Snakegourd fruit picking and sorting all-in-one machine

Abstract

The invention belongs to the technical field of trichosanthes kirilowii maxim picking, and discloses a trichosanthes kirilowii maxim picking and sorting all-in-one machine which comprises a walking vehicle body, a working platform, a collecting mechanism, a picking mechanism, a conveying mechanism and a sorting mechanism. The picking mechanism comprises a mechanical arm, a picking box and a driving assembly, a fixed cutting knife is horizontally arranged on the front side of the picking box, a reciprocating cutting knife is slidably arranged on the fixed cutting knife, a notch is formed in the front side of the top face of the picking box, a vibrating plate is rotatably arranged in the notch through a rotating shaft, and a plurality of rake teeth are arranged on the front side plate edge of the vibrating plate; a plurality of second hemispheres are correspondingly arranged on the reciprocating cutting knife, the conveying mechanism is used for conveying the picked trichosanthes kirilowii maxim to the sorting mechanism, and the sorting mechanism sorts the trichosanthes kirilowii maxim. Through cooperation of the second hemisphere and the first hemisphere, when the reciprocating cutter reciprocates, the vibrating plate is driven to move up and down to shake the ceiling surface of the trichosanthes kirilowii land, trichosanthes kirilowii on the ceiling surface is shaken down, and picking is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of Trichosanthes kirilowii harvesting, and in particular to a Trichosanthes kirilowii picking and sorting integrated machine. Background Art

[0002] In recent years, the medicinal and edible value of Trichosanthes kirilowii has been valued by people, and large-scale artificial cultivation has begun. Since Trichosanthes kirilowii is a climbing herb of the Cucurbitaceae family, a trellis for hanging vines is built when planting Trichosanthes kirilowii. The height of the trellis is mostly slightly higher than a person's height to facilitate subsequent management.

[0003] At present, the picking of Trichosanthes is basically done manually. People hold the Trichosanthes with one hand, cut off the stem with scissors in the other hand, and then put the Trichosanthes into a backpack or collection box. This picking method requires people to hold both hands high, which is very laborious. Not only is the labor intensity high, but the picking efficiency is also relatively low, which increases the cost of picking Trichosanthes and makes it difficult to carry out large-scale production. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a Trichosanthes picking and sorting all-in-one machine.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions: a machine for picking and sorting Trichosanthes kirilowii, comprising a walkable body, a working platform is arranged at the front side of the walkable body, a collecting mechanism, a picking mechanism, a conveying mechanism and a sorting mechanism are arranged on the working platform, the collecting mechanism comprises a collecting rack arranged on the working platform, two collecting frames are placed in the collecting rack; the picking mechanism comprises a mechanical arm arranged on the top of the collecting rack, a picking box is arranged at the cantilevered end of the mechanical arm for horizontal rotation, a fixed cutting knife is arranged horizontally at the front side of the picking box, a reciprocating cutting knife is arranged on the fixed cutting knife for sliding along its length direction, a notch is opened on the front side of the top face of the picking box, A horizontally arranged rotating shaft is rotatably set in the notch, a vibration plate extending forward is fixedly set on the rotating shaft, a plurality of rake teeth are arranged at intervals on the front plate edge of the vibration plate, the front end of the rake teeth is located in front of the reciprocating cutter blade, and the rear end is located behind the reciprocating cutter blade, a plurality of first hemispheres are arranged at intervals on the upper surface of the lower plate of the vibration plate along the length direction of the reciprocating cutter, a plurality of second hemispheres are arranged on the reciprocating cutter corresponding to the first hemisphere, a driving component for driving the reciprocating cutter to reciprocate is arranged in the picking box; the conveying mechanism is used to convey the picked Trichosanthes to the sorting mechanism, the sorting mechanism is used to identify the maturity of the Trichosanthes and convey the mature and immature Trichosanthes to two collection frames respectively.

