Fruit picking and subpackaging device

Abstract

The fruit picking and subpackaging device comprises a vehicle body, a support, a guide assembly, a conveying belt, a lower fruit receiving basin, an upper fruit receiving basin and a sorting assembly, the guide assembly comprises a first telescopic cylinder and a second telescopic cylinder, and a picking mechanism and a storage mechanism are arranged at the output end of the second telescopic cylinder; a camera connected with the controller is arranged on the picking mechanism; a stirring mechanism is arranged in the upper fruit receiving basin, the sorting assembly comprises a sorting and receiving hopper assembly, the sorting and receiving hopper assembly comprises a plurality of receiving hoppers, and an electric door mechanism used for controlling fruit discharging is arranged at the discharging end of each receiving hopper; the camera, the picking mechanism and the storage mechanism which are connected with the controller are arranged, so that the picking angle of the fruit picking mechanism is conveniently observed and adjusted in real time, and the falling accuracy of picked fruits is improved; a fruit receiving basin, a stirring mechanism, a sorting assembly and an electric door mechanism are arranged to assist the fruits in moving and facilitate rapid classification, packaging and placement.

Description

Technical Field

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

[0002] In the orchard, when the fruits are ripe, it is a time-consuming and laborious task to pick the ripe fruits from the trees, especially 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, because the fruits are surrounded by branches, they are easily hooked or even scratched by the branches. For lighter fruits, such as citrus and lemons, when the fruit bag is close to 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; and after the fruit is picked, the fruit is collected uniformly and then transported to the factory for classification and packaging according to the size of the fruit. During this period, the fruit has multiple loading and unloading and circulation processes. In this process, even citrus fruits are easily damaged due to bumps, which not only reduces the good quality rate of the fruit, but also increases the cost of fruit classification and processing, which has a great impact on the production and processing efficiency of the fruit. Summary of the invention

[0003] In view of the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is to provide a fruit picking and packaging device which is convenient for picking fruits and can avoid picking interference, and can also classify fruits according to their shapes and sizes when picking, and is convenient for classification, collection and placement.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a fruit picking and packaging device, including a vehicle body, a bracket movably arranged on the vehicle body, a guide component adjustably arranged on the bracket, a lower fruit receiving basin fixedly connected to the vehicle body and provided with a discharge port, an upper fruit receiving basin connected to the lower fruit receiving basin, and a sorting component connected between the upper fruit receiving basin and the lower fruit receiving basin, the guide component includes 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, a storage mechanism is connected to the other side of the output end of the second telescopic cylinder, and a control mechanism is provided on the picking mechanism. A camera connected to the device, a conveyor belt fixed to the vehicle body is provided at the discharging end of the storage mechanism, and the discharging end of the conveyor belt is connected to the upper fruit receiving basin; a stirring mechanism is provided in the upper fruit receiving basin for fruits to fall into the sorting component in an orderly manner, the sorting component includes a sorting hopper component, and the sorting hopper component includes a plurality of hoppers, and an electric door mechanism for controlling the fruit discharge is provided at the discharging end of each hopper; when in use, the picking mechanism is controlled by the camera to pick the fruits, and the picked fruits fall directly into the storage mechanism, and are transported to the upper fruit receiving basin via the conveyor belt, and then sequentially pass through the stirring mechanism, the sorting hopper component, the electric door mechanism and the lower fruit receiving basin to achieve the purpose of fruit packaging.

[0005] With 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 are helpful 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 reasonable and accurate adjustment of the use angle of the picking mechanism. The picking mechanism can pull 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 directly fall 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. An upper fruit receiving basin is provided as the feeding end for sorting fruits, and the fruits entering the upper fruit receiving basin are stirred. Driven by the mechanism, the fruits roll in the upper fruit receiving basin to avoid local accumulation and blockage, so as to avoid the situation that the fruits are not smoothly moved, and they are smoothly moved to the connected sorting components, and the purpose of collecting and classifying the fruits according to the size is achieved at the positions of several receiving hoppers in the sorting components; an electric door mechanism is arranged in connection with each receiving hopper, which can prevent the fruits classified by size in each receiving hopper from falling out when closed, and can achieve the purpose of opening several electric door mechanisms in sequence, so as to release the fruits of different fruit shapes and sizes in several receiving hoppers into the lower fruit receiving basin one by one, which is convenient for subsequent classification, packaging and placement; in this process, the fruit moves a short distance and the transfer height is small, which greatly reduces the probability of damage, improves the quality rate of fruits, and reduces the production and transportation costs.

