Fruit picking and portioning device

Abstract

The application discloses a fruit picking and sub-packaging device, which 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. A picking mechanism and a receiving mechanism are arranged at the output end of the second telescopic cylinder. A camera connected with a controller is arranged on the picking mechanism. An agitating mechanism is arranged in the upper fruit receiving basin. The sorting assembly comprises a sorting receiving hopper assembly. The sorting receiving hopper assembly comprises a plurality of receiving hoppers. An electric door mechanism for controlling fruit discharge is arranged at the discharge end of each receiving hopper. The camera connected with the controller, the picking mechanism and the receiving mechanism are arranged, so that the picking angle of the picking mechanism can be observed and adjusted in real time, and the accuracy of the falling of the picked fruits is improved. The fruit receiving basin, the agitating mechanism, the sorting assembly and the electric door mechanism are arranged to assist the movement of the fruits and facilitate the rapid classification, packaging and placement.

Description

Technical Field

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

[0002] In orchards, harvesting ripe fruit from trees is a time-consuming and laborious task, especially picking fruit from the top of the tree. Currently, various fruit harvesters designed for tall fruit trees are available on the market. These harvesters typically have soft fruit bags. However, during harvesting, the fruit is easily caught or even damaged by branches surrounding it. For lighter fruits like citrus and lemons, the fruit bag may bump into nearby branches as it approaches the fruit, causing the fruit to move and directly impacting harvesting efficiency. It also makes it difficult to properly pick the fruit and place it in the bag, resulting in inconvenience. After harvesting, the fruit is collected and transported to factories for sorting and packaging based on size. This process involves multiple loading, unloading, and transfers, during which even citrus fruits are easily damaged by bumps and knocks. This not only reduces the yield of high-quality fruit but also increases the cost of sorting and processing, significantly impacting the efficiency of fruit production and processing. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a fruit picking and packaging device that is convenient for picking fruits, avoids picking interference, and can simultaneously classify fruits according to their size during picking, and facilitates classified collection and placement.

[0004] To solve the above-mentioned technical problems, one technical solution adopted by the present invention is: to provide a fruit picking and sorting device, including a vehicle body, a support movably mounted on the vehicle body, a guide assembly adjustablely mounted on the support, a lower fruit receiving basin fixedly connected to the vehicle body and having a discharge port, an upper fruit receiving basin connected in communication with the lower fruit receiving basin, and a sorting assembly connected between the upper and lower fruit receiving basins. The guide assembly includes a first telescopic cylinder connected to the support and a second telescopic cylinder hinged to the output end of the first telescopic cylinder. A picking mechanism is connected to one side of the output end of the second telescopic cylinder, and a storage mechanism is connected to the other side of the output end of the second telescopic cylinder. The picking mechanism is equipped with a control mechanism. The camera is connected to the receiving device. A conveyor belt fixed to the vehicle body is provided at the discharge end of the receiving mechanism. The discharge 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 the orderly falling of fruit into the sorting component. The sorting component includes a sorting receiving hopper assembly, which includes several receiving hoppers. An electric gate mechanism for controlling the fruit discharge is provided at the discharge end of each receiving hopper. In use, the camera controls the picking mechanism to pick the fruit. The picked fruit falls directly into the receiving mechanism and is transferred to the upper fruit receiving basin by the conveyor belt. Then, the fruit passes through the stirring mechanism, the sorting receiving hopper assembly, the electric gate mechanism, and the lower fruit receiving basin in sequence to achieve the purpose of fruit sorting.

[0005] The above structure allows for easy movement of the vehicle body and the installation of the harvesting and storage mechanisms. The guide assembly includes a first and second telescopic cylinder, which facilitates vertical rotation to adjust the harvesting height. A camera allows for observation of the harvesting position on the controller's display screen, enabling accurate adjustment of the harvesting mechanism's angle. The harvesting mechanism pulls the branches, effectively moving individual fruits and branches to the inlet of the storage mechanism, ensuring the harvested fruit falls directly into the storage. This prevents branches from obstructing fruit harvesting and avoids the storage mechanism from being caught on branches. An upper fruit receiving basin serves as the inlet for sorting fruit; the fruit entering the basin is agitated. Driven by the mechanism, the fruit rolls within the upper receiving basin, preventing localized accumulation and blockages that could hinder fruit movement. It then smoothly moves to the connected sorting assembly, where it is sorted by size at several receiving hoppers. Each receiving hopper is equipped with an electric gate mechanism that, when closed, prevents the size-sorted fruit from falling out. The gates open sequentially to release different sized fruits from the receiving hoppers into the lower receiving basin, facilitating subsequent sorting and packaging. During this process, the fruit travels a short distance and experiences minimal drop during transport, significantly reducing the risk of damage, increasing the yield of high-quality fruit, and lowering production and transportation costs.

[0006] Beneficial effects: The present invention includes a camera, a picking mechanism, and a storage mechanism connected to a controller, which facilitates observation and real-time adjustment of the picking angle of the picking mechanism, improving the accuracy of the picked fruit falling into the storage area; and includes a fruit receiving basin, a stirring mechanism, a sorting component, and an electric door mechanism to assist in the movement of the fruit and facilitate quick classification, packaging, and placement. Attached Figure Description

[0007] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0008] Figure 1 This is a three-dimensional structural diagram of the present invention.

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

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

[0011] Figure 4 This is a schematic diagram of the installation structure of the top rod.

[0012] Figure 5 This is a schematic diagram of the mounting structure of the mounting bracket.

[0013] Figure 6 This is a schematic diagram of the installation structure of the internal gear ring.

[0014] Figure 7 This is a schematic diagram of the bracket's installation structure.

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

[0016] Figure 9 This is a schematic diagram of the steering assembly.

[0017] Figure 10 This is a schematic diagram of the installation structure of the shear assembly and the steering assembly.

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

[0019] Figure 12 This is a schematic diagram of the transmission and installation structure between the rotating rod and the shear plate.

[0020] Figure 13 This is a schematic diagram showing the usage status of the cut component.

[0021] Figure 14 This is a schematic diagram showing the operational status of the fruit-picking facility.

[0022] Figure 15 This is a schematic diagram of the folded structure of the snake-bone tube.