[0006] Furthermore, the front end of the rake teeth is in a downward curved arc shape as a whole, and torsion springs are provided at both ends of the rotating shaft, and the torsion springs provide downward elastic force for the vibration plate.

[0007] Furthermore, the driving assembly includes a driving motor and a reciprocating plate. The reciprocating plate is slidably arranged in a picking box along the length direction of the reciprocating cutter and reciprocating teeth are arranged on the edges of its two side plates. A rotating shaft is rotatably arranged on the front and rear sides of the reciprocating plate in the picking box. A driven gear and a fan-shaped driving gear are coaxially arranged on the rotating shaft. The fan-shaped driving gears on the two rotating shafts are arranged in the same direction and are intermittently meshed with the reciprocating teeth on the corresponding sides. The driving motor is arranged in the picking box, and a driving gear is arranged on its output shaft. The driving gear is located between the two driven gears and is meshed with the two driven gears. A connecting plate is provided on the rear side of the reciprocating cutter protruding into the picking box, and the bottom of the connecting plate is fixedly connected to the reciprocating plate.

[0008] Furthermore, a guide assembly is provided at both ends of the reciprocating cutter on the front side of the picking box, and the guide assembly includes a vertically arranged rotating shaft, a rotating disk is provided at the top of the rotating shaft, and a plurality of guide arms are provided in a circular array on the disk edge of the rotating disk, and the height of the guide arm is located between the rake teeth and the reciprocating cutter.

[0009] Furthermore, the guide assembly includes a support frame arranged at the front side of the picking box and at both ends of the reciprocating cutting knife, the support frame is provided with a circular block, the rotating shaft is rotatably arranged on the circular block and is arranged coaxially with the circular block, the top surface of the circular block is provided with an annular slide groove, the center of the annular slide groove is located on the side of the rotating shaft away from the reciprocating cutting knife, and a plurality of sliding blocks are slidably arranged in the annular slide groove, the guide arm includes a fixed tube arranged along the radial direction of the rotating disk and a telescopic arm slidably arranged in the fixed tube, the bottom of the outer end of the telescopic arm is hingedly provided with a first connecting rod, the end of the first connecting rod away from the telescopic arm is hingedly provided with a second connecting rod, the end of the second connecting rod away from the first connecting rod is hinged to the top of the sliding block, the lower end of the rotating shaft passes through the circular block and is provided with a driven roller, and two active rollers are provided on the output shaft of the driving motor, and the two active rollers are respectively connected to the driven rollers of the two guide assemblies through synchronous belts.

[0010] Furthermore, the sorting mechanism includes a sorting box arranged on the front side of the collecting rack, the sorting box is provided with a feed hopper on the side away from the collecting rack, and a mature Trichosanthes outlet and an immature Trichosanthes outlet are provided near the collecting rack, and the mature Trichosanthes outlet and the immature Trichosanthes outlet are both provided with discharge pipes, and the discharge ends of the two discharge pipes pass through the collecting rack and are respectively arranged above the two collecting frames; a color sorting camera and a pushing mechanism are arranged in the sorting box, the color sorting camera is used to take photos of the Trichosanthes and identify the maturity of the Trichosanthes according to the color of the Trichosanthes skin, and the pushing mechanism is used to push the immature Trichosanthes to the immature Trichosanthes outlet.

[0011] Furthermore, the conveying mechanism includes a mounting frame arranged at the bottom of the picking box, a collecting bucket is fixedly arranged on the front side of the mounting frame, a feed port of the collecting bucket is located below the fixed blade, a conveying hose is arranged at the bottom discharge port of the collecting bucket, and the discharge end of the conveying hose is connected to the feed hopper.

