Palm fruit picking machine with telescopic lifting arm

Abstract

The invention discloses a palm fruit picking machine with a telescopic lifting arm, and relates to the technical field of palm fruit picking, the palm fruit picking machine comprises the telescopic lifting arm, the top end of the telescopic lifting arm is fixedly connected with an adjusting assembly, and the right side of the adjusting assembly is fixedly provided with a palm fruit bunch flow guide mechanism; an insertion cutting mechanism and a plurality of evenly-distributed blade blocking mechanisms are arranged on the inner side of an opening in the top of the palm fruit bunch flow guide mechanism, and a fixing assembly is arranged at the bottom of the right side of the palm fruit bunch flow guide mechanism; an inlet annular frame in the palm fruit bunch flow guide mechanism is fixedly arranged on the right side of the movable plate, and a rubber corrugated pipe is fixedly connected to the bottom of the inlet annular frame. The cut palm fruit bunches can be directly conveyed into the carrying cart hopper, frequent back-and-forth loading by manpower is not needed, meanwhile, the situation that palm fruits fall off and are wasted due to the fact that the palm fruit bunches directly fall on the ground can be avoided, the yield of the palm fruits is increased, meanwhile, the picking cost is reduced, and the loading efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of palm fruit picking, and particularly to a palm fruit picking machine with a telescopic lifting arm. Background Art

[0002] Palm fruits, also known as oil palm fruits, grow on large fruit clusters of palm trees. Each fruit cluster has more than 2,000 palm fruits. When picking palm fruits, usually the large fruit cluster is directly cut from the palm tree and then sent to a processing plant for processing.

[0003] The invention patent with the authorization announcement number CN1159897 for the rotating shaft 52 discloses a mechanically adjustable fruit picking robot and its picking method, which includes a traveling mechanism and a picking mechanism. The picking mechanism includes a lifting and adjusting unit arranged on the traveling mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit. The lifting and adjusting unit is used to drive the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used for positioning and cutting the picking object. The traveling mechanism is a crawler transporter, which includes a crawler traveling device, a wireless navigation control device and a hydraulic lifting and rotating device arranged on the crawler traveling device.

[0004] The above-mentioned picking robot and the manual picking of palm fruit clusters in the prior art are both realized by cutting off the root of the palm fruit cluster. The palm fruit cluster with the root cut off will directly fall from the palm tree and collide with the ground. During this process, a small amount of palm fruits will fall from the palm fruit cluster. To save labor, the fallen palm fruits are usually not collected again, resulting in obvious waste.

[0005] In addition, since the palm fruit clusters are distributed around the palm tree trunk, after the palm fruit clusters fall, they will be scattered in a certain area around the palm tree. When the picking personnel collect and load the fallen palm fruit clusters, they need to frequently travel back and forth between the position where the palm fruit clusters fall and the vehicle position, resulting in low loading efficiency and excessive labor consumption.

[0006] Therefore, it is very necessary to invent a palm fruit picking machine with a telescopic lifting arm to solve the above problems. Summary of the Invention

[0007] The object of the present invention is to provide a palm fruit harvester with a telescopic lifting arm, which can directly convey the cut palm fruit bunches into the carrying truck bed, avoiding the waste of palm fruits caused by the direct fall of palm fruit bunches on the ground without the need for manual frequent round trips for loading, improving the palm fruit yield while reducing the harvesting cost and improving the loading efficiency, so as to solve the problem proposed in the above background technology that the palm fruit bunches with cut roots will directly fall from the palm tree and collide with the ground. During this process, a small amount of palm fruits will fall from the palm fruit bunches. To save labor, the fallen palm fruits are usually not collected again, resulting in obvious waste. In addition, since the palm fruit bunches are distributed around the palm tree trunk in a circular manner, the palm fruit bunches will be scattered in a certain area around the palm tree after falling. When the pickers collect and load the fallen palm fruit bunches, they need to frequently travel back and forth between the positions where the palm fruit bunches fall and the vehicle position, with low loading efficiency and excessive labor consumption.