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

[0024] Figure 17 This is a schematic diagram of the conveyor belt structure.

[0025] Figure 18 This is a three-dimensional structural diagram of the sorting component.

[0026] Figure 19 This is a schematic diagram of the installation structure of the upper and lower fruit receiving basins.

[0027] Figure 20 This is a schematic diagram of the installation structure of the sorting components.

[0028] Figure 21 A top view of the fruit basin installation location.

[0029] Figure 22 This is a schematic diagram of the structure of the first and second rail frames.

[0030] Figure 23 This is a schematic diagram of the receiving hopper.

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

[0032] Figure 25 This is a schematic diagram of the closing process of the electric door mechanism.

[0033] The meanings of the labels in the attached diagram are as follows:

[0034] Vehicle body -1; bracket -10; first telescopic cylinder -11; second telescopic cylinder -12; connecting frame -120; lead screw -13; drive motor -14; connecting block -15; guide groove block -16; guide boss -17; side bracket -18; strut -19;

[0035] First hollow rotating platform-2; support frame-20; first flange-21; first drive motor-22; swing shaft-23; stepped hole-24; fixing hole-25; connecting column-26; tension bolt-27; connecting bracket-28; limit ring-281; ​​positioning groove-29;

[0036] Second hollow rotating platform-3; Third hollow rotating platform-30; Second flange-31; Mounting sleeve-32; Second drive motor-33; Rotating rod-34; Tie rod-35; Mounting cylinder-36; Shear plate-37; Transmission rod-38; Third flange-39; Corrugated groove-4; Connecting plate-40; Connecting sleeve-41; Placement slot-42; Guide column-43; Sub-support-44; Positioning slot-45; Positioning block-46; Connecting bolt-47; Compression spring-48;

[0037] Front support - 5; Rear support - 50; Snake bone tube - 51; Flexible hose - 52; Net - 53; Airbag - 60; Exhaust valve - 62; Straight discharge cylinder - 7; Inclined discharge cylinder - 70; First anti-collision sponge - 71; Second anti-collision sponge - 72; Guide inclined block - 73;

[0038] Camera-8; Inclined support rod-80; Upper fruit basin-81; First discharge chute-811; Second discharge chute-812; Support rod-813; Lower fruit basin-82; Transition groove-820; Power motor-821; Drive 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] First support rod - 851; Second support rod - 852; Third support rod - 853; Fourth support rod - 854; Fifth support rod - 855; Sixth support rod - 856; Seventh support rod - 857; Eighth support rod - 858; Partition - 86;

[0041] Conveyor belt - 9; Mounting bracket - 90; Fixed bracket - 901; First push rod - 91; Second push rod - 92; Linear motor - 93; Slider - 94; Slide groove - 941; Guide rail - 95; Base plate - 96; Servo motor - 961; Drive gear - 962; Boss - 97; First groove - 971; Internal gear ring - 98; Second groove - 981; Ball bearing - 99. Detailed Implementation

[0042] Depend on Figures 1 to 25As shown, the present invention includes a vehicle body 1, a bracket 10 movably mounted on the vehicle body 1, a guide assembly adjustablely mounted on the bracket 10, a lower fruit receiving basin 82 fixedly connected to the vehicle body 1 and having a discharge port, an upper fruit receiving basin 81 communicating with the lower fruit receiving basin 82, and a sorting assembly connecting 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 hinged to the output end of the first telescopic cylinder 11. A picking mechanism is connected to one side of the output end of the second telescopic cylinder 12, and a storage mechanism is connected to the other side of the output end of the second telescopic cylinder 12. A camera 8 connected to a controller (not shown) is provided on the picking mechanism. A conveyor belt 9 fixed to the vehicle body 1 is provided at the discharge end of the receiving mechanism. The discharge end of the conveyor belt 9 is connected to the upper fruit receiving basin 81. A stirring mechanism for orderly fruit falling into the sorting component is provided in the upper fruit receiving basin 81. The sorting component includes a sorting receiving hopper component, which includes several receiving hoppers 826. An electric gate mechanism for controlling fruit discharge is provided at the discharge end of each receiving hopper 826. In use, the picking mechanism is controlled by the camera 8 to pick the fruit. The picked fruit falls directly into the receiving mechanism and is transferred to the upper fruit receiving basin 81 by the conveyor belt 9. Then, the fruit passes through the stirring mechanism, the sorting receiving hopper component, the electric gate mechanism, and the lower fruit receiving basin 82 in sequence to achieve the purpose of fruit sorting.

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

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

[0045] A bracket 10 is fixedly mounted on the internal gear ring 98. Two vertically arranged lead screws 13 are symmetrically arranged on the bracket 10. A transmission motor 14 fixedly connected to the bracket 10 is connected to the upper end of each lead screw 13. A connecting block 15 is screwed onto each lead screw 13. A horizontally extending support rod 19 is provided at the opposite ends of the two connecting blocks 15. A guide groove block 16 is provided on one side of the connecting block 15. A guide boss 17 is provided on the bracket 10 at the position corresponding to the guide groove block 16. The guide groove block 16 and the guide boss 17 are fitted together.

[0046] On the other side of the connecting block 15, there is a side bracket 18 extending from the bracket 10. One side of the side bracket 18 is hinged to the cylinder body of the first telescopic cylinder 11. The cylinder body of the second telescopic cylinder 12 is connected to the third flange 39 on the third hollow rotating platform 30. A connecting frame 120 is provided on one side of the third hollow rotating platform 30. The output end of the first telescopic cylinder 11 is hinged to the connecting frame 120. Insertion holes are provided on the connecting frame 120 at the positions corresponding to the support rods 19. The support rods 19 at the corresponding ends are inserted into the insertion holes.

