A multifunctional raspberry harvesting equipment

Abstract

The present invention belongs to the technical field of raspberry harvesting, and more particularly relates to a multifunctional raspberry harvesting device comprising a four-wheeled mobile device, a robotic arm, and a harvesting assembly mounted at the end of the robotic arm. The harvesting assembly comprises a door-shaped housing within which are symmetrically arranged along the direction of movement two fruit-picking assemblies for vibrating and plucking raspberry plants from both sides, and two pruning assemblies for pruning the branches of the raspberry plants after the fruit has been picked from both sides. The two fruit-picking assemblies of the harvesting assembly of the present invention can pick raspberries from both sides of each row of raspberries. During the process of picking the raspberries by the fruit-picking assemblies, a toggle assembly located on a second rotating sleeve of the fruit-picking assembly rotates while vibrating up and down under the joint drive of a first drive assembly and a second drive assembly, thereby separating the fruit from the raspberry branches, achieving automated picking while effectively improving picking efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of raspberry harvesting, and in particular relates to multifunctional raspberry harvesting equipment. Background Art

[0002] Raspberry is a woody plant of the genus Rubus in the Rosaceae family. It is a fruit with multiple medicinal values. The fruit tastes sweet and sour, and the branches of the plant are covered with hooked thorns.

[0003] Raspberries are typically harvested manually. First, branches laden with fruit are manually cut from the main stem. These fruit-bearing branches are then placed in a specialized machine to separate the fruit from the stem, completing the branch pruning process. Simultaneously, the branches on the main stem are pruned to maintain a radial difference of 50-60 centimeters between the crown and the stem to ensure a high fruit yield next year. However, current manual pruning of raspberries reduces efficiency.

[0004] In order to improve the picking efficiency, the present invention designs a full-function picking device, which can prune the branches on the main stem of the raspberries while picking the raspberries, thereby realizing the automation of picking and pruning. Summary of the Invention

[0005] Based on this, it is necessary to address the problems existing in current raspberry harvesting equipment and provide a multifunctional raspberry harvesting equipment. In the present invention, the two fruit picking assemblies of the harvesting assembly can pick raspberries from both sides of each row of raspberries. During the process of picking the raspberries by the fruit picking assemblies, the toggle assembly distributed on the second rotating sleeve of the fruit picking assembly rotates under the joint drive of the first drive assembly and the second drive assembly while vibrating up and down, thereby achieving the purpose of separating the fruits on the raspberry branches from the branches, realizing automated picking while effectively improving picking efficiency. The structural features of the toggle lever of the toggle lever assembly in the present invention ensure that it can effectively toggle the raspberry branches during its rotation with the second rotating seat, and can effectively detach from the branches after toggle the branches to pick the fruits without being hooked or blocked by the branches. The pruning rod group of the harvesting assembly in the present invention is driven by the third drive assembly to prune the raspberry plants whose fruits have been picked by the harvesting assembly. The spiral cutters on the three-section pruning round rods on the pruning rod assembly can adaptively bend under the obstruction of the main rod behind the support rod while effectively pruning the branches. After the pruning rod assembly is separated from the branches, it can automatically restore to a straight rod state under the action of the universal joint assembly. The bent pruning rod assembly can still be driven by the third drive assembly to prune the branches that block its forward movement, effectively avoiding damage to the pruning round rod due to permanent bending due to long-term interaction with the branches.

[0006] The above purpose is achieved through the following technical solutions:

[0007] A multifunctional raspberry harvesting device includes a four-wheeled mobile device, a mechanical arm, and a harvesting assembly installed at the end of the mechanical arm. The harvesting assembly includes a door-shaped shell. Two fruit picking assemblies for vibrating and picking fruits from raspberry plants from both sides and two pruning assemblies for pruning branches and stems of the raspberry plants after the fruits are picked are symmetrically arranged in the shell along its movement direction.

[0008] The fruit picking component includes a second rotating sleeve that vibrates vertically along an axis when driven by a second driving component on the outer shell and rotates when driven by a first driving component on the outer shell. A plurality of toggling components for toggling raspberry branches are evenly arranged on the cylindrical surface of the second rotating sleeve. The toggling component has the characteristic of preventing it from being hooked and stuck by the raspberry branch when it is separated from the raspberry branch.