[0008] To achieve the above object, the present invention provides the following technical solution: A palm fruit harvester with a telescopic lifting arm, including a telescopic lifting arm, a regulating component is fixedly connected to the top end of the telescopic lifting arm, a palm fruit bunch guiding mechanism is fixedly arranged on the right side of the regulating component, an inserting and cutting mechanism and a plurality of uniformly distributed blade blocking mechanisms are arranged inside the top opening of the palm fruit bunch guiding mechanism, and a fixing component is arranged at the bottom right side of the palm fruit bunch guiding mechanism;

[0009] The inlet annular frame in the palm fruit bunch guiding mechanism is fixedly arranged on the right side of the movable plate, a rubber corrugated pipe is fixedly connected to the bottom of the inlet annular frame, and an outlet annular frame is fixedly arranged at the bottom of the rubber corrugated pipe;

[0010] The C-shaped plate in the inserting and cutting mechanism is fixedly arranged inside the right side of the inlet annular frame, a screw rod is rotatably nested inside the C-shaped plate through a bearing, a motor drivingly connected to the screw rod is fixedly arranged at the bottom of the C-shaped plate, the outer side of the screw rod is drivingly sleeved with a first lifting plate, the first lifting plate is slidably fitted to the inner wall of the C-shaped plate, a cutting knife is fixedly arranged on the top right side of the first lifting plate, a buffer spring is fixedly connected to the center of the top of the first lifting plate, the top end of the buffer spring is fixedly provided with a second lifting plate, the second lifting plate is slidably sleeved along the vertical direction outside the cutting knife and is slidably fitted to the inner wall of the C-shaped plate, the second lifting plate is slidably sleeved outside the screw rod, and a fixed insertion rod is fixedly arranged on the top left side of the second lifting plate.

[0011] Preferably, the inserting and cutting mechanism further includes a filling block, and the filling block is fixedly arranged on the left side of the C-shaped plate.

[0012] Preferably, a first avoidance channel for the fixing plug to pass through is formed on the left side of the top of the C-shaped plate, and a second avoidance channel for the cutter to pass through is formed on the right side of the top of the C-shaped plate.

[0013] Preferably, the adjusting assembly includes a back plate, a fixing plate, a fixing block and a fixing pin;

[0014] There are two fixing plates, both of which are fixedly arranged on the left side of the back plate. The fixing block is slidably inserted between the two fixing plates and is fixedly arranged at the end of the telescopic lifting arm. Connecting holes are formed through the fixing plate and the fixing block, and the fixing pin is inserted into the inner side of the connecting hole.

[0015] Preferably, the adjusting assembly further includes a movable plate and a first adjusting hydraulic cylinder;

[0016] The movable plate is movably connected to the right side of the back plate through a pin shaft. One end of the first adjusting hydraulic cylinder is movably connected to the back plate through a pin shaft and the other end is movably connected to the movable plate through a pin shaft.

[0017] Preferably, the blade blocking mechanism includes a fixing frame, a rotating shaft, a blocking plate and a return torsion spring;

[0018] The fixing frame is fixedly arranged inside the inlet annular frame. The rotating shaft is rotatably nested inside the fixing frame through a bearing. The blocking plate is fixedly sleeved on the outer middle part of the rotating shaft. There are two return torsion springs, and the two return torsion springs are respectively sleeved on the outer ends of the rotating shaft. Any one of the return torsion springs is fixedly connected between the inner wall of the fixing frame and the blocking plate.

[0019] Preferably, the fixing component includes an L-shaped plate, a clamping plate and a locking bolt;

[0020] The L-shaped plate is fixedly arranged at the bottom right of the outlet annular frame. The clamping plate is fixedly arranged at the bottom of the L-shaped plate. The locking bolt is arranged through the right side of the L-shaped plate and is threadedly connected to the L-shaped plate.