[0047] The harvesting mechanism includes a first hollow rotating platform 2 connected to the output end of the second telescopic cylinder 12, a steering assembly connected to the output end of the first hollow rotating platform 2, a second hollow rotating platform 3 connected to the steering assembly, and a shearing assembly connected to the second hollow rotating platform 3. The output end of the first hollow rotating platform 2 is connected to a first flange 21. The steering assembly includes a support frame 20 connected to the first flange 21. A first drive motor 22 is fixed to one side of the support frame 20. A swing shaft 23, horizontally passing through the support frame 20, is connected to the output end of the first drive motor 22. A stepped hole 24 perpendicular to the axis of the swing shaft 23 is provided on the swing shaft 23. A fixing hole 25 is provided at the small diameter end of the stepped hole 24. A connecting post 26, which is fixedly connected to the connecting bracket 28, is inserted into the stepped hole 24. The insertion end of the connecting post 26 abuts against the stepped surface of the stepped hole 24. A tension bolt 27 is inserted into the fixing hole 25. The insertion end of the tension bolt 27 is screwed to the connecting post 26, and the end face of the nut end of the tension bolt 27 abuts against the bottom of the fixing hole 25. The connecting bracket 28 is fixedly connected to the second hollow rotating platform 3 on one side. An inclined support rod 80 is provided on the other side of the connecting bracket 28. A camera 8 is provided on the inclined support rod 80. A positioning groove 29 is provided on the support frame 20 at the position corresponding to the connecting post 26, through which the connecting post 26 passes.

[0048] The output end of the second hollow rotating platform 3 is connected to a second flange 31. The shearing assembly includes a mounting sleeve 32 fixedly connected to the second flange 31 and passing through the hollow position of the second hollow rotating platform 3, and a second drive motor 33 fixed on one side of the mounting sleeve 32. The other side of the second drive motor 33 is fitted with a limiting ring 281 connected to the connecting bracket 28. The output end of the second drive motor 33 is provided with a rotating rod 34 extending into the mounting sleeve 32. A pull rod 35 is movably mounted on the rotating rod 34. A mounting cylinder 36 is connected to the mounting sleeve 32. A secondary bracket 44 is provided on one side of the mounting cylinder 36. The secondary bracket 44 is hinged to one side of each of the two shear plates 37. The other side of each shear plate 37 is hinged to one side of a transmission rod 38. The other side of each transmission rod 38 is hinged to a pull rod 35.

[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 cylinder 36, and the other end is provided with a connecting plate 40. The extended end of the pull rod 35 is hinged to the other side of the transmission rod 38. A connecting sleeve 41 is screwed onto the connecting plate 40. A placement groove 42 is provided on the connecting sleeve 41. The bottom of the placement groove 42 is connected to one side of the compression spring 48. The other side of the compression spring 48 is connected to one end of the guide post 43. The other end of the guide post 43 extends into the corrugated groove 4. A positioning groove 45 is provided on one side of the extended end of the pull rod 35. A connecting bolt 47 is screwed into the mounting cylinder 36 at the position corresponding to the positioning groove 45. A positioning block 46 extending into the positioning groove 45 is screwed into the insertion end of the connecting bolt 47.

[0050] The storage mechanism includes a front support 5 connected to the output end of the second telescopic cylinder 12 and a rear support 50 connected to the cylinder body of the second telescopic cylinder 12. A snake-bone tube 51 is connected between the front support 5 and the rear support 50. One end of the snake-bone tube 51 is fixedly connected to the front support 5, and the other end of the snake-bone tube 51 is hinged to the rear support 50. A barrier net 53 is provided in the gap at the lower end of the snake-bone tube 51. A flexible hose 52 is connected to the discharge end of the snake-bone tube 51, and a conveyor frame fixed on the vehicle body 1 is connected to the discharge end of the flexible hose 52.

[0051] An air bladder 60 is wound around the inner wall at the discharge end of the hose 52. An air inlet valve connected to an air pump is provided on one side of the hose 52, and an exhaust valve 62 connected to one side of the air bladder 60 is provided on the other side. The other side of the air bladder 60 is connected to the air inlet valve.

[0052] The conveyor frame includes a straight discharge cylinder 7 connected to the discharge end of the hose 52 and an inclined discharge cylinder 70 connected to the discharge end of the straight discharge cylinder 7. A first anti-collision sponge 71 is provided at the lower end of the inner sidewall at the position where the straight discharge cylinder 7 and the inclined discharge cylinder 70 are connected. A guide block 73 is provided at the upper end of the inner sidewall at the position where the straight discharge cylinder 7 and the inclined discharge cylinder 70 are connected. A second anti-collision sponge 72 is provided on the upper end face of the guide block 73. Several rollers are arranged side by side along the axial direction of the inclined discharge cylinder 70 inside the inclined discharge cylinder 70. A connecting pin that passes through the sidewall of the inclined discharge cylinder 70 is sleeved in the middle of each roller.

[0053] The stirring mechanism includes a power motor 821 fixed 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 extends vertically upward through the lower fruit receiving basin 82 and the upper fruit receiving basin 81 in sequence. A horizontally extending stirring plate 823 is provided at the position where the transmission shaft 822 extends through the upper fruit receiving basin 81.

[0054] Bearings 824 are provided at the passage positions between the drive shaft 822 and the two fruit bowls. Both ends of the drive shaft 822 are sleeved on the middle of the bearings 824 at the corresponding ends. A fixing sleeve 825 is sleeved on the outside of the drive shaft 822 at the position between the two fruit bowls. The upper and lower ends of the fixing sleeve 825 abut against the inner sidewall of the bearings 824 at the corresponding ends. The middle of the upper fruit bowl 81 and the lower fruit bowl 82 are sleeved on the outside of the bearings 824 at the corresponding ends.

[0055] The bottom of the upper fruit receiving basin 81 is provided with an arc-shaped first discharge groove 811 and a second discharge groove 812. 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 track frame 831 and a second track frame 832 arranged in a spiral arrangement from top to bottom between the two connecting plates. The upper connecting plate 830 is fixedly connected to the upper fruit receiving basin 81, and the lower connecting plate 833 is clamped to the fixing sleeve 825. The upper end of the first track frame 831 is connected to the first discharge chute 811, and the upper end of the second track frame 832 is connected to the second discharge chute 812. The track spacing of each track frame is arranged in an increasing pattern from top to bottom. A fence 834 is vertically provided at the position between the upper edge of the first track frame 831 and the lower end face 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. Each receiving hopper 826 has a monitoring camera 827 connected to the controller on its inner side wall. Each receiving hopper 826 has a discharge hole at its lower end that communicates with the lower fruit receiving basin 82. An electric door mechanism is provided at the position of each discharge hole.