[0006] Beneficial effects: The present invention is provided with a camera, a picking mechanism and a storage mechanism connected to a controller, which is convenient for observing and adjusting the picking angle of the fruit picking mechanism in real time, thereby improving the accuracy of the falling of the picked fruits; a fruit receiving basin, a stirring mechanism, a sorting component and an electric door mechanism are provided to assist in the movement of fruits and facilitate rapid classification, packaging and placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] 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:

[0008] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0009] Figure 2 It is a schematic diagram of the installation structure of the present invention.

[0010] Figure 3 for Figure 2 Enlarged view of point A in .

[0011] Figure 4 Schematic diagram of the installation structure of the top rod.

[0012] Figure 5 A schematic diagram of the installation structure of the mounting frame is shown in FIG.

[0013] Figure 6 Schematic diagram of the installation structure of the inner gear ring.

[0014] Figure 7 A schematic diagram of the bracket installation structure.

[0015] Figure 8 It is a schematic diagram of the installation structure of the first telescopic cylinder and the second telescopic cylinder.

[0016] Fig. 9 A schematic diagram of the structure of the steering assembly.

[0017] Fig.10 It is a schematic diagram of the installation structure of the shearing assembly and the steering assembly.

[0018] Fig.11 It is a schematic diagram of the installation structure connecting the bracket and the swing shaft.

[0019] Fig.12 It is a schematic diagram of the transmission installation structure of the rotating rod and the shear plate.

[0020] Fig.13 This is a schematic diagram of the use status of the shearing component.

[0021] Fig.14 This is a schematic diagram of the use status of the fruit picking mechanism.

[0022] Fig.15 This is a schematic diagram of the structure of the snake bone tube in the folded state.

[0023] Fig.16 This is a schematic diagram of the principle structure of the hollow rotating platform.

[0024] Fig.17 Schematic diagram of the conveyor belt structure.

[0025] Fig.18 It is a structural stereogram of the sorting component.

[0026] Fig.19 It is a schematic diagram of the installation structure of the upper fruit basin and the lower fruit basin.

[0027] Fig. 20 Schematic diagram of the installation structure of the sorting component.

[0028] Fig.21 Top view of the upper fruit basin installation position.

[0029] Fig. 22 It is a schematic diagram of the structure of the first rail frame and the second rail frame.

[0030] Fig.23 It is a structural schematic diagram of the receiving hopper.

[0031] Fig.24 This is a schematic diagram of the structure when the electric door mechanism is open.

[0032] Fig.25 This is a schematic diagram of the process when the electric door mechanism is closed.

[0033] The meanings of the symbols in the accompanying drawings are:

[0034] 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;

[0035] 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;

[0036] 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; the corrugated groove-4; the connecting plate-40; the connecting sleeve-41; the placement groove-42; the guide column-43; the auxiliary bracket-44; the positioning groove-45; the positioning block-46; the connecting bolt-47; the compression spring-48;

[0037] Front bracket-5; rear bracket-50; snake-bone tube-51; hose-52; screen-53; air bag-60; air inlet valve-61; exhaust valve-62; 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;

[0038] Camera-8; oblique support rod-80; upper fruit receiving basin-81; first discharging trough-811; second discharging trough-812; support rod-813; lower fruit receiving basin-82; transition groove-820; power motor-821; transmission shaft-822; stirring plate-823; bearing-824; fixing sleeve-825; receiving hopper-826; monitoring camera-827;

[0039] Upper connecting plate-830; first rail frame-831; second rail frame-832; lower connecting plate-833; fence-834; support frame-84; first stepper motor-841; second stepper motor-842; first baffle-843; second baffle-844; first connecting pin-845; second connecting pin-846; third connecting pin-847; fourth connecting pin-848;

[0040] The first support rod 851; the second support rod 852; the third support rod 853; the fourth support rod 854; the fifth support rod 855; the sixth support rod 856; the seventh support rod 857; the eighth support rod 858; the partition plate 86;

[0041] Conveyor belt-9; mounting frame-90; fixing bracket-901; first push rod-91; second push rod-92; linear motor-93; slider-94; slide groove-941; guide rail-95; bottom plate-96; servo motor-961; driving tooth-962; boss-97; first groove-971; inner gear ring-98; second groove-981; ball-99. DETAILED DESCRIPTION