[0021] Preferably, it further includes a traveling device. A steering device for driving the telescopic lifting arm to turn is arranged on the top of the traveling device. The telescopic lifting arm is movably connected to the top of the steering device through a pin shaft. A second adjusting hydraulic cylinder for adjusting the inclination of the telescopic lifting arm is also movably connected between the telescopic lifting arm and the steering device.

[0022] The technical effects and advantages of the present invention:

[0023] The present invention is provided with a palm fruit bunch diversion mechanism and an insertion cutting mechanism. First, the fixed insertion rod in the insertion cutting mechanism is inserted into the palm fruit bunch to fix the palm fruit bunch. Subsequently, the cutting knife is used to cut off the root of the palm fruit bunch. When the fixed insertion rod returns to its original position later, it can drive the cut palm fruit bunch to fall inside the entrance annular frame in the palm fruit bunch diversion mechanism, and then be directly transported into the transport truck bucket by the rubber corrugated pipe. The above method of first inserting and fixing, then cutting, and finally resetting can ensure that the palm fruit bunch falls inside the entrance annular frame even when the palm fruit bunch diversion mechanism is slightly inclined, thereby reducing the difficulty of transporting the palm fruit bunch. Compared with the prior art, the present invention can directly transport the cut palm fruit bunch into the transport truck bucket, eliminating the need for manual frequent round trips for loading, and at the same time avoiding the waste of palm fruits caused by the palm fruit bunch directly falling to the ground. It improves the palm fruit yield while reducing the picking cost and improving the loading efficiency.

[0024] The present invention can remove the palm tree leaves located below the palm fruit bunch, and at the same time prevent the falling palm tree leaves after removal from being transported into the transport truck bucket, thereby ensuring the normal falling and transportation of the cut palm fruit bunch while avoiding transporting unnecessary waste materials. Brief Description of the Drawings

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 is a schematic diagram of the adjustment component structure of the present invention.

[0027] Figure 3 is a schematic diagram of the palm fruit bunch diversion mechanism and the fixing component structure of the present invention.

[0028] Figure 4 is a schematic diagram of the insertion cutting mechanism structure of the present invention.

[0029] Figure 5 is a schematic diagram of the leaf blocking mechanism structure of the present invention.

[0030] In the figure: 1, telescopic lifting arm; 2, adjustment component; 21, back plate; 22, fixed plate; 23, fixed block; 24, fixed pin; 25, movable plate; 26, first adjustment hydraulic cylinder; 3, palm fruit bunch diversion mechanism; 31, entrance annular frame; 32, rubber corrugated pipe; 33, exit annular frame; 4, insertion cutting mechanism; 41, U-shaped plate; 42, screw; 43, motor; 44, first lifting plate; 45, cutting knife; 46, buffer spring; 47, second lifting plate; 48, fixed insertion rod; 49, filling block; 5, leaf blocking mechanism; 51, fixed frame; 52, rotating shaft; 53, blocking plate; 54, reset torsion spring; 6, fixing component; 61, L-shaped plate; 62, clamping plate; 63, locking bolt. Detailed implementation mode

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] The present invention provides a palm fruit picking machine with a telescopic lifting arm as shown in Figures 1 - 5 Figure. The palm fruit picking machine includes a telescopic lifting arm 1. A regulating component 2 is fixedly connected to the top end of the telescopic lifting arm 1. A palm fruit bunch guiding mechanism 3 is fixedly arranged on the right side of the regulating component 2. An insertion cutting mechanism 4 and a plurality of uniformly distributed blade blocking mechanisms 5 are arranged inside the top opening of the palm fruit bunch guiding mechanism 3. A fixing component 6 is arranged at the bottom right of the palm fruit bunch guiding mechanism 3.