[0058] The electric gate 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 disposed on one side of the support frame 84, and a first baffle 843 and a second baffle 842 hinged to the other side of the support frame 84 and respectively connected to the output ends of the two stepper motors. Both stepper motors are connected to a 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 to one side of the second support rod 852. The other side of the second support rod 852 is hinged to a first connecting pin 845 fixed to the upper end of the first baffle 843. A second connecting pin 846 is provided at the lower end of the first baffle 843. The second connecting pin 846 is connected to the third support rod 852. One side of the third support rod 853 is hinged, and the other side of the third support rod 853 is coaxially hinged to one side of the fourth support rod 854. The other side of the fourth support rod 854 is hinged to the support frame 84. A horizontally extending fifth support rod 855 is provided at the output end of the second stepper motor 842. The extended end of the fifth support rod 855 is coaxially hinged to one side of the sixth support rod 856. The other side of the sixth support rod 856 is hinged to the third connecting pin 847 fixed at the upper end of the second baffle 844. A fourth connecting pin 848 is provided at the lower end of the second baffle 844. The fourth connecting pin 848 is hinged to one side of the seventh support rod 857. The other side of the seventh support rod 857 is coaxially hinged to one side of the eighth support rod 858. The other side of the eighth support rod 858 is hinged to the support frame 84.

[0059] The bottom of the lower fruit receiving basin 82 is designed with a sloping structure. A transition groove 820 is provided at the lower end of the basin bottom. An opening is provided on the side wall of the lower fruit receiving basin 82 at the position corresponding to the lower end of the basin bottom. The opening is connected to the transition groove 820 and forms a discharge port.

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

[0061] The working principle of this invention is as follows:

[0062] like Figure 1 , Figure 20 and Figure 21As shown, before use, a lower fruit receiving basin 82 is fixedly installed 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. The bottom of the upper fruit receiving basin 81 is provided with an arc-shaped first discharge trough 811 and a second discharge trough 812 parallel to the circumference of the bottom of the upper fruit receiving basin 81.

[0063] A power motor 821 is installed at the lower end of the lower fruit receiving basin 82. A drive shaft 822 is connected to the output end of the power motor 821. The drive shaft 822 extends vertically upward through the lower fruit receiving basin 82 and the upper fruit receiving basin 81. A horizontally extending agitator 823 is provided at the position where the drive shaft 822 passes through the upper fruit receiving basin 81. Bearings 824 are provided at the positions where the drive shaft 822 passes through the two fruit receiving basins. Both ends of the drive shaft 822 are sleeved on the middle of the bearings 824 at the corresponding ends. A fixing sleeve 825 is sleeved on the outside of the drive shaft 822 at the position between the two fruit receiving basins. The upper and lower ends of the fixing sleeve 825 are connected and fixed to the upper fruit receiving basin 81 and the lower fruit receiving basin 82, respectively. The middle of the upper fruit receiving basin 81 and the lower fruit receiving basin 82 are sleeved on the outside of the bearings 824 at the corresponding ends.

[0064] Then, between the lower fruit receiving basin 82 and the upper fruit receiving basin 81, there is a first rail frame 831 and a second rail frame 832, which are fixedly connected by the upper connecting plate 830 and the lower connecting plate 833. The two rail frames are arranged side by side in a spiral manner from top to bottom. Below the two rail frames, there are four receiving hoppers 826 (e.g., connected to the fixing sleeve 825 and continuously arranged from top to bottom along the spiral direction of the two rail frames) that are connected to the fixing sleeve 825. Figure 18 , Figure 22 and Figure 23 As shown), each of the four receiving hoppers 826 is equipped with a monitoring camera 827 and a discharge port. Each discharge port is equipped with an electric gate mechanism and is connected to the lower fruit receiving basin 82.

[0065] The bottom of the lower fruit basin 82 is designed with a sloping 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 basin 82 at the position corresponding to the lower end of the basin bottom.

[0066] In use, the vehicle body 1 is moved to the fruit tree. First, the linear motor 93 is started. The output of the linear motor 93 pulls the slider 94 back on the guide rail 95, simultaneously causing the first push rod 91 to rotate counter-clockwise. This raises the position of the cross rotation of the first push rod 91 and the second push rod 92, simultaneously causing the second push rod 92 to rotate clockwise, thus raising the base plate 96 together. To ensure the lifting pressure and stability, another linear motor 93 can be installed at the lower end of the base plate 96, corresponding to a set of sliders 94 and guide rails 95 (e.g., ...). Figures 1 to 5 (The state shown).

[0067] After the base plate 96 is raised, the servo motor 961 is activated according to the picking position, driving the meshing active gear 962 and the internal gear ring 98 to rotate synchronously. This, in turn, drives the bracket 10 connected to the internal gear ring 98 to rotate horizontally, so as to move the fruit picking mechanism toward the picking position; among these, such as Figure 5 and Figure 6 As shown, since the base plate 96 is provided with a boss 97, a first groove 971 is provided around the boss 97 along the circumferential direction, and a second groove 981 is provided on the internal toothed ring 98 at the position corresponding to the first groove 971. The two grooves together form an annular cavity in which the ball bearing 99 is placed, ensuring the smooth rotation and stability of the bracket 10.

[0068] Next, depending on the height of the target fruit to be picked, the height of the fruit-picking mechanism needs to be adjusted accordingly. Specifically, the controller first starts the drive motor 14, which drives the lead screw 13 to rotate and simultaneously drives the screwed connecting block 15 to move upward along the axis of the guide boss 17 from the guide groove block 16, that is, to move upward on the bracket 10. After moving to the appropriate height, the drive motor 14 is turned off, and then the second telescopic cylinder 12 is started. The extended end of the second telescopic cylinder 12 drives the fruit-picking mechanism to move to the target position of picking the fruit. At the same time, the output end of the second telescopic cylinder 12 is also pulled by the front bracket 5 to one end of the snake tube 51. After the output end of the second telescopic cylinder 12 moves into place, that is, the snake tube 51 is in the straightened position, the fruit-picking mechanism is located above the snake tube 51.