[0012] In summary, the present invention has the following beneficial effects: 1. In the present application, a collecting mechanism, a picking mechanism, a conveying mechanism and a sorting mechanism are provided. The Trichosanthes kirilowii are picked by the picking mechanism, and then the picked Trichosanthes kirilowii are conveyed to the sorting mechanism for sorting by the conveying mechanism, and then the mature Trichosanthes kirilowii and the immature Trichosanthes kirilowii are respectively conveyed to different collecting frames, which integrates the picking, conveying, sorting and collecting of the Trichosanthes kirilowii, greatly improves the picking efficiency of the Trichosanthes kirilowii, reduces the labor intensity of workers, realizes automated picking, and lays a foundation for the large-scale production of the Trichosanthes kirilowii.

[0013] 2. In the present application, a fixed cutting knife and a reciprocating cutting knife are provided, and the reciprocating cutting knife is driven by a driving assembly to reciprocate and cooperate with the fixed cutting knife to cut the vines of Trichosanthes, thereby realizing rapid picking of Trichosanthes; by providing a reciprocating plate, reciprocating teeth, a rotating shaft, a driven gear, a fan-shaped driving gear, a driving motor, and a driving gear, the driving motor drives the driving gear to drive the two driven gears to rotate, thereby driving the rotating shaft and the fan-shaped driving gear on both sides to rotate, so that the fan-shaped driving gears on both sides are intermittently meshed with the reciprocating teeth on both sides of the reciprocating plate, thereby driving the reciprocating plate to reciprocate, and making the reciprocating cutting knife reciprocate, so that only the driving motor needs to rotate continuously, which is easy to control.

[0014] 3. In the present application, a rotating shaft, a vibration plate, rake teeth, a first hemisphere, and a second hemisphere are provided. The vibration plate is hinged to the top of the picking box through the rotating shaft. Under the reciprocating motion of the reciprocating cutter, the second hemisphere moves relative to the first hemisphere, so that the vibration plate moves up and down continuously. When picking, the up and down motion of the vibration plate is used to shake the ceiling surface of the Trichosanthes field, so that the Trichosanthes hidden on the ceiling surface can be shaken down for easy picking; at the same time, the rake teeth in front of the vibration plate can also be used to guide the Trichosanthes hanging under the ceiling surface for easy picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of each mechanism on the working platform of an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a picking box part of an embodiment of the present invention; Figure 4 It is a structural schematic diagram of an embodiment of the present invention for highlighting the coordination relationship between the vibration plate and the reciprocating cutter; Figure 5It is a structural schematic diagram for highlighting the interior of a picking box according to an embodiment of the present invention.

[0016] Figure 6 This is a schematic diagram of the structure of the picking mechanism of an embodiment of the present invention after the mechanical arm and the picking box are hidden; Figure 7 is a schematic structural diagram for highlighting the driving component part of an embodiment of the present invention; Figure 8 is a schematic diagram of the structure of a guide component according to an embodiment of the present invention; Fig. 9 is a schematic diagram of a vibration plate and a structure thereon according to an embodiment of the present invention; Fig.10 It is a schematic diagram of the structures of the conveying mechanism, the sorting mechanism and the collecting mechanism according to an embodiment of the present invention.