[0009] The pruning assembly includes four vertical rows of fourth rotatable seats evenly distributed along the movement direction of the shell, and each vertical row of the fourth rotatable seats includes three fourth rotatable seats vertically distributed on the second fixed rod in the shell. A horizontal second rotating column is rotatably arranged in the fourth rotatable seat, which is perpendicular to the movement direction of the shell and driven by the third driving assembly on the shell. The end of the second rotating column is connected to an inclined straight rod-shaped pruning rod assembly through a cross universal joint. The three pruning rod assemblies in the same vertical row have the same inclination direction, and the pruning rod assemblies in adjacent vertical rows have opposite inclination directions. The pruning rod assembly has the characteristics of using the spiral knife arranged thereon to rotate and cut the branches and rods, and adaptively bending and avoiding when it is blocked by thick branches and rods.

[0010] In one embodiment, a first rotating sleeve driven to rotate by the first driving assembly is slidably provided in the upper and lower ends of the second rotating sleeve, and the two first rotating sleeves are respectively rotatably provided in the first rotating seat on the top of the outer shell and the first fixed rod in the outer shell, and a core rod is rotatably provided in the second rotating sleeve, and end rods are provided at both ends of the core rod, and the two end rods are respectively slidably provided in the first guide sleeves on the top of the outer shell and the first fixed rod in the outer shell.

[0011] In one embodiment, the toggle assembly includes a base, which is fixed in a slot on a second rotating sleeve by bolts, a first rotating column is rotatably arranged in a circular hole on the base, a vortex spring is connected between the first rotating column and the base, a square and a toggle rod are respectively provided at both ends of the first rotating column, and a socket is provided on the wall of the slot to facilitate the entry and exit of the square and the first rotating column, the square slides around the axis of the core rod in an annular limit groove on the core rod, and a release groove is provided at the top and bottom of the limit groove to release the rotation limit of the square when the toggle rod is about to leave the raspberry branch rod, and arc surfaces are provided at the four corners of the square to facilitate its rotation in the release groove.

[0012] In one embodiment, the actuating end of the actuating lever is bent downward and in the direction of rotation thereof.

[0013] In one embodiment, the first driving assembly includes a second rotating seat arranged on the top of the outer shell, a rotating shaft is rotatably arranged in the second rotating seat, a third gear and a second gear are respectively provided at the upper and lower ends of the rotating shaft, the second gear is engaged with the first gear arranged on the first rotating sleeve, and the third gear is engaged with the fourth gear on the output shaft of the first motor, the first motor is arranged on the third rotating seat at the top of the outer shell, and the output group of the first motor is rotatably arranged in the third rotating seat.

[0014] In one embodiment, the second drive assembly includes a second motor arranged on the top of the outer shell, a crank wheel is provided on the output shaft of the second motor, a crank rod is provided on the crank wheel, a connecting rod is hinged at the end of the crank rod, the end of the connecting rod is hinged to a guide rod that slides vertically in the guide hole at the top of the outer shell, a guide ring is provided at the lower end of the guide rod, the guide ring is slidably arranged in the second guide sleeve at the top of the outer shell, a swivel is rotatably arranged in the guide ring, and the swivel is connected to the upper end of the second swivel sleeve through four circumferentially evenly distributed connecting rods.

[0015] In one embodiment, the pruning rod assembly includes three pruning rods connected in sequence through a universal joint assembly, one of the pruning rods located at one end is connected to the second rotating column through a cross universal joint and is rotatably arranged in a fifth rotating seat, and the fifth rotating seat is fixed to the corresponding second fixed rod through a third fixed rod, and a spiral cutter is provided on the cylindrical surface of the pruning rod, and the spiral blade of the spiral cutter is transitionally connected to its outer cylindrical surface through a first spiral arc surface, and the spiral blade of the spiral cutter is connected to the cylindrical surface of the pruning rod through a second spiral arc surface.

[0016] In one embodiment, the universal joint assembly includes two universal joint forks connected to the trimming rod, the two universal joint forks are connected by a cross shaft, and the two sides of the middle of the cross shaft are respectively connected to the universal joint forks on the corresponding side through return springs.

[0017] In one embodiment, the third drive assembly includes a third motor arranged on the top of the shell and a first sprocket arranged on the second rotating column, the first sprocket is connected to the first sprocket on the adjacent second rotating column in the same row through a first chain, the three second rotating columns in a vertical row are provided with a second sprocket, the second sprocket is connected to the second sprocket on the adjacent second rotating column in the same vertical row through a second chain, a third sprocket is provided on one of the second rotating columns, and the third sprocket is connected to the fourth sprocket on the output shaft of the third motor through the third sprocket.