[0042] Depend on Figures 1 to 25As shown, the present invention includes a vehicle body 1, a bracket 10 movably arranged on the vehicle body 1, a guide assembly adjustably arranged on the bracket 10, a lower fruit receiving basin 82 fixedly connected to the vehicle body 1 and provided with a discharge port, an upper fruit receiving basin 81 connected to the lower fruit receiving basin 82, and a sorting assembly connected between the upper fruit receiving basin 81 and the lower fruit receiving basin 82, 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, 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. A conveyor belt 9 fixed on the vehicle body 1 is provided at the discharge end of the storage mechanism, and the discharge end of the conveyor belt 9 is connected to the upper fruit receiving basin 81; a stirring mechanism is provided in the upper fruit receiving basin 81 for allowing fruits to fall into the sorting component in an orderly manner, and the sorting component includes a sorting hopper component, and the sorting hopper component includes a plurality of hoppers 826, and an electric door mechanism for controlling the fruit discharge is provided at the discharge end of each hopper 826; when in use, the camera 8 controls the picking mechanism to pick fruits, and the picked fruits fall directly into the storage mechanism, and are transported to the upper fruit receiving basin 81 via the conveyor belt 9, and then sequentially pass through the stirring mechanism, the sorting hopper component, the electric door mechanism and the lower fruit receiving basin 82 to achieve the purpose of fruit packaging.

[0043] Specifically, a mounting frame 90 is provided on the vehicle body 1, a linear motor 93 is provided on the mounting frame 90, a slider 94 is connected to the output end of the linear motor 93, a slide groove 941 is provided on the slider 94, a guide rail 95 is provided at a position corresponding to the slider 94 on the mounting frame 90, and the slide groove 941 is sleeved on the guide rail 95; one side of the slider 94 is hingedly connected to one side of the first push rod 91, a fixed bracket 901 is provided on the mounting frame 90, and the fixed bracket 901 is hingedly connected to one side of the second push rod 92, the first push rod 91 and the middle part of the second push rod 92 are coaxially rotatably arranged and cross-shaped, a bottom plate 96 is provided between the two push rods, and the other side of the first push rod 91 and the other side of the second push rod 92 are hingedly connected to the corresponding ends of the bottom plate 96.

[0044] A boss 97 is provided on the bottom plate 96, and a first groove 971 is provided on the boss 97 along the circumferential direction. An inner gear ring 98 is provided at the upper end of the bottom plate 96, and a second groove 981 is provided on the inner gear ring 98 at a position corresponding to the first groove 971. The two grooves together form an annular cavity in which a ball 99 is placed; a servo motor 961 is provided on the bottom plate 96, and the output end of the servo motor passes through the bottom plate 96, and the outlet end of the servo motor 961 is provided with an active tooth 962 meshing with the inner gear ring 98.

[0045] A bracket 10 is fixedly provided on the inner gear ring 98, and two vertically arranged screw rods 13 are symmetrically provided 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, and a connecting block 15 is screwed on each screw rod 13, and the facing ends of the two connecting blocks 15 are provided with horizontally extending support rods 19; 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.

[0046] A side bracket 18 of the extending bracket 10 is provided on the other side of the connecting block 15, and 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, and the output end of the first telescopic cylinder 11 is hingedly connected to the connecting frame 120. 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] The stirring mechanism includes a power motor 821 fixed to the bottom of the lower fruit receiving basin 82 and a transmission shaft 822 connected to the output end of the power motor 821. The transmission shaft 822 vertically passes through the lower fruit receiving basin 82 and the upper fruit receiving basin 81 in sequence, and a horizontally extending stirring plate 823 is provided at the position where the transmission shaft 822 passes through the upper fruit receiving basin 81.

[0054] Bearings 824 are provided at the positions between the transmission shaft 822 and the two fruit basins. Both ends of the transmission shaft 822 are sleeved on the middle parts of the bearings 824 at the corresponding ends. A fixing sleeve 825 is sleeved on the outer side of the transmission shaft 822 at the position corresponding to the position between the two fruit basins. The upper and lower ends of the fixing sleeve 825 are respectively abutted against the inner side walls of the bearings 824 at the corresponding ends. The middle parts of the upper fruit basin 81 and the lower fruit basin 82 are sleeved on the outer sides of the bearings 824 at the corresponding ends.

[0055] A first arc-shaped discharge groove 811 and a second arc-shaped discharge groove 812 are provided at the bottom of the upper fruit receiving basin 81. The first discharge groove 811 and the second discharge groove 812 are both arranged along the circumferential direction of the bottom of the upper fruit receiving basin 81, and the two discharge grooves are arranged parallel to each other.

[0056] The sorting assembly also includes a sorting track assembly, which includes an upper connecting plate 830, a lower connecting plate 833, and a first rail frame 831 and a second rail frame 832 which are spirally arranged side by side from top to bottom between the two connecting plates. The upper connecting plate 830 is fixedly connected to the upper fruit basin 81, and the lower connecting plate 833 is connected to the clamp of the fixing sleeve 825. The upper end of the first rail frame 831 is connected to the first discharge chute 811, and the upper end of the second rail frame 832 is connected to the second discharge chute 812. The track spacing of each rail frame is arranged in an increasing manner from top to bottom; a fence 834 is vertically provided at a position between the upper end edges of the first rail frame 831 and the second rail frame 832 and the lower end surface of the upper connecting plate 830.