[0017] In the figure: 10, movable body; 20, working platform; 30, collecting mechanism; 31, collecting rack; 32, collecting frame; 40, picking mechanism; 41, mechanical arm; 42, picking box; 421, notch; 422, rotating shaft; 423, torsion spring; 43, fixed cutting knife; 44, reciprocating cutting knife; 441, second hemisphere; 442, connecting plate; 45, vibrating plate; 451, rake teeth; 452, first hemisphere; 46, driving assembly; 461, driving motor; 462, reciprocating plate; 463, reciprocating teeth; 464, rotating shaft; 465, driven gear; 466 , fan-shaped driving gear; 467, driving gear; 468, driving roller; 469, synchronous belt; 47, guide assembly; 471, rotating shaft; 472, rotating disk; 473, guide arm; 4731, fixed tube; 4732, telescopic arm; 474, supporting frame; 475, circular block; 476, circular slide groove; 477, sliding block; 478, first connecting rod; 479, second connecting rod; 50, conveying mechanism; 51, mounting frame; 52, collecting bucket; 53, conveying hose; 60, sorting mechanism; 61, sorting box; 62, feed hopper; 63, discharge pipe. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0019] like Figure 1-10As shown, the embodiment of the present application discloses a trichosanthes picking and sorting integrated machine, including a walkable body 10, a working platform 20 is arranged on the front side of the walkable body 10, and a collecting mechanism 30, a picking mechanism 40, a conveying mechanism 50, and a sorting mechanism 60 are arranged on the working platform 20. The walkable body 10 is used to control the movement of the entire machine, and a crawler-type walking body in the current agricultural field can be used to facilitate walking in the trichosanthes field. The picking mechanism 40 is used to pick the trichosanthes, and the conveying mechanism 50 is used to transport the picked trichosanthes to the sorting mechanism 60. The sorting mechanism 60 is used to identify the maturity of the trichosanthes, and divide the trichosanthes into two types: mature trichosanthes and immature trichosanthes, and transport the mature and immature trichosanthes to the collecting mechanism 30 respectively. The collecting mechanism 30 includes a collecting rack 31 arranged on the working platform 20, and two collecting frames 32 are placed in the collecting rack 31. The two collecting frames 32 are respectively used to collect mature and immature Trichosanthes kirilowii. The mature Trichosanthes kirilowii can be directly transported to the factory for subsequent production, and the immature Trichosanthes kirilowii can be transported to the warehouse for centralized storage for a period of time, and then carried out subsequent production after it matures naturally.

[0020] Specifically, the picking mechanism 40 includes a mechanical arm 41 arranged on the top of the collecting rack 31, and a picking box 42 is horizontally rotated at the cantilevered end of the mechanical arm 41. The picking box 42 is cantilevered and supported by the mechanical arm 41, which also facilitates the adjustment of the height and pitch angle of the picking box 42, so that the picking box 42 is in a suitable picking position and the height can be adjusted according to the actual situation of the Trichosanthes field.

[0021] A fixed cutting knife 43 is horizontally arranged at the front side of the picking box 42, a reciprocating cutting knife 44 is slidably arranged on the fixed cutting knife 43 along its length direction, and a driving assembly 46 for driving the reciprocating cutting knife 44 to reciprocate is arranged in the picking box 42. The driving assembly 46 includes a driving motor 461 and a reciprocating plate 462, the reciprocating plate 462 is slidably arranged in the picking box 42 along the length direction of the reciprocating cutting knife 44, and reciprocating teeth 463 are arranged on the plate edges on both sides of the reciprocating plate 462. A connecting plate 442 is arranged protruding into the picking box 42 behind the reciprocating cutting knife 44, and the bottom of the connecting plate 442 is fixedly connected to the reciprocating plate 462, so that the reciprocating plate 462, the connecting plate 442, and the reciprocating cutting knife 44 move synchronously. A rotating shaft 464 is rotatably arranged at the front and rear sides of the reciprocating plate 462 in the picking box 42, and a driven gear 465 and a fan-shaped driving gear 466 are coaxially arranged on the rotating shaft 464. The fan-shaped driving gears 466 on the two rotating shafts 464 are arranged in the same direction and are intermittently meshed with the reciprocating teeth 463 on the corresponding side. That is, when the fan-shaped driving gear 466 on the side away from the reciprocating cutter 44 is meshed with the reciprocating teeth 463 on the corresponding side, the fan-shaped driving gear 466 on the side close to the reciprocating cutter 44 is not meshed with the reciprocating teeth 463 on the corresponding side. At this time, the fan-shaped driving gear 466 drives the reciprocating teeth 463 and the reciprocating plate 462 to move horizontally to one side; when the fan-shaped driving gear 466 on the side away from the reciprocating cutter 44 is meshed with the reciprocating teeth 463 on the corresponding side, the fan-shaped driving gear 466 on the side close to the reciprocating cutter 44 is not meshed with the reciprocating teeth 463 on the corresponding side. When the fan-shaped driving gear 466 on the side away from the reciprocating cutter 44 rotates to a state of not meshing with the reciprocating teeth 463 on the corresponding side, the fan-shaped driving gear 466 on the side close to the reciprocating cutter 44 rotates to a state of meshing with the reciprocating teeth 463 on the corresponding side, thereby driving the reciprocating teeth 463 and the reciprocating plate 462 to move horizontally to the opposite side; in this way, only the two rotating shafts 464 need to rotate synchronously to achieve intermittent meshing of the fan-shaped driving gears 466 on both sides with the corresponding reciprocating teeth 463, thereby driving the reciprocating plate 462 to reciprocate, driving the reciprocating cutter 44 to reciprocate and cooperate with the fixed cutter 43 to achieve the picking of Trichosanthes kirilowii, with a simple structure and easy control.