[0018] In one embodiment, a collecting device is provided below the fruit picking assembly and the pruning assembly.

[0019] The beneficial effects of the present invention are:

[0020] 1. The two fruit picking assemblies of the harvesting assembly of the present invention can pick raspberries from both sides of each row of raspberries. During the process of picking raspberries by the fruit picking assemblies, the toggle assembly distributed on the second rotating sleeve in the fruit picking assembly rotates under the joint drive of the first drive assembly and the second drive assembly while vibrating up and down, thereby achieving the purpose of separating the fruits on the raspberry branches from the branches, realizing automated picking and effectively improving picking efficiency.

[0021] 2. The structural characteristics of the lever of the toggle assembly of the present invention can ensure that the raspberry branches can be effectively toggled while the lever rotates with the second rotating seat, and at the same time, the lever can be effectively detached from the branch after the raspberry branches are toggled to pick the fruit without being blocked by the branch.

[0022] 3. The pruning rod group of the harvesting assembly in the present invention is driven by the third drive assembly to prune the raspberry plants whose fruits have been picked by the harvesting assembly. The spiral cutters on the three-section pruning round rods on the pruning rod assembly can bend adaptively under the obstruction of the main rod behind the support rod while effectively pruning the branches. After the pruning rod assembly is separated from the branch, it can automatically restore to a straight rod state under the action of the universal joint assembly. The bent pruning rod assembly can still be driven by the third drive assembly to prune the branches that block its forward movement, effectively avoiding permanent bending and damage of the pruning round rod due to long-term interaction with the branch. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall schematic diagram of the present invention;

[0024] Figure 2 is a top cross-sectional view of the harvesting assembly of the present invention;

[0025] Figure 3 is a cross-sectional view of the harvesting assembly of the present invention;

[0026] Figure 4 is a side cross-sectional view of the harvesting assembly of the present invention;

[0027] Figure 5 This is a cross-sectional view of the upper structure of the second rotating sleeve in the fruit picking assembly;

[0028] Figure 6 This is a cross-sectional view of the lower end structure of the second rotating sleeve in the fruit picking assembly;

[0029] Figure 7 This is a cross-sectional view of the coordination between the toggle assembly, the core rod, and the second rotating sleeve;

[0030] Figure 8 This is a cross-sectional view of the distribution structure of the toggle components at the same height on the second rotating sleeve;

[0031] Figure 9It is a schematic diagram of the core rod and its parts;

[0032] Figure 10 This is a schematic diagram of the second rotating sleeve;

[0033] Figure 11 This is a cross-sectional view of the second turn;

[0034] Figure 12 This is a schematic diagram of the toggle component;

[0035] Figure 13 It is a cross-sectional view of the distribution structure of two trimming components;

[0036] Figure 14 It is a cross-sectional view of the pruning rod assembly structure in different tilt states in the pruning assembly;

[0037] Figure 15 is a schematic diagram of the connection between the trimming rod assembly and the second rotating column;

[0038] Figure 16 It is the trim rod assembly and its partial cross-section;

[0039] Figure 17 are two cross-sectional views of the third drive assembly;

[0040] Figure 18 are two partial cross-sectional views of the third drive assembly;

[0041] Figure 19 These are two structural diagrams of the shell;

[0042] Figure 20 These are two partial cross-sectional views of the shell structure;

[0043] Figure 21 It is a schematic diagram of pruning the main rod and branch rod by the pruning rod assembly;

[0044] Name of the label in the figure:

[0045] 101. Four-wheeled mobile equipment; 102. Robotic arm;