[0057] Several of the receiving hoppers 826 are connected to the fixed sleeve 825 and are continuously arranged from top to bottom along the spiral direction of the two rail frames. A monitoring camera 827 connected to the controller is provided on the inner wall of each of the receiving hoppers 826. The lower end of each of the receiving hoppers 826 is provided with a discharge hole connected to the lower fruit receiving basin 82, and an electric door mechanism is provided at the position of each of the discharge holes.

[0058] The electric door mechanism includes a support frame 84 fixed on the receiving hopper 826 and located outside the discharge hole, a first stepper motor 841 and a second stepper motor 842 arranged on one side of the support frame 84, and a first baffle 843 and a second baffle 844 hingedly arranged on the other side of the support frame 84 and respectively connected to the output ends of the two stepper motors, and the two stepper motors are connected to the controller; a horizontally extending first support rod 851 is provided at the output end of the first stepper motor 841, the extended end of the first support rod 851 is coaxially hinged with one side of the second support rod 852, the other side of the second support rod 852 is hingedly connected to a first connecting pin 845 fixed on the upper end of the first baffle 843, and a second connecting pin 846 is provided at the lower end of the first baffle 843, and the second connecting pin 846 is connected to the third support rod 85 3 is hingedly connected to one side of the third support rod 853, the other side of the third support rod 853 is coaxially hingedly arranged with one side of the fourth support rod 854, and the other side of the fourth support rod 854 is hingedly connected to the support frame 84; a horizontally extended fifth support rod 855 is provided at the output end of the second stepping motor 842, the extended end of the fifth support rod 855 is coaxially hingedly arranged with one side of the sixth support rod 856, the other side of the sixth support rod 856 is hingedly connected to the third connecting pin 847 fixed at the upper end of the second baffle 844, the lower end of the second baffle 844 is provided with a fourth connecting pin 848, the fourth connecting pin 848 is hingedly connected to one side of the seventh support rod 857, the other side of the seventh support rod 857 is coaxially hingedly arranged with one side of the eighth support rod 858, and the other side of the eighth support rod 858 is hingedly connected to the support frame 84.

[0059] The bottom of the lower fruit receiving basin 82 is an inclined structure, and a transition groove 820 is provided at the lower end of the bottom of the basin. An opening is provided on the side wall of the lower fruit receiving basin 82 at a position corresponding to the lower end of the bottom of the basin, and the opening is connected to the transition groove 820 to form a discharge port.

[0060] A support rod 813 is also connected between the upper fruit receiving basin 81 and the lower fruit receiving basin 82 .

[0061] The use principle of the present invention is as follows:

[0062] like Figure 1 , Fig. 20 and Fig.21As shown, before use, a lower fruit receiving basin 82 is fixedly provided on the picking vehicle, and an upper fruit receiving basin 81 is connected and fixed above the lower fruit receiving basin 82 by a support rod 813, and a first arc-shaped discharge trough 811 and a second discharge trough 812 are provided at the bottom of the upper fruit receiving basin 81 in parallel along the circumferential direction of the bottom of the upper fruit receiving basin 81.

[0063] A power motor 821 is arranged at the lower end of the lower fruit receiving basin 82, and a transmission shaft 822 is connected to the output end of the power motor 821. The transmission shaft 822 vertically passes through the lower fruit receiving basin 82 and the upper fruit receiving basin 81 in sequence, and a horizontally extending stirring plate 823 is arranged at the position where the transmission shaft 822 passes through the upper fruit receiving basin 1; wherein, bearings 824 are arranged at the passing positions between the transmission shaft 822 and the two fruit receiving basins, and both ends of the transmission shaft 822 are sleeved on the middle parts of the bearings 824 at the corresponding ends, and a fixing sleeve 825 is sleeved on the outer side of the transmission shaft 822 at the position corresponding to the position between the two fruit basins, and the upper and lower ends of the fixing sleeve 825 are respectively connected and fixed to the upper fruit receiving basin 81 and the lower fruit receiving basin 82, and the middle parts of the upper fruit receiving basin 81 and the lower fruit receiving basin 82 are sleeved on the outer sides of the bearings 824 at the corresponding ends.

[0064] Then, a first rail frame 831 and a second rail frame 832 are provided between the lower fruit receiving basin 82 and the upper fruit receiving basin 81, which are fixedly connected by an upper connecting plate 830 and a lower connecting plate 833. The two rail frames are arranged side by side in a spiral manner from top to bottom. Four receiving hoppers 826 (such as 826) connected to the fixing sleeve 825 and arranged continuously from top to bottom along the spiral direction of the two rail frames are provided below the two rail frames. Fig.18 , Fig. 22 and Fig.23 As shown), the four receiving hoppers 826 are each provided with a monitoring camera 827 and a discharging hole, and the discharging hole is each provided with an electric door mechanism and is connected to the lower fruit receiving basin 82.