[0022] The driving motor 461 is arranged in the picking box 42, and a driving gear 467 is arranged on its output shaft. The driving gear 467 is located between the two driven gears 465 and meshes with the two driven gears 465. The driving motor 461 drives the driving gear 467 to rotate, thereby driving the two driven gears 465 to rotate synchronously, and driving the two rotating shafts 464 to rotate synchronously.

[0023] A notch 421 is provided on the front side of the top of the picking box 42, and a horizontally arranged rotating shaft 422 is rotatably arranged in the notch 421. A vibration plate 45 extending forward is fixedly arranged on the rotating shaft 422, and the top surface of the vibration plate 45 is higher than the top surface of the picking box 42, so that the vibration plate 45 can directly contact the ceiling surface of the Trichosanthes field during operation. Torsion springs 423 are provided at both ends of the rotating shaft 422, and the torsion springs 423 provide downward elastic force for the vibration plate 45, so that the vibration plate 45 is in a low position without external force. A plurality of first hemispheres 452 are arranged at intervals on the lower plate surface of the vibration plate 45 along the length direction of the reciprocating cutter 44, and a plurality of second hemispheres 441 are arranged on the reciprocating cutter 44 corresponding to the first hemispheres 452. When the reciprocating cutter 44 reciprocates, the second hemispheres 441 contact with the first hemispheres 452 to push the first hemispheres 452 upward, so that the vibration plate 45 vibrates reciprocatingly up and down. In this way, the reciprocating motion of the reciprocating cutter 44 can drive the vibration plate 45 to vibrate reciprocatingly up and down. When picking, the up and down reciprocating vibration of the vibration plate 45 is used to shake the ceiling surface of the Trichosanthes field, so that the Trichosanthes hidden on the ceiling surface can be shaken down to facilitate picking.

[0024] A plurality of rake teeth 451 are arranged at intervals on the front side of the vibration plate 45, and the front ends of the rake teeth 451 are generally curved downward, which can effectively prevent the rake teeth 451 from being inserted into the ceiling surface of the trichosanthes field when the walkable body 10 is moving, affecting the picking work. A V-shaped gap is formed between two adjacent rake teeth 451, and the front ends of the rake teeth 451 are located in front of the blade of the reciprocating cutter 44, and the rear ends are located in the rear of the blade of the reciprocating cutter 44, so that the vines of the trichosanthes can be guided into the V-shaped gap between the rake teeth 451, so that the reciprocating cutter 44 can cut the vines.