[0046] 200, harvesting assembly; 201, housing; 202, fruit picking assembly; 203, first rotating seat; 204, first guide sleeve; 205, first fixing rod; 206, second rotating seat; 207, second guide sleeve; 208, end rod; 209, core rod; 210, limit slot; 211, release slot; 212, first rotating sleeve; 213, second rotating sleeve; 214, slot; 215, jack; 216, toggle assembly; 2 17. Card seat; 218. Vortex spring; 219. First rotating column; 220. Square; 221. Arc surface; 222. Lever; 223. First driving assembly; 224. First gear; 225. Second gear; 226. Rotating shaft; 227. Third gear; 228. Fourth gear; 229. First motor; 230. Third rotating seat; 231. Second driving assembly; 232. Connecting rod; 233. Rotating ring; 2 34. Guide ring; 235. Guide rod; 236. Connecting rod; 237. Crank rod; 238. Crank wheel; 239. Second motor; 240. Trimming assembly; 241. Second fixed rod; 242. Fourth swivel; 243. Second rotating column; 244. Cross universal joint; 245. Fifth swivel; 246. Third fixed rod; 247. Trimming rod assembly; 248. Trimming rod; 249. Spiral cutter; 250. First Spiral arc surface; 251, universal joint assembly; 252, universal joint fork; 253, cross shaft; 254, return spring; 255, third drive assembly; 256, first sprocket; 257, first chain; 258, second sprocket; 259, second chain; 260, third sprocket; 261, third chain; 262, fourth sprocket; 263, third motor; 264, collection device; 265, second spiral arc surface;

[0047] 301, main stem; 302, branch stem. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like, indicating positions or relationships, are based on those shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the device or element referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention.

[0050] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0051] like Figure 1-21 As shown, a multifunctional raspberry harvesting device includes a four-wheel mobile device 101, a mechanical arm 102 and a harvesting assembly 200 installed at the end of the mechanical arm 102, wherein the harvesting assembly 200 includes a door-shaped shell 201, and two fruit picking assemblies 202 for vibrating and picking fruits from raspberry plants from both sides and two pruning assemblies 240 for pruning branches 302 of the raspberry plants after the fruits are picked are symmetrically arranged in the shell 201 along its movement direction.

[0052] The fruit picking component 202 includes a second rotating sleeve 213 that vibrates vertically along the axis when driven by the second driving component 231 on the outer shell 201 and rotates when driven by the first driving component 223 on the outer shell 201. A plurality of circles of toggling components 216 for toggling the raspberry branch 302 are evenly arranged on the cylindrical surface of the second rotating sleeve 213. The toggling component 216 has the characteristic of preventing it from being hooked and stuck by the raspberry branch 302 when it is separated from the raspberry branch 302.

[0053] The pruning assembly 240 includes four vertical rows of fourth rotatable seats 242 evenly distributed along the movement direction of the shell 201, and each vertical row of the fourth rotatable seats 242 includes three fourth rotatable seats 242 vertically distributed on the second fixed rod 241 in the shell 201. A horizontal second rotating column 243 is rotatably arranged in the fourth rotatable seat 242, which is perpendicular to the movement direction of the shell 201 and driven by the third driving assembly 255 on the shell 201. The end of the second rotating column 243 is connected to an inclined straight rod-shaped pruning rod assembly 247 through a cross universal joint 244. The three pruning rod assemblies 247 in the same vertical row have the same inclination direction, and the pruning rod assemblies 247 in adjacent vertical rows have opposite inclination directions. The pruning rod assembly 247 has the characteristics of using the spiral knife 249 arranged thereon to rotate and cut the branch rod 302 and adaptively bend and avoid when it is blocked by the thick branch rod 302.

[0054] In a further embodiment, Figure 5 、 6 As shown, the first rotating sleeves 212 driven to rotate by the first driving component 223 are slidably provided in the upper and lower ends of the second rotating sleeve 213, and the two first rotating sleeves 212 are respectively rotatably provided in the first rotating seat 203 on the top of the outer shell 201 and the first fixed rod 205 in the outer shell 201, and the core rod 209 is rotatably provided in the second rotating sleeve 213, and the end rods 208 are provided at both ends of the core rod 209, and the two end rods 208 are respectively slidably provided in the first guide sleeve 204 on the top of the outer shell 201 and the first fixed rod 205 in the outer shell 201.

[0055] In a further embodiment, Figure 7-12 As shown, the toggle assembly 216 includes a base 217, which is fixed to the slot 214 on the second rotating sleeve 213 by bolts. A first rotating column 219 is rotatably arranged in the circular hole on the base 217. A vortex spring 218 is connected between the first rotating column 219 and the base 217. A square block 220 and a toggle rod 222 are respectively provided at both ends of the first rotating column 219. The wall of the slot 214 is provided with a square block 220 for facilitating the movement of the square block 220. The square block 220 and the first rotating column 219 are inserted into and out of the insertion hole 215, and the square block 220 slides around the axis of the core rod 209 in the annular limiting groove 210 on the core rod 209. The top and bottom of the limiting groove 210 are provided with a release groove 211 for releasing the rotation restriction of the square block 220 when the lever 222 is about to leave the raspberry branch rod 302. The four corners of the square block 220 are provided with arc surfaces 221 for facilitating its rotation in the release groove 211.