[0065] The bottom of the lower fruit receiving basin 82 is an inclined structure, and a transition groove 820 is provided at the lower end of the basin bottom. An opening communicating with the transition groove 820 is provided on the side wall of the lower fruit receiving basin 82 at a position corresponding to the lower end of the basin bottom.

[0066] When in use, the vehicle body 1 is started and moved under the fruit tree, and the linear motor 93 is started first. The output end of the linear motor 93 pulls the slider 94 to move back on the guide rail 95, that is, the first push rod 91 is synchronously driven to rotate in the counterclockwise direction, and the cross-rotation position of the first push rod 91 and the second push rod 92 is raised accordingly, and the second push rod 92 is synchronously driven to rotate in the clockwise direction to achieve the purpose of jointly raising the bottom plate 96; in order to ensure the increased lifting pressure and lifting stability, a linear motor 93 can also be set at the lower end of the bottom plate 96, and a set of sliders 94 and guide rails 95 (such as Figures 1 to 5 status shown).

[0067] After the bottom plate 96 is raised, the servo motor 961 is started again according to the picking position, driving the meshing active teeth 962 and the inner gear ring 98 to rotate synchronously, thereby driving the bracket 10 connected to the inner gear ring 98 to rotate in the horizontal direction, so as to drive the fruit picking mechanism toward the picking position; Figure 5 and Figure 6 As shown, since a boss 97 is provided on the bottom plate 96, a first groove 971 is provided on the boss 97 along the circumferential direction, and a second groove 981 is provided on the inner gear ring 98 at a position corresponding to the first groove 971. The two grooves together form an annular cavity in which the ball 99 is placed, thereby ensuring the smooth and stable rotation of the bracket 10.

[0068] Then, 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.

[0069] 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 2 , Figure 7 , Figure 8 as well as Figure 10 to Figure 12 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.

[0070] 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.

[0071] Among them, Fig.12 and Fig.13 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.

[0072] 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 , Fig. 9 , Fig.10 and Fig.14 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.

[0073] Repeat the above operation to pick and store the remaining target fruits.

[0074] like Figure 1 and Figure 2As 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.

[0075] 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.

[0076] 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 are as follows: Fig.16 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.

[0077] 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.

[0078] 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.15 to avoid motion interference.

[0079] For ease of operation, the linear motor, transmission motor 14, servo motor, drive motor, telescopic cylinder, intake valve 861 and exhaust valve 862 used are all connected to the controller. At the same time, a power supply (not marked) connected to the controller is set on the vehicle body 1.

[0080] like Figure 1 , Figure 2 as well as Figures 17 to 21 As shown, since pleated partitions 86 are evenly spaced on the conveyor belt 9, the picked fruits are lifted and transported to the upper fruit receiving basin 81 through the conveyor belt 9 and supported by the partitions 86, and the power motor 821 is started by the controller, and the output end of the power motor 821 drives the transmission shaft 822 and the stirring plate 823 to rotate synchronously, so that the fruits in the upper fruit receiving basin 81 are moved in the upper fruit receiving basin 81, and a single fruit falls out of the upper fruit receiving basin 81 from the first discharge trough 811 or the second discharge trough 812, and the fallen fruits fall onto the first rail frame 831 or the second rail frame 832 accordingly. Since a fence 834 is vertically provided at a position between the upper end edge of the first rail frame 831 and the second rail frame 832 and the lower end surface of the upper connecting plate 830, the position where the fruit falls out of the upper fruit receiving basin 81 will not fall outside the rail frame position, thereby ensuring that the single fruit can flow smoothly along the rail frame direction.

[0081] Since the track spacing between the first rail frame 831 and the second rail frame 832 is set in an increasing manner from top to bottom, combined with the setting of the four receiving hoppers 826, that is, at the position of each receiving hopper 826, the track spacing between the two rail frames must be increased, taking the fruit diameter range of 50-80mm as an example, it is first divided into four fruit diameter sections, 50mm-60mm as a section, 60mm-70mm as a section, 70mm-75mm as a section, and 75mm-80mm as a section, and the track spacing of the rail frames is adapted accordingly. Thus, the receiving hopper 826 at the uppermost end collects fruits with a fruit diameter of 50mm-60mm, the receiving hopper 826 adjacent to the lower end collects fruits with a fruit diameter of 60mm-70mm, the receiving hopper 826 adjacent to the lower end collects fruits with a fruit diameter of 70mm-75mm, and the receiving hopper 826 at the lowest end collects fruits with a fruit diameter of 75mm-80mm.

