (11) being used to receive the apples delivered via the clamping claws (8); A conversion mechanism (12), the conversion mechanism (12) being rotatably connected to the interior of the collection box (1), the conversion mechanism (12) being used for the conversion of the receiving mechanism (11); and a collecting mechanism (13), wherein the collecting mechanism (13) is arranged inside the collecting box (1), and the collecting mechanism (13) is used for buffering and collecting the apples transported via the receiving mechanism (11).

2. The automatic picking device for dwarfed and densely planted apples according to claim 1, characterized in that: The twisting mechanism (9) comprises a guide rod (901), a connecting foot (902) and two half teeth (903); the guide rod (901) is fixedly connected to the top of the connecting arm (3); the two connecting feet (902) are symmetrically slidably connected to the surface of the guide rod (901); the two ends of the guide rod (901) respectively penetrate and slide with the two connecting feet (902); the bottom of the connecting foot (902) penetrates and slides with the connecting strip (7); the two half teeth (903) are located above the two clamping claws (8); the two connecting feet (902) are respectively rotatably connected to the two half teeth (903); the bottoms of the two half teeth (903) are both rotatably connected to a connecting sheet (14); the bottom of the connecting sheet (14) is fixedly connected to a buffer bag (15); the interior of the half teeth (903) is fixedly connected to a top spring (16); the other end of the top spring (16) is fixedly connected to a clamp ring (17); the clamp ring (17) penetrates between the two half teeth (903).

3. The automatic picking device for dwarfed and densely planted apples according to claim 2, characterized in that: The air guide mechanism (10) comprises two connecting cavities (101), two conduits (102) and two baffles (103); the two connecting cavities (101) are symmetrically arranged inside the connecting arm (3); the two conduits (102) are symmetrically connected to the two sides of the connecting arm (3); the conduits (102) and the connecting cavities (101) are interpenetratingly arranged; the two clamping jaws (8) are fixedly connected to clamping airbags (18) on opposite sides; the two clamping airbags (18) are respectively connected to the two conduits (102) on the sides away from each other; and the two baffles (103) are respectively rotatably connected to the inside of the connecting cavities (101).

4. The automatic picking device for dwarfed and densely planted apples according to claim 1, characterized in that: The receiving mechanism (11) comprises a receiving seat (111), a rotating seat (112) and a telescopic tube (113). The receiving seat (111) and the rotating seat (112) are both rotatably connected to the inside of the collection box (1). The rotating seat (112) is rotatably connected to the bottom of the receiving seat (111). The telescopic tube (113) is connected to the bottom of the rotating seat (112). The other end of the telescopic tube (113) is connected to the inside of the collection box (1). A cavity (19) is provided inside the rotating seat (112). Three air guide holes (20) are provided through the top of the cavity (19). The apertures of the three air guide holes (20) are different. A blowing hole (21) is provided through the surface of the receiving seat (111). The blowing hole (21) is connected to the air guide hole (20) after the receiving seat (111) rotates. A large friction force exists between the receiving seat (111) and the apple.

5. The automatic picking device for dwarfed and densely planted apples according to claim 4, characterized in that: The conversion mechanism (12) comprises a gear ring (121), a bevel tooth (122) and a connecting tooth (123); the gear ring (121) is fixedly connected to the surface of the receiving seat (111); the bevel tooth (122) is rotatably connected to the surface of the rotating seat (112); the bevel tooth (122) is meshed with the gear ring (121); the connecting tooth (123) is fixedly connected to one side of the bevel tooth (122); a gear rod (22) is fixedly connected to the inside of the collection box (1); the gear rod (22) is meshed with the connecting tooth (123); a connecting head (23) is fixedly connected to the other side of the surface of the connecting tooth (123); a pressure spring (24) is fixedly connected to the bottom of the connecting head (23); the other end of the pressure spring (24) is fixedly connected to the inside of the collection box (1).

6. The automatic picking device for dwarfed and densely planted apples according to claim 4, characterized in that: The collecting mechanism (13) comprises a collecting groove (131), a buffer slope (132) and a receiving seat (133); the collecting groove (131) and the buffer slope (132) are both arranged inside the collecting box (1), and the buffer slope (132) and the collecting box (1) are arranged to penetrate each other; three receiving seats (133) are fixedly connected to the surface of the collecting box (1), and one end of the buffer slope (132) that penetrates to the outside of the collecting box (1) is located above the receiving seat (133); the rotating seat (112) and the receiving seat (111) are arranged to be connected to the collecting box (1) and the receiving seat (111) is ... ) are all slidably connected to the inside of the collecting tank (131), the heights of the highest points of the three buffer slopes (132) gradually decrease, an air cavity (25) is provided inside the collecting box (1), a vent (26) is provided through the surface of the buffer slope (132), the bottom end of the vent (26) is communicated with the air cavity (25), and the bottom end of the telescopic tube (113) is provided through the air cavity (25), and an air pump (27) is fixedly connected to one side of the surface of the collecting box (1), and the air pump (27) is used to inject air into the air cavity (25).

7. The automatic picking device for dwarfed and densely planted apples according to claim 2, characterized in that: The interior of the collection box (1) is fixedly connected to a motor (28); the output end of the motor (28) is fixedly connected to a guide tooth (29) via a coupling; one side of the guide tooth (29) is arranged to penetrate the collection box (1); the guide tooth (29) and the side that penetrates the outside of the collection box (1) are meshed with the half tooth (903); the surface of the collection box (1) is fixedly connected to a guide rail (30); and the bottom of the connecting arm (3) is slidably connected to the guide rail (30).

8. The automatic picking device for dwarfed and densely planted apples according to claim 3, characterized in that: A gear (31) is fixedly connected to one side of the baffle (103), the gear (31) is rotatably connected to the inside of the connecting arm (3), a guide rod (32) is slidably connected to the inside of the connecting arm (3), the top of the guide rod (32) is arranged to penetrate the top of the connecting arm (3), the bottom of the guide rod (32) is fixedly connected to a spring (33), and the other end of the spring (33) is fixedly connected to the inside of the connecting arm (3).

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