[0034] As shown in Figure 2 Figure, the regulating component 2 includes a back plate 21, a fixing plate 22, a fixing block 23, a fixing pin 24, a movable plate 25 and a first regulating hydraulic cylinder 26. Among them, two fixing plates 22 are provided. Both of the two fixing plates 22 are fixedly arranged on the left side of the back plate 21. The fixing block 23 is slidably inserted between the two fixing plates 22 and is fixedly arranged at the end of the telescopic lifting arm 1. Connecting holes are penetrated through both the fixing plate 22 and the fixing block 23. The fixing pin 24 is inserted inside the connecting hole. The movable plate 25 is movably connected to the right side of the back plate 21 through a pin shaft. One end of the first regulating hydraulic cylinder 26 is movably connected to the back plate 21 through a pin shaft and the other end is movably connected to the movable plate 25 through a pin shaft.

[0035] By setting the above structure, when the first regulating hydraulic cylinder 26 extends or contracts, the movable plate 25 drives the palm fruit bunch guiding mechanism 3 to rotate around the pin shaft, thereby adjusting the inclination angle of the palm fruit bunch guiding mechanism 3 so that the palm fruit bunch guiding mechanism 3 can be located directly below the palm fruit bunch.

[0036] As shown in Figure 3 Figure, an inlet annular frame 31 in the palm fruit bunch guiding mechanism 3 is fixedly arranged on the right side of the movable plate 25. A rubber corrugated pipe 32 is fixedly connected to the bottom of the inlet annular frame 31. An outlet annular frame 33 is fixedly arranged at the bottom of the rubber corrugated pipe 32.

[0037] By setting the above structure, after the palm fruit bunch is detached from the outside of the fixed insertion rod 48 and falls inside the inner side of the inlet annular frame 31 under the action of gravity, the rubber bellows 32 guides and transports the palm fruit bunch. Finally, the palm fruit bunch passes through the outlet annular frame 33 and falls into the interior of the transport truck bed. During this process, the accidentally detached palm fruits also fall into the interior of the transport truck bed under the transmission of the rubber bellows 32 and are collected.

[0038] As Figure 4 shown, the U-shaped plate 41 in the insertion and cutting mechanism 4 is fixedly arranged on the right side inside the inlet annular frame 31. A screw rod 42 is rotationally nested inside the U-shaped plate 41 through a bearing. A motor 43 drivingly connected to the screw rod 42 is fixedly arranged at the bottom of the U-shaped plate 41. A first lifting plate 44 is drivingly sleeved outside the screw rod 42. The first lifting plate 44 is slidably attached to the inner wall of the U-shaped plate 41. A cutter 45 is fixedly arranged on the right side of the top of the first lifting plate 44. A buffer spring 46 is fixedly connected to the center of the top of the first lifting plate 44. The top of the buffer spring 46 is fixedly provided with a second lifting plate 47. The second lifting plate 47 is slidably sleeved outside the cutter 45 along the vertical direction and is slidably attached to the inner wall of the U-shaped plate 41. The second lifting plate 47 is slidably sleeved outside the screw rod 42. A fixed insertion rod 48 is fixedly arranged on the left side of the top of the second lifting plate 47. A filling block 49 is fixedly arranged on the left side of the U-shaped plate 41.

[0039] By setting the above structure, after the whole insertion and cutting mechanism 4 moves to the lower part of the palm fruit bunch, the motor 43 drives the screw rod 42 to continuously rotate. When the screw rod 42 rotates, it drives the first lifting plate 44 guided by the U-shaped plate 41 to continuously move upward. When the first lifting plate 44 moves upward, it drives the cutter 45 to move upward. At the same time, it drives the second lifting plate 47 to move upward through the buffer spring 46. When the second lifting plate 47 moves upward, it drives the fixed insertion rod 48 to move upward synchronously. As the second lifting plate 47 continuously moves upward, the fixed insertion rod 48 is inserted into the palm fruit bunch above it. After the top of the second lifting plate 47 fits with the inner wall of the U-shaped plate 41, the second lifting plate 47 cannot continue to move upward. During the subsequent upward movement of the first lifting plate 44, the first lifting plate 44 compresses the buffer spring 46 and at the same time drives the cutter 45 to cut off the root of the palm fruit bunch. Then the motor 43 drives the screw rod 42 to rotate in the reverse direction, and the first lifting plate 44 moves downward to reset. When the fixed insertion rod 48 moves downward to reset later, under the push of the U-shaped plate 41, the palm fruit bunch is detached from the outside of the fixed insertion rod 48 and falls inside the inner side of the inlet annular frame 31 under the action of gravity.