[0082] At the same time, a monitoring camera 827 connected to the controller is provided on the inner wall of each receiving hopper 826. Before use, an image of the fruit stacking state or data of preset image conversion is pre-input into the controller. During use, when the fruit reaches the bucket mouth of the receiving hopper 826, the monitoring camera 827 compares the real-time photographic image with the preset image or data, and thereby starts the electric door mechanism corresponding to the position of the receiving hopper 826 to release the fruit of the corresponding fruit diameter. The fallen fruit quickly rolls down into the transition groove 820 at the inclined bottom of the lower fruit receiving basin 82, and is moved out from the opening of the lower fruit receiving basin 82 by inertia. Since the operator is familiar with the corresponding fruit specifications loaded in each receiving hopper 826, the removed fruit can be accurately classified, packaged and placed.

[0083] It should be pointed out that, since each receiving hopper 826 is not far apart, in order to avoid fruits of other specifications falling into the opened receiving hopper 826 when the electric door mechanism is opened, the critical position when the receiving hopper 826 is full should not be selected in the pre-input image or the relevant parameters set. It is appropriate to use the position of the hopper mouth just flush with the receiving hopper 826 to ensure space for more fruits and prevent them from falling out and mixing. Similarly, when two or more receiving hoppers 826 meet the judgment of the controller that they are full at the same time, the electric door mechanisms of the corresponding receiving hoppers 826 should be opened in sequence according to the set discharge logic relationship to achieve the purpose of orderly discharge and collection.

[0084] In the above content, the opening and closing actions of the electric door mechanism are specifically as follows: Fig.25 As shown in Figures c and d in the figure, in the direction from Figure d to Figure c, the monitoring camera 827 compares the real-time photographic image with the preset image or data, and the controller determines that the full opening condition is met, and sends an opening instruction to the first stepper motor 841 and the second stepper motor 842 at the same time, and the output end of the first stepper motor 841 drives the first support rod 851 to rotate in the clockwise direction (by pressing Fig.25The output end of the second stepper motor 842 drives the fifth support rod 855 to rotate in the counterclockwise direction, and the first support rod 851 drives the coaxially hinged second support rod 852 to move synchronously, and causes the first baffle 843 hingedly connected to the second support rod 852 to move toward the outside of the discharge hole. Similarly, the fifth support rod 855 drives the coaxially hinged sixth support rod 856 to move synchronously, and causes the second baffle 844 hingedly connected to the sixth support rod 856 to move toward the outside of the discharge hole. Both baffles move outward to form an open door shape and expose the discharge hole (as shown in the direction ... Fig.24 The fruit in the receiving hopper 826 falls into the lower fruit receiving basin 82 through the discharge hole.

[0085] The controller presets the opening time to keep the opening state for a period of time. After the preset time is up, the controller sends a closing command to the two stepper motors. Figure 7 as well as Figure 8 As shown in Figures c to d in the figure, in the order of Figures a to b, at this time, the output end of the first stepper motor 841 drives the first support rod 851 to rotate in the counterclockwise direction (according to Fig.25 The output end of the second stepper motor 842 drives the fifth support rod 855 to rotate in the clockwise direction, thereby driving the two baffles to rotate simultaneously and move closer to each other to form a closed door shape, blocking the discharge port of the receiving hopper 826. Each electric door mechanism works in this way in an orderly manner so that fruits of various specifications can be quickly classified and packaged.

[0086] Among them, in order to ensure the movement stability of the two baffles, a second connecting pin 846 is provided at the lower end of the first baffle 843, the second connecting pin 846 is hingedly connected to one side of the third support rod 853, the other side of the third support rod 853 is coaxially hingedly arranged with one side of the fourth support rod 854, and the other side of the fourth support rod 854 is hingedly connected to the support frame 84; similarly, a fourth connecting pin 848 is provided at the lower end of the second baffle 844, the fourth connecting pin 848 is hingedly connected to one side of the seventh support rod 857, the other side of the seventh support rod 857 is coaxially hingedly arranged with one side of the eighth support rod 858, and the other side of the eighth support rod 858 is hingedly connected to the support frame 84; two identical transmission connection structures are provided on each baffle, which can not only support the baffle to prevent the fruit from leaking, but also ensure the movement stability during the opening and closing process.

[0087] According to the aforementioned content, the picked fruits are directly sent to the upper fruit receiving basin 81, and flow through two rail frames and fall into the receiving hoppers 826 of corresponding specifications respectively. At the position of the receiving hoppers 826, they fall into the lower fruit receiving basin 82 in an orderly manner and are quickly classified, packaged and placed. The turnover time of the whole process is fast, and the movement height of each link is not large. It is not easy to cause damage to citrus fruits, which improves the quality rate of fruits. They are sorted and packaged as they are picked, reducing transportation costs. In order to better reduce circulation damage, the discharge holes of the three receiving hoppers 826 at the upper end are all set vertically downward, and the discharge hole of the lowest receiving hopper 826 is set horizontally outward.