[0069] Then, based on the image acquired by camera 8, determine the position between the shearing board 37 and the target fruit, such as... Figure 1 , Figure 2 , Figure 7 , Figure 8 as well as Figures 10 to 12 As shown, the controller first starts the first telescopic cylinder 11, which drives the cylinder body of the second telescopic cylinder 12 to rotate around the support rod 19. That is, it further adjusts the height of the fruit picking mechanism in the vertical direction. When it reaches the fruit position, the first hollow rotating platform 2 is started according to the position of the branch connected to the fruit. The first flange 21 drives the support frame 20 to rotate, that is, it drives the fruit picking mechanism to rotate in the longitudinal direction of the second telescopic cylinder 12, adjusting the longitudinal angle of the two shears 37 cutting the branches. If the angle between the cutting surface of the two shears 37 and the axial direction of the branch is small, the second hollow rotating platform 3 is started. The second flange 31 drives the mounting sleeve 32 and the mounting cylinder 36 to rotate synchronously, that is, it drives the two shears 37 connected to the mounting cylinder 36 to rotate synchronously, so as to adjust the lateral angle of the two shears 37 cutting the branches.

[0070] Then, the controller starts the first telescopic cylinder 11, and the output end of the second telescopic cylinder 12 drives the two shear plates 37 to move towards the branch position of the target fruit. After the two shear plates 37 move to both sides of the branch position, the first telescopic cylinder 11 is closed. Then, the controller starts the second drive motor 33, which drives the transmission rod 34 to rotate. Since the outer wall of the rotating rod 34 is provided with a corrugated groove 4 along the circumferential direction, the guide post 43 in the corrugated groove 4 moves with the wave and drives the connecting plate 40 and the pull rod 35 connected to it to move synchronously. That is, it drives the pull rod 35 to move back and forth in the axial direction of the mounting cylinder 36, thereby driving the two shear plates 37 to move back and forth at the same time, thus forming a shearing action, which can cut the branch and achieve the purpose of picking the target fruit. Similarly, it can also be used for pruning operations when there is interference with the branch. It is flexible in use and can improve the fruit picking efficiency.

[0071] Among these, such as Figure 12 and Figure 13 As shown, a connecting sleeve 41 is screwed onto the connecting plate 40, and a placement groove 42 is provided on the connecting sleeve 41. The bottom of the placement groove 42 is connected to one side of the compression spring 48, and the other side of the compression spring 48 is connected to one end of the guide post 43. This ensures that the guide post 43 moves smoothly in the corrugated groove 4, that is, it ensures the smoothness of the reciprocating movement of the pull rod 35 and the shearing action of the two shear plates 37.

[0072] It should be noted that, since the snake bone tube 51 is at an angle at this time, the fruit being cut and picked is not directly above the upper end of the snake bone tube 51. That is, the cut fruit cannot accurately fall into the snake bone tube 51 at this time. Figure 1 , Figure 2 , Figure 9 , Figure 10 and Figure 14 As shown, during the aforementioned operation, the rotation of the second drive motor 33 is controlled, and the two shears 37 are moved to the position to clamp the branch. At this time, the branch is not cut. Then, the first drive motor 22 is started, and the first flange 21 drives the swing shaft 23 to rotate. Simultaneously, the connecting column 26 inserted in the step hole 24 moves along the positioning groove 29 in the front and back directions. That is, the entire fruit picking mechanism rotates in the front and back directions. This simultaneously drives the two shears 37 to clamp the branch and move the target fruit to the top of the snake bone tube 51. After it is moved into place, the second drive motor 33 is started again to drive the two shears 37 to cut the branch, and the target fruit can fall directly into the snake bone tube 51.

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

[0074] like Figure 1 and Figure 2As shown, because a 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 avoid the fruit from getting stuck in the gap. Therefore, the fruit that falls into the snake-bone tube 51 can quickly move down into the hose 52. Since the discharge end of the hose 52 is set vertically, and an airbag 60 is wrapped around the inner wall of the discharge end of the hose 52, the fruit falling into the airbag 60 is wrapped and its free fall speed is slowed down to prevent the fruit from being injured. In this case, since the airbag 60 is wrapped around the inner wall of the hose 52, in order to avoid the fruit being wrapped too tightly and affecting the fruit's movement, an air inlet valve connected to an air pump is provided on one side of the hose 52, and an air outlet valve 62 connected to one side of the airbag 60 is provided on the other side. The other side of the airbag 60 is connected to the air inlet valve. This makes it easy to adjust the inner diameter of the fruit passage at the position of the airbag 60 in a timely manner. Finally, the fruit that falls into the inclined discharge cylinder 70 moves out of the inclined discharge cylinder 70 along several inclined rollers under the action of gravity for collection.

[0075] Throughout the entire process, the image acquired by camera 8 is used to determine the position of the fruit and then to perform precise operations on the controller. Camera 8, which is aimed at the fruit picking mechanism, should be aligned with the shearing plate 37. In order to better determine the spatial position of the fruit and the shape of the branches so as to adjust the angle, it is advisable to set up multiple cameras 8 on the inclined support rod 80.

[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 existing technologies. Their structure and operating principle are as follows: Figure 16 As shown, it includes a turntable and a servo motor connected to the side of the turntable. The turntable has a hollow structure, and a boss is provided in the hollow structure to engage with the through hole in the middle of the roller bearing. A gear is fitted on the outside of the roller bearing, and the gear is meshed with the transmission gear connected to the output end of the servo motor. A flange is connected to the end face of the roller bearing. The flange is used to connect with the working parts, which will not be described in detail here.

[0077] Therefore, in this embodiment, at the position of the first hollow rotating platform 2, only the support frame 20 is connected to the first flange 21 to drive the entire picking mechanism to rotate along the circumference of the first flange 21. At the position of the third hollow rotating platform 30, only the second telescopic cylinder 12 is connected to the third flange 39, which can drive the picking mechanism to adjust the longitudinal rotation angle twice in one piece, so as to quickly cut off the branches. At the position of the second flange 31, the mounting sleeve 32 is connected to the second flange 31 and passes through the hollow structure of the turntable, that is, it also passes through the inner ring of the roller bearing. In this way, the rotation of the second flange 31 synchronously drives the second drive motor 33, the pull rod 35 and the shear plate 37 to rotate. The two hollow rotating platforms are used together to realize the adjustment of the relevant shearing angles described above. At the same time, it does not affect the second drive motor 33 driving the pull rod 35 and the two shear plates 37 to move back and forth, so as to quickly and effectively pick the fruit.