[0040] As Figure 3As shown, the fixing component 6 includes an L-shaped plate 61, a clamping plate 62, and a locking bolt 63. Among them, the L-shaped plate 61 is fixedly arranged at the right bottom of the outlet annular frame 33, the clamping plate 62 is fixedly arranged at the bottom of the L-shaped plate 61, and the locking bolt 63 penetrates through the right side of the L-shaped plate 61 and is threadedly connected to the L-shaped plate 61.

[0041] By setting the above structure, it is convenient to sleeved the L-shaped plate 61 and the clamping plate 62 on the outer side of the top of the transport truck bed. Subsequently, rotate the two locking bolts 63 until the clamping plate 62 cooperates with the two locking bolts 63 to clamp and fix the transport truck bed. At this time, the outlet annular frame 33 is located directly above the transport truck bed.

[0042] Embodiment 2

[0043] The present invention also discloses a palm fruit picking method for a palm fruit picking machine with a telescopic lifting arm, which specifically includes the following steps:

[0044] S2. Sleeve the L-shaped plate 61 and the clamping plate 62 on the outer side of the top of the transport truck bed. Subsequently, rotate the two locking bolts 63 until the clamping plate 62 cooperates with the two locking bolts 63 to clamp and fix the transport truck bed. At this time, the outlet annular frame 33 is located directly above the transport truck bed;

[0045] S3. The first adjustment hydraulic cylinder 26 extends or retracts, so that the movable plate 25 drives the palm fruit cluster diversion mechanism 3 to rotate around the pin shaft, thereby adjusting the inclination angle of the palm fruit cluster diversion mechanism 3, so that the palm fruit cluster diversion mechanism 3 can be located directly below the palm fruit cluster;

[0046] S4. The motor 43 drives the screw rod 42 to continuously rotate. When the screw rod 42 rotates, it drives the first lifting plate 44 guided by the U-shaped plate 41 to continuously move upward. When the first lifting plate 44 moves upward, it drives the cutting knife 45 to move upward. At the same time, it drives the second lifting plate 47 to move upward through the buffer spring 46. When the second lifting plate 47 moves upward, it drives the fixed insertion rod 48 to move upward synchronously. As the second lifting plate 47 continues to move upward, the fixed insertion rod 48 is inserted into the palm fruit cluster above it;

[0047] S5. After the top of the second lifting plate 47 fits against the inner wall of the U-shaped plate 41, the second lifting plate 47 cannot continue to move upward. During the subsequent upward movement of the first lifting plate 44, the first lifting plate 44 compresses the buffer spring 46, and at the same time drives the cutting knife 45 to cut off the root of the palm fruit cluster;

[0048] S6. The motor 43 drives the screw rod 42 to rotate in the reverse direction, and the first lifting plate 44 moves downward to reset. When the fixed insertion rod 48 moves downward to reset later, under the push of the U-shaped plate 41, the palm fruit cluster detaches from the outside of the fixed insertion rod 48 and falls into the inner side of the inlet annular frame 31 under the action of gravity;

[0049] After the palm fruit bunch detaches from the outside of the fixed insertion rod 48 and falls inside the inner side of the inlet annular frame 31 under the action of gravity, the rubber bellows 32 guides and transports the palm fruit bunch. Finally, the palm fruit bunch passes through the outlet annular frame 33 and falls into the interior of the carrier hopper. During this process, the accidentally detached palm fruits also fall into the interior of the carrier hopper through the transmission of the rubber bellows 32 and are collected.