[0025] Further, a guide assembly 47 is provided at the front side of the picking box 42 at both ends of the reciprocating cutter 44, which is used to guide the Trichosanthes kirilowii at both ends of the reciprocating cutter 44 to the front side of the reciprocating cutter 44, so as to expand the picking range. Specifically, the guide assembly 47 includes a support frame 474, a circular block 475, and a rotating shaft 471. The support frame 474 is provided at the front side of the picking box 42 at both ends of the reciprocating cutter 44, the circular block 475 is provided on the support frame 474, and the rotating shaft 471 is vertically rotatably provided on the circular block 475 and arranged coaxially with the circular block 475. A rotating disk 472 is provided at the top of the rotating shaft 471, and a plurality of guide arms 473 are provided in an annular array on the disk edge of the rotating disk 472, and the height of the guide arms 473 is located between the rake teeth 451 and the reciprocating cutter 44. The rotating disk 472 and the guide arm 473 are driven to rotate by the rotating shaft 471, so that the Trichosanthes kirilowii located at both ends of the reciprocating cutter 44 are swung into the outermost V-shaped gap of the rake teeth 451, so that the reciprocating cutter 44 can cut and pick them.

[0026] During setting, an annular groove 476 is eccentrically opened on the top surface of the circular block 475, and the center of the annular groove 476 is located on the side of the rotating shaft 471 away from the reciprocating cutter 44. A plurality of sliding blocks 477 are slidably arranged in the annular groove 476. The number of sliding blocks 477 is consistent with the number of guide arms 473 and corresponds one to one, preferably 4. The guide arm 473 includes a fixed tube 4731 arranged radially along the rotating disk 472 and a telescopic arm 4732 slidably arranged in the fixed tube 4731. A first connecting rod 478 is hingedly arranged at the bottom of the outer end of the telescopic arm 4732. A second connecting rod 479 is hingedly arranged at one end of the first connecting rod 478 away from the telescopic arm 4732. One end of the second connecting rod 479 away from the first connecting rod 478 is hingedly connected to the top of the sliding block 477. When the rotating shaft 471 drives the rotating disk 472 to rotate, the annular groove 476 and the rotating disk 472 are arranged eccentrically as a whole and the annular groove 476 is located on the side of the circular block 475 away from the reciprocating cutter 44, so that the telescopic arm 4732 performs telescopic movement relative to the fixed tube 4731 when the guide arm 473 rotates. That is, the telescopic arm 4732 is extended when it is away from the end of the reciprocating cutter 44, and the telescopic arm 4732 is shortened when it is close to the end of the reciprocating cutter 44. When the guide arm 473 guides the outer Trichosanthes kirilowii to the end of the reciprocating cutter 44, the telescopic arm 4732 is continuously shortened to avoid it.

[0027] Furthermore, the lower end of the rotating shaft 471 passes through the circular block 475 and is provided with a driven roller (not shown in the figure), and two active rollers 468 are provided on the output shaft of the driving motor 461, and the two active rollers 468 are respectively connected to the driven rollers of the two guide assemblies 47 through the synchronous belt 469. In this way, the guide assembly 47 can be directly driven by the driving motor 461 without the need for additional power.

[0028] The sorting mechanism 60 includes a sorting box 61 arranged at the front side of the collecting rack 31, a feeding hopper 62 is arranged at the side of the sorting box 61 away from the collecting rack 31, a mature Trichosanthes outlet and an immature Trichosanthes outlet are arranged near the collecting rack 31, and a discharge pipe 63 is arranged at the mature Trichosanthes outlet and the immature Trichosanthes outlet. The discharge ends of the two discharge pipes 63 pass through the collecting rack 31 and are arranged above the two collecting frames 32, respectively, so that the mature Trichosanthes and the immature Trichosanthes are respectively transported to the two collecting frames 32. A color sorting camera and a push mechanism (not shown in the figure) are arranged in the sorting box 61. The color sorting camera is used to take photos of Trichosanthes and identify the maturity of Trichosanthes according to the color of the Trichosanthes epidermis. The push mechanism is used to push the immature Trichosanthes to the immature Trichosanthes outlet, and the mature Trichosanthes directly enters the collecting frame 32 through the mature Trichosanthes outlet, so as to achieve graded collection of Trichosanthes.