[0078] After use, remove the threaded hose 52 from the snake-bone tube 51, and then activate the second telescopic cylinder 12 via the controller. The second telescopic cylinder 12 drives the fruit-picking mechanism to move back. At the same time, since there are gaps between each sleeve of the snake-bone tube 51, and the front support 5 is connected to the output end of the second telescopic cylinder 12, and with the rear support 50 hinged to the snake-bone tube 51, the movement of the output end of the second telescopic cylinder 12 also causes the snake-bone tube 51 to bend and retract (e.g., Figure 15 (As shown), to avoid causing movement 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 are all connected to the controller. At the same time, a power supply (not shown) connected to the controller is provided on the vehicle body 1.

[0080] like Figure 1 , Figure 2 as well as Figures 17 to 21 As shown, since the conveyor belt 9 is evenly spaced with pleated partitions 86, the picked fruit is conveyed by the conveyor belt 9 and supported and lifted by the partitions 86 to the upper fruit receiving basin 81. The controller starts the power motor 821, 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 fruit in the upper fruit receiving basin 81 moves in the upper fruit receiving basin 81 and the individual fruit falls out of the upper fruit receiving basin 81 from the first discharge chute 811 or the second discharge chute 812. The fallen fruit falls onto the first rail frame 831 or the second rail frame 832. Since the upper edge of the first rail frame 831 and the second rail frame 832 are vertically provided with fences 834 between the upper edge and the lower end of the upper connecting plate 830, the fruit will not fall outside the rail frame position after falling out of the upper fruit receiving basin 81, ensuring that the individual fruit can flow smoothly along the rail frame direction.

[0081] Since the track spacing of the first track frame 831 and the second track frame 832 is set in an increasing pattern from top to bottom, combined with the setting of four receiving hoppers 826, that is, at the position of each receiving hopper 826, the track spacing of the two track frames must be increased. Taking the fruit diameter range of 50~80mm as an example, it is first divided into four fruit diameter segments: 50mm~60mm, 60mm~70mm, 70mm~75mm, and 75mm~80mm. The track spacing of the track frames is set accordingly. Thus, the uppermost receiving hopper 826 collects fruits with a diameter of 50mm~60mm, the next lower receiving hopper 826 collects fruits with a diameter of 60mm~70mm, the next lower receiving hopper 826 collects fruits with a diameter of 70mm~75mm, and the lowest receiving hopper 826 collects fruits with a diameter of 75mm~80mm.

[0082] Meanwhile, a monitoring camera 827 connected to the controller is installed on the inner wall of each receiving hopper 826. Before use, the image of the fruit pile or the data converted from the preset image is pre-input into the controller. When in use, when the fruit reaches the opening of the receiving hopper 826, the monitoring camera 827 compares the real-time photographed image with the preset image or data, and thereby activates the electric door mechanism of the corresponding receiving hopper 826 to release the fruit of the corresponding diameter. The falling fruit rolls quickly into the transition groove 820 at the inclined bottom of the lower receiving basin 82 and moves out of the opening of the lower receiving basin 82 by inertia. Since the operator is familiar with the corresponding fruit specifications in each receiving hopper 826, the removed fruit can be accurately classified, packaged and placed.

[0083] It should be noted that, since the distance between each receiving hopper 826 is not far, in order to prevent fruits of other sizes from falling into the opened receiving hopper 826 when the electric gate mechanism is opened, the pre-input image or the relevant parameters set should not be selected at the critical position when the receiving hopper 826 is full. It should be at the position of just level with the opening of the receiving hopper 826 to ensure space for more fruits and prevent mixed loading. Similarly, when two or more receiving hoppers 826 simultaneously meet the controller's judgment of being full, the electric gate mechanism of the corresponding receiving hopper 826 should be opened in sequence according to the set discharge logic relationship to achieve the purpose of orderly material discharge and collection.

[0084] In the foregoing, the opening and closing actions of the electric door mechanism are specifically as follows: Figure 25 As shown in diagrams c and d, following the direction from diagram d to diagram c, the monitoring camera 827 compares the real-time captured images with preset images or data. If the controller determines that the conditions for opening are met, it simultaneously sends an opening command to the first stepper motor 841 and the second stepper motor 842, causing the output of the first stepper motor 841 to drive the first support rod 851 to rotate clockwise (according to...). Figure 25(as shown in the direction), and the output end of the second stepper motor 842 drives the fifth support rod 855 to rotate counterclockwise. The first support rod 851 drives the coaxially hinged second support rod 852 to move synchronously, and causes the first baffle 843, which is hinged to the second support rod 852, to move outward 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, which is hinged to the sixth support rod 856, to move outward of the discharge hole. Both baffles move outward to form an open door shape and expose the discharge hole (as shown in the direction). Figure 24 (As shown in the diagram), the fruit in the receiving hopper 826 falls into the lower fruit receiving basin 82 through the discharge hole.

[0085] The controller presets an on time to maintain the on state for a period of time. After the preset time expires, the controller sends a shutdown command to the two stepper motors. Figure 7 as well as Figure 8 As shown in diagrams c to d, following the sequence from diagram a to b, at this point, the output of the first stepper motor 841 drives the first support rod 851 to rotate counterclockwise (according to...). Figure 25 (as shown in the direction), and the output end of the second stepper motor 842 drives the fifth support rod 855 to rotate clockwise, 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 cyclical and orderly manner so that fruits of different sizes can be quickly classified and packaged.

[0086] To ensure the stability of the movement 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 hinged to one side of the third support rod 853, and the other side of the third support rod 853 is coaxially hinged to one side of the fourth support rod 854. The other side of the fourth support rod 854 is hinged 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 hinged to one side of the seventh support rod 857, and the other side of the seventh support rod 857 is coaxially hinged to one side of the eighth support rod 858. The other side of the eighth support rod 858 is hinged to the support frame 84. Each baffle is provided with two identical transmission connection structures, which not only support the baffle to prevent fruit from leaking out, but also ensure the stability of movement during the opening and closing process.