[0050] Embodiment 3

[0051] Different from the above embodiments, a plurality of evenly distributed blade blocking mechanisms 5 are arranged inside the inner side of the top opening of the palm fruit bunch diversion mechanism 3.

[0052] As Figure 5 shown, the blade blocking mechanism 5 includes a fixed frame 51, a rotating shaft 52, a blocking plate 53 and a reset torsion spring 54. Among them, the fixed frame 51 is fixedly arranged inside the inlet annular frame 31, the rotating shaft 52 is rotationally nested inside the fixed frame 51 through a bearing, the blocking plate 53 is fixedly sleeved on the outer middle part of the rotating shaft 52, there are two reset torsion springs 54, and the two reset torsion springs 54 are respectively sleeved on the outer two ends of the rotating shaft 52, and any one of the reset torsion springs 54 is fixedly connected between the inner wall of the fixed frame 51 and the blocking plate 53.

[0053] By setting the above structure, due to the growth characteristics of palm tree leaves, some palm tree leaves are located below the palm fruit bunch. At this time, if the root of the palm fruit bunch is directly cut off, two adjacent palm tree leaves often block the palm fruit bunch and prevent it from falling. Therefore, if the above situation occurs, the cutter 45 can be used to cut off the palm tree leaves. The cut palm tree leaves first fall on the tops of the plurality of blocking plates 53 under the action of gravity, but their mass is light and they cannot drive the blocking plate 53 to rotate, and only the roots fall on the tops of the plurality of blocking plates 53. Subsequently, they will naturally tilt to one side under the action of gravity until they fall from the tops of the plurality of blocking plates 53.

[0054] When the palm fruit bunch presses on the tops of the plurality of blocking plates 53, the relatively heavy palm fruit bunch drives the plurality of blocking plates 53 to rotate around the rotating shaft 52 to achieve avoidance until the palm fruit bunch falls into the rubber bellows 32 and is transported by the rubber bellows 32. Subsequently, the reset torsion spring 54 drives the blocking plate 53 to rotate and reset.

[0055] Embodiment 4

[0056] Different from the above embodiments, a palm fruit harvester with a telescopic lifting arm further includes a traveling device. A steering device for driving the telescopic lifting arm 1 to turn is provided on the top of the traveling device. The telescopic lifting arm 1 is movably connected to the top of the steering device through a pin shaft. A second adjusting hydraulic cylinder for adjusting the inclination of the telescopic lifting arm 1 is also movably connected between the telescopic lifting arm 1 and the steering device.

[0057] By setting the above structure, it is convenient to use the traveling device to drive the present invention to move to a position convenient for picking palm fruit bunches. Subsequently, the steering device drives the telescopic lifting arm 1 to rotate, so that the telescopic lifting arm 1 drives the palm fruit bunch guiding mechanism 3 close to the palm tree. During this process, the telescopic lifting arm 1 continuously extends until the palm fruit bunch guiding mechanism 3 moves directly below the palm fruit bunch.

[0058] It should also be noted that the telescopic lifting arm 1, the traveling device and the steering device are all solutions already disclosed in the prior art and do not belong to the essential technical features of this application. Therefore, the specific structures thereof are not described in detail in this application.