[0088] The monitoring camera 827 and the connected controller used in this embodiment are both uses of the existing technology and do not involve the adjustment of the control program, so the preset use of the monitoring camera 827 and the controller will not be repeated here.

[0089] Similarly, the stepper motor and power motor 21 involved are also connected to the controller to achieve a semi-automatic production mode of fruit picking and sorting.

Claims

1. A fruit picking and packaging device, characterized in that: The invention comprises a vehicle body (1), a support (10) movably arranged on the vehicle body (1), a guide assembly adjustably arranged on the support (10), a lower fruit receiving basin (82) fixedly connected to the vehicle body (1) and provided with a discharge port, an upper fruit receiving basin (81) connected to the lower fruit receiving basin (82), and a sorting assembly connected between the upper fruit receiving basin (81) and the lower fruit receiving basin (82), 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. A conveyor belt (9) fixed to the vehicle body (1) is provided at the discharge end of the storage mechanism, and the discharge end of the conveyor belt (9) is connected to an upper fruit receiving basin (81); a stirring mechanism is provided in the upper fruit receiving basin (81) for allowing fruits to fall into a sorting component in an orderly manner, and the sorting component includes a sorting receiving hopper component, and the sorting receiving hopper component includes a plurality of receiving hoppers (826), and an electric door mechanism for controlling the discharge of fruits is provided at the discharge end of each receiving hopper (826); when in use, the picking mechanism is controlled by a camera (8) to pick fruits, and the picked fruits fall directly into the storage mechanism, and are transported to the upper fruit receiving basin (81) via the conveyor belt (9), and then sequentially pass through the stirring mechanism, the sorting receiving hopper component, the electric door mechanism and the lower fruit receiving basin (82) to achieve the purpose of fruit packaging.

2. The fruit picking and packaging device according to claim 1, characterized in that: A mounting frame (90) is provided on the vehicle body (1), a linear motor (93) is provided on the mounting frame (90), a slider (94) is connected to the output end of the linear motor (93), a slide groove (941) is provided on the slide groove (94), a guide rail (95) is provided at a position corresponding to the slider (94) on the mounting frame (90), and the slide groove (941) is sleeved on the guide rail (95); one side of the slider (94) is hingedly connected to one side of the first push rod (91), a fixed bracket (901) is provided on the mounting frame (90), and the fixed bracket (901) is hingedly connected to one side of the second push rod (92), the first push rod (91) and the middle part of the second push rod (92) are coaxially rotatably arranged and in a cross shape, and a bottom plate (96) is provided between the two push rods, and the other side of the first push rod (91) and the other side of the second push rod (92) are both hingedly connected to the corresponding ends of the bottom plate (96).

3. The fruit picking and packaging device according to claim 2, characterized in that: A boss (97) is provided on the bottom plate (96), a first groove (971) is provided on the boss (97) along the circumferential direction, an inner gear ring (98) is provided at the upper end of the bottom plate (96), a second groove (981) is provided on the inner gear ring (98) at a position corresponding to the first groove (971), and the two grooves are combined to form an annular cavity in which a ball (99) is placed; a servo motor (961) is provided on the bottom plate (96), an output end of the servo motor (961) passes through the bottom plate (96), and an active tooth (962) meshingly connected with the inner gear ring (98) is provided at the outlet end of the servo motor (961).

4. The fruit picking and packaging device according to claim 3, characterized in that: A bracket (10) is fixedly provided on the inner gear ring (98), and two vertically arranged screw rods (13) are symmetrically provided 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 the two connecting blocks (15) are provided with horizontally extending 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 close contact with the guide boss (17).

5. The fruit picking and packaging device according to claim 4, 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.

6. The fruit picking and packaging device according to claim 5, 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).

7. The fruit picking and packaging device according to claim 6, 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).

8. The fruit picking and packaging device according to claim 7, 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).

9. The fruit picking and packaging device according to claim 8, 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).

10. The fruit picking and packaging device according to claim 5, 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).

11. The fruit picking and packaging device according to claim 10, 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).

12. The fruit picking and packaging device according to claim 11, 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).

13. The fruit picking and packaging device according to claim 1, characterized in that: The stirring mechanism comprises a power motor (821) fixedly mounted at the bottom of the lower fruit receiving basin (82) and a transmission shaft (822) connected to the output end of the power motor (821); the transmission shaft (822) vertically and upwardly passes through the lower fruit receiving basin (82) and the upper fruit receiving basin (81) in sequence; and a stirring plate (823) extending horizontally is provided at the position where the transmission shaft (822) passes through the upper fruit receiving basin (81).