[0056] In a further embodiment, Figure 2 、 Figure 3 、 Figure 12 As shown, the shifting end of the shifting rod 222 is bent downward and in the direction of rotation.

[0057] In a further embodiment, Figure 5 As shown, the first driving component 223 includes a second rotating seat 206 arranged at the top of the shell 201, and a rotating shaft 226 is rotatably arranged in the second rotating seat 206. The upper and lower ends of the rotating shaft 226 are respectively provided with a third gear 227 and a second gear 225. The second gear 225 is engaged with the first gear 224 arranged on the first rotating sleeve 212, and the third gear 227 is engaged with the fourth gear 228 on the output shaft of the first motor 229. The first motor 229 is arranged on the third rotating seat 230 at the top of the shell 201, and the output group of the first motor 229 is rotatably arranged in the third rotating seat 230.

[0058] In a further embodiment, Figure 5 As shown, the second drive assembly 231 includes a second motor 239 arranged at the top of the shell 201, and a crank wheel 238 is provided on the output shaft of the second motor 239, and a crank rod 237 is provided on the crank wheel 238. The end of the crank rod 237 is hinged with a connecting rod 236, and the end of the connecting rod 236 is hinged to a guide rod 235 that slides vertically in the guide hole at the top of the shell 201. The lower end of the guide rod 235 is provided with a guide ring 234, and the guide ring 234 is slidably set in the second guide sleeve 207 at the top of the shell 201. A swivel ring 233 is rotatably set in the guide ring 234, and the swivel ring 233 is connected to the upper end of the second swivel sleeve 213 through four circumferentially evenly distributed connecting rods 232.

[0059] In a further embodiment, Figure 13-17 As shown, the trimming rod assembly 247 includes three trimming rods 248 connected in sequence by a universal joint assembly 251. The trimming rod 248 located at one end is connected to the second rotating column 243 through a cross universal joint 244 and is rotatably set in the fifth rotating seat 245. The fifth rotating seat 245 is fixed to the corresponding second fixed rod 241 through a third fixed rod 246. A spiral cutter 249 is provided on the cylindrical surface of the trimming rod 248. The spiral blade of the spiral cutter 249 is transitionally connected to its outer cylindrical surface through a first spiral arc surface 250, and the spiral blade of the spiral cutter 249 is connected to the cylindrical surface of the trimming rod 248 through a second spiral arc surface 265.

[0060] In a further embodiment, Figure 16 As shown, the universal joint assembly 251 includes two universal joint forks 252 connected to the trimming rod 248, and the two universal joint forks 252 are connected by a cross shaft 253. The two sides of the middle part of the cross shaft 253 are respectively connected to the corresponding side universal joint forks 252 through return springs 254.

[0061] In a further embodiment, Figure 17 、 Figure 18 As shown, the third driving assembly 255 includes a third motor 263 arranged on the top of the housing 201 and a first sprocket 256 arranged on the second rotating column 243, the first sprocket 256 is transmission-connected to the first sprocket 256 on the adjacent second rotating column 243 in the same row through a first chain 257, a second sprocket 258 is provided on the three second rotating columns 243 in a vertical row, the second sprocket 258 is transmission-connected to the second sprocket 258 on the adjacent second rotating columns 243 in the same vertical row through a second chain 259, a third sprocket 260 is provided on one of the second rotating columns 243, the third sprocket 260 is transmission-connected to the fourth sprocket 262 on the output shaft of the third motor 263 through the third sprocket 260.

[0062] In a further embodiment, Figure 1 、 Figure 2 、 Figure 3 As shown, a collecting device 264 is provided below the fruit picking assembly 202 and the pruning assembly 240 .