[0059] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A palm fruit picking machine with a retractable lifting arm, characterized in that: It includes a telescopic lifting arm, and a regulating component is fixedly connected to the top end of the telescopic lifting arm. A palm fruit bunch diversion mechanism is fixedly arranged on the right side of the regulating component. Inside the inner side of the top opening of the palm fruit bunch diversion mechanism, an insertion cutting mechanism and a plurality of uniformly distributed blade blocking mechanisms are arranged. A fixing component is arranged at the bottom right side of the palm fruit bunch diversion mechanism; In the palm fruit bunch diversion mechanism, the inlet annular frame is fixedly arranged on the right side of the movable plate. The bottom of the inlet annular frame is fixedly connected with a rubber corrugated pipe, and the outlet annular frame is fixedly arranged at the bottom of the rubber corrugated pipe; In the insertion cutting mechanism, the C-shaped plate is fixedly arranged on the right side inside the inlet annular frame. A screw rod is rotationally nested inside the C-shaped plate through a bearing. A motor drivingly connected to the screw rod is fixedly arranged at the bottom of the C-shaped plate. The outer side of the screw rod is drivingly sleeved with a first lifting plate. The first lifting plate is slidably attached to the inner wall of the C-shaped plate. A cutting knife is fixedly arranged on the right side of the top of the first lifting plate. A buffer spring is fixedly connected to the center of the top of the first lifting plate. The top end of the buffer spring is fixedly provided with a second lifting plate. The second lifting plate is slidably sleeved outside the cutting knife in the vertical direction and is slidably attached to the inner wall of the C-shaped plate. The second lifting plate is slidably sleeved outside the screw rod. A fixed insertion rod is fixedly arranged on the left side of the top of the second lifting plate.

2. A palm fruit picking machine with a retractable lifting arm according to claim 1, characterized in that: The insertion cutting mechanism further includes a filling block, and the filling block is fixedly arranged on the left side of the C-shaped plate.

3. A palm fruit picking machine with a retractable lifting arm according to claim 2, characterized in that: A first avoidance channel for the fixed insertion rod to pass through is opened on the left side of the top of the C-shaped plate, and a second avoidance channel for the cutting knife to pass through is opened on the right side of the top of the C-shaped plate.

4. A palm fruit picking machine with a retractable lifting arm according to claim 3, characterized in that: The regulating component includes a back plate, a fixing plate, a fixing block and a fixing pin; There are two fixing plates, and both fixing plates are fixedly arranged on the left side of the back plate. The fixing block is slidably inserted between the two fixing plates and is fixedly arranged at the end of the telescopic lifting arm. Connecting holes are respectively penetrated through the fixing plate and the fixing block, and the fixing pin is inserted inside the connecting holes.

5. A palm fruit picking machine with a retractable lifting arm according to claim 4, characterized in that: The regulating component further includes a movable plate and a first regulating hydraulic cylinder; The movable plate is movably connected to the right side of the back plate through a pin shaft. One end of the first regulating hydraulic cylinder is movably connected to the back plate through a pin shaft and the other end is movably connected to the movable plate through a pin shaft.

6. A palm fruit picking machine with a retractable lifting arm according to claim 5, characterized in that: The blade blocking mechanism includes a fixed frame, a rotating shaft, a blocking plate and a reset torsion spring; The fixed frame is fixedly arranged inside the inlet annular frame. The rotating shaft is rotationally nested inside the fixed frame through a bearing. The blocking plate is fixedly sleeved on the outer side of the middle part of the rotating shaft. There are two reset torsion springs, and the two reset torsion springs are respectively sleeved on the outer sides of the two ends of the rotating shaft. Any one of the reset torsion springs is fixedly connected between the inner wall of the fixed frame and the blocking plate.

7. A palm fruit picking machine with a retractable lifting arm according to claim 6, characterized in that: The fixing component includes an L-shaped plate, a clamping plate and a locking bolt; The L-shaped plate is fixedly arranged at the bottom right side of the outlet annular frame. The clamping plate is fixedly arranged at the bottom of the L-shaped plate. The locking bolt penetrates through the right side of the L-shaped plate and is threadedly connected to the L-shaped plate.

8. A palm fruit picking machine with a retractable lifting arm according to claim 7, characterized in that: It further includes a traveling device. A steering device for driving the telescopic lifting arm to turn is arranged on the top of the traveling device. The telescopic lifting arm is movably connected to the top of the steering device through a pin shaft. A second regulating hydraulic cylinder for adjusting the inclination of the telescopic lifting arm is also movably connected between the telescopic lifting arm and the steering device.

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