14. The fruit picking and packaging device according to claim 13, characterized in that: Bearings (824) are provided at the positions between the transmission shaft (822) and the two fruit basins. Both ends of the transmission shaft (822) are sleeved on the middle parts of the bearings (824) at the corresponding ends. A fixing sleeve (825) is sleeved on the outer side of the transmission shaft (822) at the position between the two fruit basins. The upper and lower ends of the fixing sleeve (825) are respectively in contact with the inner side walls of the bearings (824) at the corresponding ends. The middle parts of the upper fruit basin (81) and the lower fruit basin (82) are sleeved on the outer sides of the bearings (824) at the corresponding ends.

15. The fruit picking and packaging device according to claim 14, characterized in that: A first arc-shaped discharge groove (811) and a second arc-shaped discharge groove (812) are provided at the bottom of the upper fruit receiving basin (81). The first discharge groove (811) and the second discharge groove (812) are both arranged along the circumferential direction of the bottom of the upper fruit receiving basin (81), and the two discharge grooves are arranged parallel to each other.

16. The fruit picking and packaging device according to claim 15, characterized in that: The sorting assembly also includes a sorting track assembly, which includes an upper connecting plate (830), a lower connecting plate (833), and a first rail frame (831) and a second rail frame (832) which are spirally arranged side by side from top to bottom between the two connecting plates, the upper connecting plate (830) being fixedly connected to the upper fruit receiving basin (81), the lower connecting plate (833) being connected to the clamp of the fixing sleeve (825), the upper end of the first rail frame (831) being connected to the first discharge chute (811), the upper end of the second rail frame (832) being connected to the second discharge chute (812), and the track spacing of each rail frame being arranged in an increasing manner from top to bottom.

17. The fruit picking and packaging device according to claim 16, characterized in that: A fence (834) is vertically provided at a position between the upper end edges of the first rail frame (831) and the second rail frame (832) and the lower end surface of the upper connecting plate (830).

18. The fruit picking and packaging device according to claim 16, characterized in that: The plurality of receiving hoppers (826) are connected to the fixing sleeve (825) and are arranged continuously from top to bottom along the spiral direction of the two rail frames. A monitoring camera (827) connected to the controller is provided on the inner side wall of each receiving hopper (826). The lower end of each receiving hopper (826) is provided with a discharge hole connected to the lower fruit receiving basin (82), and an electric door mechanism is provided at the position of each discharge hole.

19. The fruit picking and packaging device according to claim 18, characterized in that: The electric door mechanism comprises a support frame (84) fixed on the receiving hopper (826) and located outside the discharge hole, a first stepper motor (841) and a second stepper motor (842) arranged on one side of the support frame (84), and a first baffle (843) and a second baffle (844) hingedly arranged on the other side of the support frame (84) and respectively connected to the output ends of the two stepper motors, and the two stepper motors are connected to a controller; a first support rod (851) extending horizontally is provided at the output end of the first stepper motor (841), the extended end of the first support rod (851) is coaxially hingedly arranged with one side of the second support rod (852), the other side of the second support rod (852) is hingedly connected to a first connecting pin (845) fixed on the upper end of the first baffle plate (843), and a second connecting pin (846) is provided at the lower end of the first baffle plate (843), and the second connecting pin (846) is connected to the third support rod (853). ), the other side of the third support rod (853) is coaxially hinged with one side of the fourth support rod (854), and the other side of the fourth support rod (854) is hingedly connected to the support frame (84); a fifth support rod (855) extending horizontally is provided at the output end of the second stepping motor (842), the extended end of the fifth support rod (855) is coaxially hinged with one side of the sixth support rod (856), the other side of the sixth support rod (856) is hingedly connected to a third connecting pin (847) fixed at the upper end of the second baffle plate (844), a fourth connecting pin (848) is provided at the lower end of the second baffle plate (844), the fourth connecting pin (848) is hingedly connected to one side of the seventh support rod (857), the other side of the seventh support rod (857) is coaxially hinged with one side of the eighth support rod (858), and the other side of the eighth support rod (858) is hingedly connected to the support frame (84).

20. The fruit picking and packaging device according to claim 18, characterized in that: The bottom of the lower fruit receiving basin (82) is arranged in an inclined structure, a transition groove (820) is arranged at the lower end of the basin bottom, and an opening is arranged on the side wall of the lower fruit receiving basin (82) at a position corresponding to the lower end of the basin bottom, and the opening is connected to the transition groove (820) to form a discharge port.

Images