[0087] As described above, the harvested fruit is directly fed into the upper fruit receiving basin 81, and then flows through two rail frames before falling into the corresponding sized receiving hoppers 826. From the receiving hoppers 826, the fruit falls sequentially into the lower fruit receiving basin 82, achieving rapid sorting, packaging, and placement. The entire process has a fast turnaround time, with minimal movement and drop at each stage, minimizing damage to citrus fruits and improving the yield of high-quality fruit. Immediate sorting and packaging upon harvesting reduces transportation costs. To further minimize damage during handling, the discharge holes of the three upper receiving hoppers 826 are vertically downwards, while the discharge hole of the lowest receiving hopper 826 is horizontally outwards.

[0088] The monitoring camera 827 and the connected controller used in this embodiment are both existing technologies and do not involve adjustments to the control program. Therefore, the default use of the monitoring camera 827 and the controller will not be described in detail here.

[0089] Similarly, the stepper motors and power motors 21 involved are also connected to the controller to realize a semi-automated production mode for fruit picking and sorting.

Claims

1. A fruit picking and packaging device, characterized in that: The system includes a vehicle body (1), a bracket (10) movably mounted on the vehicle body (1), a guide assembly adjustablely mounted on the bracket (10), a lower fruit receiving basin (82) fixedly connected to the vehicle body (1) and having a discharge port, an upper fruit receiving basin (81) connected in communication with the lower fruit receiving basin (82), and a sorting assembly connecting 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) hinged to the output end of the first telescopic cylinder (11). A harvesting mechanism is connected to one side of the output end of (12). The harvesting mechanism includes a first hollow rotating platform (2) connected to the output end of the second telescopic cylinder (12), a steering assembly connected to the output end of the first hollow rotating platform (2), a second hollow rotating platform (3) connected to the steering assembly, and a shearing assembly connected to the second hollow rotating platform (3). A first flange (21) is connected to the output end of the first hollow rotating platform (2). The steering assembly includes a support frame (20) connected to the first flange (21). A first drive motor (22) is fixedly mounted on one side. A swing shaft (23) that passes horizontally through the support frame (20) is connected to the output end of the first drive motor (22). A stepped hole (24) perpendicular to the axis of the swing shaft (23) is provided on the swing shaft (23). A fixing hole (25) is provided at the small diameter end of the stepped hole (24). A connecting post (26) that is fixedly connected to the connecting bracket (28) is inserted into the stepped hole (24). The insertion end of the connecting post (26) abuts against the stepped surface of the stepped hole (24). 25) A tensioning bolt (27) is inserted inside. The insertion end of the tensioning bolt (27) is screwed to the connecting column (26), and the end face of the nut of the tensioning bolt (27) abuts against the bottom of the hole of the fixing hole (25). The connecting bracket (28) is fixedly connected to the second hollow rotating platform (3) on one side. The connecting bracket (28) is provided with a diagonal support rod (80) on the other side. A camera (8) is provided on the diagonal support rod (80). A positioning groove (29) is provided on the support frame (20) at the position corresponding to the connecting column (26) for the connecting column (26) to pass through. A storage mechanism is connected to the other side of the output end of the second telescopic cylinder (12). A camera (8) connected to the controller 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. The discharge end of the conveyor belt (9) is connected to the upper fruit receiving basin (81). A stirring mechanism for orderly falling fruit into the sorting component is provided in the upper fruit receiving basin (81). The sorting component includes a sorting receiving hopper component. The sorting receiving hopper component includes several receiving hoppers (826). An electric door mechanism for controlling the fruit discharge is provided at the discharge end of each receiving hopper (826). When in use, the camera (8) controls the picking mechanism to pick the fruit. The picked fruit falls directly into the storage mechanism and is transferred to the upper fruit receiving basin (81) by the conveyor belt (9). Then, the fruit passes through the stirring mechanism, the sorting receiving hopper component, the electric door mechanism, and the lower fruit receiving basin (82) in sequence to achieve the purpose of fruit sorting.

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

3. The fruit picking and packaging device as described in claim 2, characterized in that: A boss (97) is provided on the base plate (96), and a first groove (971) is provided around the boss (97) in the circumferential direction. An internal toothed ring (98) is provided at the upper end of the base plate (96), and a second groove (981) is provided on the internal toothed ring (98) at the 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 base plate (96), and the output end of the servo motor (961) passes through the base plate (96). The protruding end of the servo motor (961) is provided with an active tooth (962) that meshes with the internal toothed ring (98).

4. The fruit picking and packaging device as described in claim 3, characterized in that: A bracket (10) is fixedly mounted on the internal gear ring (98). Two vertically arranged lead screws (13) are symmetrically arranged on the bracket (10). A transmission motor (14) fixedly connected to the bracket (10) is connected to the upper end of each lead screw (13). A connecting block (15) is screwed onto each lead screw (13). A horizontally extending support rod (19) is provided at the opposite ends of the two connecting blocks (15). A guide groove block (16) is provided on one side of the connecting block (15). A guide boss (17) is provided on the bracket (10) at the position corresponding to the guide groove block (16). The guide groove block (16) and the guide boss (17) are fitted together.

5. The fruit picking and packaging device as described in claim 4, characterized in that: On the other side of the connecting block (15), there is a side bracket (18) for extending the bracket (10). One side of the side bracket (18) is hinged to the cylinder body of the first telescopic cylinder (11). The cylinder body of the second telescopic cylinder (12) is connected to the third flange (39) on the third hollow rotating platform (30). A connecting frame (120) is provided on one side of the third hollow rotating platform (30). The output end of the first telescopic cylinder (11) is hinged to the connecting frame (120). A socket is provided on the connecting frame (120) at the position corresponding to the support rod (19). The support rod (19) at the corresponding end is inserted into the socket.