[0063] The two fruit picking assemblies 202 of the harvesting assembly 200 of the present invention can pick raspberries from both sides of each row of raspberries. During the picking process, the plucking assembly 202, located on the second rotating sleeve 213 of the plucking assembly 202, rotates while vibrating up and down under the joint drive of the first drive assembly 223 and the second drive assembly 231, thereby separating the fruit from the raspberry branches 302. This achieves automated picking and effectively improves picking efficiency. The structural features of the plucking lever 222 of the plucking assembly 216 of the present invention ensure that it effectively plucking the raspberry branches 302 during its rotation with the second rotating sleeve 206, and that it can effectively separate from the branches 302 after plucking the fruit without being hooked or blocked by the branches 302. The pruning rod group of the harvesting component 200 in the present invention is driven by the third drive component 255 to prune the raspberry plants whose fruits have been picked by the harvesting component 200. The spiral knife 249 on the three-section pruning round rod 248 on the pruning rod component 247 can adaptively bend under the obstruction of the main rod 301 behind the support rod while effectively pruning the branch rod 302. After the pruning rod component 247 is separated from the branch rod 302, it can automatically restore to a straight rod state under the action of the universal joint component 251. The bent pruning rod component 247 can still be driven by the third drive component 255 to prune the branch rod 302 that blocks its forward movement, effectively preventing the pruning round rod 248 from being permanently bent and damaged due to long-term interaction with the branch rod 302.

[0064] The operation process of the present invention is as follows:

[0065] When the present invention is needed to harvest raspberries planted in rows, the center of the four-wheeled traveling device is positioned above a row of raspberries, and the four wheels are located in the furrows on both sides of the row of raspberries. The robotic arm 102 is started to drive the harvesting assembly 200 to the starting end of an adjacent row of raspberries, so that the raspberries are located in the center of the cross section of the shell 201 of the harvesting assembly 200. This ensures that the two fruit picking assemblies 202 and the pruning assembly 240 in the harvesting assembly 200 can pick the raspberries from both sides of the row of raspberries and cut and prune the branches 302 on the main stem 301 in turn during the movement of the four-wheeled traveling device through the robotic arm 102.

[0066] When the harvesting equipment reaches the starting point of a row of raspberries and is ready, the four-wheeled walking device is started. At the same time, the first motor 229, the second motor 239, and the third motor 263 are started. The four-wheeled walking device drives the harvesting assembly 200 to move synchronously through the mechanical arm 102. The rows of raspberries begin to enter the housing 201 of the harvesting assembly 200 from the front end and exit from the rear end of the housing 201, completing the picking of the raspberry fruits and the pruning of the branches 302. The first motor 229 drives the second rotating sleeve 213 to rotate through the fourth gear 228, the third gear 227, the rotating shaft 226, the second gear 225, the first gear 224, and the first rotating sleeve 212. The second rotating sleeve 213 drives the rotating ring 233 to rotate within the guide ring 234 through the connecting rod 232. The second rotating sleeve 213 drives all the toggle assemblies 216 thereon to rotate synchronously, as shown in FIG. Figure 2 As shown, the second rotating sleeves 213 in the two fruit picking components 202 rotate in opposite directions and the toggle components 216 in the fruit picking components 202 are in a state of toggling the raspberries forward. The toggle components 216 on the fruit picking components 202 toggle the raspberry branches 302 to separate the fruits from the branches 302, and the separated fruits fall downward into the collecting device 264 below for collection.

[0067] The second motor 239 drives all the toggle components 216 on the second rotating sleeve 213 to reciprocate up and down through the crank wheel 238, crank, connecting rod 236, guide rod 235, guide ring 234, rotating ring 233, connecting rod 232 and second rotating sleeve 213, so that the toggle components 216 vibrate, which is more conducive to the toggle components 216 separating the fruits on the branch rod 302. The forward and downward bending structure of the toggle end of the toggle rod 222 in the toggle component 216 can help the toggle rod 222 to smoothly detach from the branch rod 302 after it completes toggling the branch rod 302 without being hooked and stuck by the branch rod 302. The second driving component 231 drives the toggle component 216 on the second rotating seat 206 to vibrate up and down, which is also conducive to the toggle rod 222 to smoothly detach from the branch rod 302 after it completes toggling the branch rod 302 without being hooked and stuck by the branch rod 302.