[0029] The conveying mechanism 50 includes a mounting frame 51 disposed at the bottom of the picking box 42, a collecting hopper 52 is fixedly disposed on the front side of the mounting frame 51, and a feed port of the collecting hopper 52 is located below the fixed blade, and is used to collect the Trichosanthes cut by the reciprocating cutter 44. A conveying hose 53 is disposed at the bottom discharge port of the collecting hopper 52, and the discharge end of the conveying hose 53 is connected to the feed hopper 62, and the picked Trichosanthes is conveyed to the sorting mechanism 60 for sorting through the conveying hose 53.

[0030] The operating principle of a Trichosanthes picking and sorting integrated machine in the present embodiment is: the staff drives the walkable body 10 into the Trichosanthes field, controls the telescopic arm 4732 to move to adjust the height of the picking box 42, and then starts the drive motor 461 to drive the reciprocating cutter 44 to move, so that the vibration plate 45 and the guide assembly 47 move synchronously to pick the Trichosanthes; the Trichosanthes cut by the reciprocating cutter 44 falls into the collecting bucket 52, is transported to the feeding bucket 62 through the conveying hose 53, and then enters the sorting box 61 for sorting, and finally reaches the collecting frame 32.

[0031] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A machine for picking and sorting Trichosanthes kirilowii, characterized by: The invention comprises a movable body (10), a working platform (20) is arranged at the front side of the movable body (10), a collecting mechanism (30), a picking mechanism (40), a conveying mechanism (50), and a sorting mechanism (60) are arranged on the working platform (20), the collecting mechanism (30) comprises a collecting frame (31) arranged on the working platform (20), two collecting frames (32) are placed in the collecting frame (31); the picking mechanism (40) comprises a mechanical arm (41) arranged at the top of the collecting frame (31), a picking box (42) is arranged horizontally and rotatably at the cantilevered end of the mechanical arm (41), a fixed cutting knife (43) is arranged horizontally at the front side of the picking box (42), a reciprocating cutting knife (44) is slidably arranged on the fixed cutting knife (43) along its length direction, a notch (421) is opened at the front side of the top face of the picking box (42), a horizontally arranged A rotating shaft (422) is fixedly provided with a vibration plate (45) extending forward, a front side plate edge of the vibration plate (45) is provided with a plurality of rake teeth (451) at intervals, a front end of the rake teeth (451) is located at the front side of the reciprocating cutter (44) and a rear end is located at the rear side of the reciprocating cutter (44), a plurality of first hemispheres (452) are provided at intervals on the lower plate surface of the vibration plate (45) along the length direction of the reciprocating cutter (44), The reciprocating cutter (44) is provided with a plurality of second hemispheres (441) corresponding to the first hemisphere (452), and the picking box (42) is provided with a driving assembly (46) for driving the reciprocating cutter (44) to reciprocate; the conveying mechanism (50) is used to convey the picked Trichosanthes kirilowii to the sorting mechanism (60), and the sorting mechanism (60) is used to identify the maturity of the Trichosanthes kirilowii and convey the mature and immature Trichosanthes kirilowii to two collecting frames (32) respectively.

2. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 1, characterized in that: The front end of the rake teeth (451) is in a downward curved arc shape as a whole. Torsion springs (423) are provided at both ends of the rotating shaft (422), and the torsion springs (423) provide downward elastic force for the vibration plate (45).

3. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 1, characterized in that: The driving assembly (46) comprises a driving motor (461) and a reciprocating plate (462). The reciprocating plate (462) is slidably arranged in a picking box (42) along the length direction of the reciprocating cutter (44) and has reciprocating teeth (463) arranged on the two side edges of the plate. A rotating shaft (464) is rotatably arranged at the front and rear sides of the reciprocating plate (462) in the picking box (42). The rotating shaft (464) is coaxially provided with a driven gear (465) and a fan-shaped driving gear (466). The fan-shaped driving gears (466) on the two rotating shafts (464) are arranged on the same axis. The gears (466) are arranged in the same direction and are intermittently meshed with the reciprocating teeth (463) on the corresponding side. The driving motor (461) is arranged in the picking box (42). A driving gear (467) is arranged on its output shaft. The driving gear (467) is located between the two driven gears (465) and is meshed with the two driven gears (465). A connecting plate (442) is arranged on the rear side of the reciprocating cutter (44) protruding into the picking box (42). The bottom of the connecting plate (442) is fixedly connected to the reciprocating plate (462).

4. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 3 is characterized in that: A guide assembly (47) is also provided on the front side of the picking box (42) at both ends of the reciprocating cutter (44), and the guide assembly (47) comprises a vertically arranged rotating shaft (471), a rotating disk (472) is provided at the top end of the rotating shaft (471), and a plurality of guide arms (473) are provided in a circular array on the disk edge of the rotating disk (472), and the height of the guide arms (473) is located between the rake teeth (451) and the reciprocating cutter (44).

5. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 4 is characterized in that: The guide assembly (47) comprises a support frame (474) arranged at the front side of the picking box (42) and at both ends of the reciprocating cutter (44); a circular block (475) is arranged on the support frame (474); the rotating shaft (471) is rotatably arranged on the circular block (475) and is arranged coaxially with the circular block (475); a circular groove (476) is provided on the top surface of the circular block (475); the center of the circular groove (476) is located on the side of the rotating shaft (471) away from the reciprocating cutter (44); a plurality of sliding blocks (477) are slidably arranged in the circular groove (476); the guide arm (473) comprises a fixed tube (4731) and a sliding block (477) arranged radially along the rotating disk (472); A telescopic arm (4732) is arranged in a fixed tube (4731), and a first connecting rod (478) is hingedly arranged at the bottom of the outer end of the telescopic arm (4732), and a second connecting rod (479) is hingedly arranged at one end of the first connecting rod (478) away from the telescopic arm (4732), and one end of the second connecting rod (479) away from the first connecting rod (478) is hinged to the top of the sliding block (477), and the lower end of the rotating shaft (471) passes through the circular block (475) and is provided with a driven roller, and two active rollers (468) are provided on the output shaft of the driving motor (461), and the two active rollers (468) are respectively connected to the driven rollers of the two guide assemblies (47) through synchronous belts (469).

6. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 1, characterized in that: The sorting mechanism (60) comprises a sorting box (61) arranged at the front side of the collecting rack (31); a feeding hopper (62) is arranged on the side of the sorting box (61) away from the collecting rack (31); a mature Trichosanthes fruit outlet and an immature Trichosanthes fruit outlet are arranged near the collecting rack (31); discharge pipes (63) are arranged at the mature Trichosanthes fruit outlet and the immature Trichosanthes fruit outlet; the discharge ends of the two discharge pipes (63) pass through the collecting rack (31) and are respectively arranged above the two collecting frames (32); a color sorting camera and a pushing mechanism are arranged in the sorting box (61); the color sorting camera is used to take photos of the Trichosanthes fruit and identify the maturity of the Trichosanthes fruit according to the color of the Trichosanthes fruit skin; and the pushing mechanism is used to push the immature Trichosanthes fruit to the immature Trichosanthes fruit outlet.

7. The integrated machine for picking and sorting Trichosanthes kirilowii according to claim 6, characterized in that: The conveying mechanism (50) comprises a mounting frame (51) arranged at the bottom of the picking box (42), a collecting bucket (52) is fixedly arranged on the front side of the mounting frame (51), a feed port of the collecting bucket (52) is located below the fixed blade, a conveying hose (53) is arranged at the bottom discharge port of the collecting bucket (52), and the discharge end of the conveying hose (53) is connected to the feed bucket (62).

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