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

7. The fruit picking and packaging device as described in claim 6, characterized in that: A corrugated groove (4) is provided on the outer side wall of the rotating rod (34) along the circumferential direction. One end of the pull rod (35) extends out of the mounting cylinder (36), and the other end is provided with a connecting plate (40). The extended end of the pull rod (35) is hinged to the other side of the transmission rod (38). A connecting sleeve (41) is screwed onto the connecting plate (40). A placement groove (42) is provided on the connecting sleeve (41). The bottom of the placement groove (42) is connected to one side of the compression spring (48), and the other side of the compression spring (48) is connected to one end of the guide post (43). The other end of the guide post (43) extends into the corrugated groove (4).

8. The fruit picking and packaging device as described in claim 7, 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 screwed into the mounting cylinder (36) at the position corresponding to the positioning groove (45). A positioning block (46) extending into the positioning groove (45) is screwed into the insertion end of the connecting bolt (47).

9. The fruit picking and packaging device as described in claim 5, characterized in that: The storage mechanism includes a front bracket (5) connected to the output end of the second telescopic cylinder (12) and a rear bracket (50) connected to the cylinder body of the second telescopic cylinder (12). A snake tube (51) is connected between the front bracket (5) and the rear bracket (50). One end of the snake tube (51) is fixedly connected to the front bracket (5), and the other end of the snake tube (51) is hinged to the rear bracket (50). A net (53) is provided in the gap at the lower end of the snake tube (51). A hose (52) is connected to the discharge end of the snake tube (51), and a conveyor frame fixed on the vehicle body (1) is connected to the discharge end of the hose (52).

10. The fruit picking and packaging device as described in claim 9, characterized in that: An air bladder (60) is wound around the inner wall of the outlet end of the hose (52). An air inlet valve connected to an air pump is provided on one side of the hose (52), and an exhaust valve (62) connected to one side of the air bladder (60) is provided on the other side. The other side of the air bladder (60) is connected to the air inlet valve.

11. The fruit picking and packaging device as described in claim 10, characterized in that: The conveyor frame includes a straight discharge cylinder (7) connected to the discharge end of the hose (52) and an inclined discharge cylinder (70) connected to the discharge end of the straight discharge cylinder (7). A first anti-collision sponge (71) is provided at the lower end of the inner wall at the position where the straight discharge cylinder (7) and the inclined discharge cylinder (70) are connected. A guide inclined block (73) is provided at the upper end of the inner wall at the position where the straight discharge cylinder (7) and the inclined discharge cylinder (70) are connected. A second anti-collision sponge (72) is provided on the upper end face of the guide inclined block (73). Several rollers are arranged side by side in the inclined discharge cylinder (70) along the axial direction of the inclined discharge cylinder (70). A connecting pin is sleeved in the middle of each roller and passes through the side wall of the inclined discharge cylinder (70).

12. The fruit picking and packaging device as described in claim 1, characterized in that: The stirring mechanism includes a power motor (821) fixed 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) extends vertically upward through the lower fruit receiving basin (82) and the upper fruit receiving basin (81). A horizontally extending stirring plate (823) is provided at the position where the transmission shaft (822) extends through the upper fruit receiving basin (81).

13. The fruit picking and packaging device as described in claim 12, characterized in that: Bearings (824) are provided at the passage positions between the drive shaft (822) and the two fruit bowls. Both ends of the drive shaft (822) are sleeved on the middle of the bearings (824) at the corresponding ends. A fixing sleeve (825) is sleeved on the outside of the drive shaft (822) at the position between the two fruit bowls. The upper and lower ends of the fixing sleeve (825) abut against the inner sidewall of the bearing (824) at the corresponding ends. The middle of the upper fruit bowl (81) and the lower fruit bowl (82) are both sleeved on the outside of the bearings (824) at the corresponding ends.

14. The fruit picking and packaging device as described in claim 13, characterized in that: The bottom of the upper fruit receiving basin (81) is provided with an arc-shaped first discharge groove (811) and a second discharge groove (812). 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.

15. The fruit picking and packaging device as described in claim 14, 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 track frame (831) and a second track frame (832) arranged in a spiral arrangement from top to bottom between the two connecting plates. The upper connecting plate (830) is fixedly connected to the upper fruit receiving basin (81), and the lower connecting plate (833) is clamped to the fixing sleeve (825). The upper end of the first track frame (831) is connected to the first discharge chute (811), and the upper end of the second track frame (832) is connected to the second discharge chute (812). The track spacing of each track frame is arranged in an increasing pattern from top to bottom.

16. The fruit picking and packaging device as described in claim 15, characterized in that: A fence (834) is vertically provided at the position between the upper edge of the first rail frame (831) and the lower end face of the upper connecting plate (830).

17. The fruit picking and packaging device as described in claim 15, characterized in that: 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. Each receiving hopper (826) has a monitoring camera (827) connected to the controller on its inner side wall. Each receiving hopper (826) has a discharge hole at its lower end that communicates with the lower fruit receiving basin (82). Each discharge hole is equipped with an electric door mechanism.

18. The fruit picking and packaging device as described in claim 17, characterized in that: The electric gate 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) disposed on one side of the support frame (84), and a first baffle (843) and a second baffle (844) hinged to the other side of the support frame (84) and respectively connected to the output ends of the two stepper motors. Both stepper motors are connected to a controller. A 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 to one side of the second support rod (852). The other side of the second support rod (852) is hinged to a first connecting pin (845) fixed on the upper end of the first baffle (843). A second connecting pin (846) is provided at the lower end of the first baffle (843). The second connecting pin (846) is connected to the third support rod (853). The third support rod (853) is hinged to one side of the fourth support rod (854), and the other side of the fourth support rod (854) is hinged to the support frame (84). The output end of the second stepper motor (842) is provided with a horizontally extending fifth support rod (855). The extended end of the fifth support rod (855) is hinged to one side of the sixth support rod (856), and the other side of the sixth support rod (856) is hinged 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), and the fourth connecting pin (848) is hinged to one side of the seventh support rod (857). The other side of the seventh support rod (857) is hinged to one side of the eighth support rod (858), and the other side of the eighth support rod (858) is hinged to the support frame (84).

19. The fruit picking and packaging device as described in claim 17, characterized in that: The bottom of the lower fruit basin (82) is set with a sloping structure. 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 basin (82) at the position corresponding to the lower end of the bottom of the basin. The opening is connected to the transition groove (820) and forms a discharge port.

Images