[0068] When the lever 222 in the toggle assembly 216 is about to complete the toggle of the raspberry plant branch 302, the square 220 where the lever 222 is located just enters the release groove 211 in the corresponding limit groove 210 from the corresponding limit groove 210. Under the action of the branch rod 302, the lever 222 will adaptively rotate around the axis of the corresponding first rotating column 219 under the action of the main rod 301 or the thicker branch rod 302 and compress the vortex spring 218. The lever 222 drives the square 220 to rotate a certain angle in the release groove 211 through the first rotating column 219, thereby effectively buffering the force acting on the lever 222. At the same time, the lever 222 with the bent toggle end is effectively separated from the branch rod 302 and is not hooked and stuck by the raspberry plant branch 302, thereby protecting the lever 222 from damage.

[0069] like Figure 21 As shown, the third motor 263 drives a second rotating column 243 equipped with a second sprocket 258 to rotate through the fourth sprocket 262, the third chain 261, and the third sprocket 260. The second rotating column 243 equipped with the second sprocket 258 drives all the second rotating columns 243 in the same column to rotate in the same direction through the second sprocket 258, the second chain 259 and the second sprocket 258 on the adjacent second rotating column 243 in the same column. The second rotating column 243 equipped with the second sprocket 258 drives all the second rotating columns 243 in the same row to rotate in the same direction through the first sprocket 256, the first chain 257 and the first sprocket 256 on the adjacent second rotating columns 243 in the same row. The second rotating column 243 drives the corresponding pruning rod assembly 247 to rotate rapidly through the cross universal joint 244. The rapidly rotating pruning rod assembly 247 drives the spiral knife 249 thereon to cut and prune the branches 302 of the raspberry plants picked by the fruit picking assembly 202.

[0070] like Figure 21 As shown, since the spiral knife 249 blade of the spiral knife 249 on the pruning rod 248 in the pruning rod assembly 247 is excessively connected with the outer cylindrical surface of the spiral knife 249 and the cylindrical surface of the pruning rod 248 through the first spiral arc surface 250 and the second spiral arc surface 265 with an axial cross-section of 60 degrees, the spiral knife 249 will not form a cutting shear on the main stem 301 of the raspberry plant that is too large in diameter to enter the cutting range of the spiral knife 249, while the spiral knife 249 forms an effective cutting shear on the branch stem 302 of the raspberry plant that is smaller in diameter and easy to enter the cutting range of the spiral knife 249, thereby completing the pruning of the branch stem 302.

[0071] During the interaction between the pruning rod assembly 247 and the branch rod 302 or main rod 301 of the raspberry plant, the main rod 301 of the raspberry plant or the branch rod 302 with a thicker diameter will block the movement of the pruning rod assembly 247 along with the outer shell 201. At this time, the two sections of pruning round rods 248 in the pruning rod assembly 247 that directly act on the branch rod 302 will be bent backward to a corresponding degree at the two universal joint assemblies 251 under the obstruction of the main rod 301 or the thick support rod. The two springs in the universal joint assembly 251 will be stretched to store energy, so that the pruning rod assembly 247 can buffer and avoid the main rod 301 or the thicker branch rod 302, thereby preventing the pruning rod assembly 247 from being damaged.

[0072] After the pruning rod assembly 247 is bent to a certain extent at the corresponding two universal joint assemblies 251, it is still in a high-speed rotation state, which is conducive to it being able to effectively cut and prune the branch rod 302 after bending.

Claims

1. A multifunctional raspberry harvesting device comprising a four-wheeled mobile device, a robotic arm, and a harvesting assembly mounted on the end of the robotic arm, characterized in that: The harvesting assembly includes a door-shaped housing, and two fruit picking assemblies for vibrating and picking fruits from two sides of the raspberry plants and two pruning assemblies for pruning branches and stems of the raspberry plants after the fruits are picked are symmetrically arranged in the housing along the direction of movement. The fruit picking assembly includes a second rotating sleeve that vibrates vertically along an axis when driven by a second driving assembly on the housing and rotates when driven by a first driving assembly on the housing. A plurality of toggling assemblies for toggling raspberry branches are evenly arranged on the cylindrical surface of the second rotating sleeve. The toggling assemblies have the characteristic of preventing them from being hooked and stuck by the raspberry branches when they are separated from the raspberry branches. The pruning assembly includes four vertical rows of fourth rotatable seats evenly distributed along the movement direction of the shell, each vertical row of the fourth rotatable seats includes three fourth rotatable seats vertically distributed on the second fixed rod in the shell, a horizontal second rotating column perpendicular to the movement direction of the shell and driven by the third driving assembly on the shell is rotatably arranged in the fourth rotatable seat, the end of the second rotating column is connected to an inclined straight rod-shaped pruning rod assembly through a cross universal joint, the three pruning rod assemblies located in the same vertical row have the same inclination direction, and the pruning rod assemblies in adjacent vertical rows have opposite inclination directions, the pruning rod assembly has the characteristics of using the spiral knife provided thereon to rotate and cut the branches and rods, and adaptively bending and avoiding when it is blocked by a thick branch rod; The upper and lower ends of the second rotating sleeve are both slidably provided with first rotating sleeves driven to rotate by the first driving assembly, and the two first rotating sleeves are respectively rotatably provided in the first rotating seat on the top of the shell and the first fixed rod in the shell, and a core rod is rotatably provided in the second rotating sleeve, and end rods are provided at both ends of the core rod, and the two end rods are respectively slidably provided in the first guide sleeves on the top of the shell and the first fixed rod in the shell; The toggle assembly includes a card seat, which is fixed in a card slot on a second rotating sleeve by a bolt, a first rotating column is rotatably arranged in a circular hole on the card seat, a vortex spring is connected between the first rotating column and the card seat, a square and a toggle rod are respectively provided at both ends of the first rotating column, and a plug hole is provided on the wall of the card slot to facilitate the entry and exit of the square and the first rotating column, the square slides in the annular limiting groove on the core rod around the axis of the core rod, and the top and bottom of the limiting groove are provided with a release groove for releasing the rotation restriction of the square when the toggle rod is about to leave the raspberry branch rod, and the four corners of the square are provided with arc surfaces that facilitate its rotation in the release groove; The pruning rod assembly includes three pruning rods connected in sequence through a universal joint assembly. One of the pruning rods located at one end is connected to the second rotating column through a cross universal joint and is rotatably set in the fifth rotating seat. The fifth rotating seat is fixed to the corresponding second fixed rod through a third fixed rod. A spiral cutter is provided on the cylindrical surface of the pruning rod. The spiral blade of the spiral cutter is transitionally connected to its outer cylindrical surface through a first spiral arc surface, and the spiral blade of the spiral cutter is connected to the cylindrical surface of the pruning rod through a second spiral arc surface.

2. A multifunctional raspberry harvesting device according to claim 1, characterized in that: The shifting end of the shifting rod is bent downward and in the rotation direction thereof.

3. The multifunctional raspberry harvesting device according to claim 1, characterized in that: The first driving assembly includes a second rotating seat arranged on the top of the outer shell, a rotating shaft is rotatably arranged in the second rotating seat, and a third gear and a second gear are respectively provided at the upper and lower ends of the rotating shaft. The second gear is engaged with the first gear arranged on the first rotating sleeve, and the third gear is engaged with the fourth gear on the output shaft of the first motor. The first motor is arranged on the third rotating seat at the top of the outer shell, and the output group of the first motor is rotatably arranged in the third rotating seat.

4. The multifunctional raspberry harvesting device according to claim 1, characterized in that: The second driving assembly includes a second motor arranged on the top of the outer shell, a crank wheel is provided on the output shaft of the second motor, a crank rod is provided on the crank wheel, a connecting rod is hinged at the end of the crank rod, and the end of the connecting rod is hinged to a guide rod that slides vertically in the guide hole at the top of the outer shell, a guide ring is provided at the lower end of the guide rod, and the guide ring is slidably arranged in the second guide sleeve at the top of the outer shell, a swivel is rotatably arranged in the guide ring, and the swivel is connected to the upper end of the second swivel sleeve through four circumferentially evenly distributed connecting rods.

5. The multifunctional raspberry harvesting device according to claim 1, characterized in that: The universal joint assembly includes two universal joint forks connected to the trimming round rod, the two universal joint forks are connected through a cross shaft, and the two sides of the middle part of the cross shaft are respectively connected to the universal joint forks on the corresponding sides through reset springs.

6. The multifunctional raspberry harvesting device according to claim 1, characterized in that: The third driving assembly includes a third motor arranged on the top of the shell and a first sprocket arranged on the second rotating column, the first sprocket is connected to the first sprocket on the adjacent second rotating column in the same row through a first chain, a second sprocket is arranged on three second rotating columns in a vertical row, the second sprocket is connected to the second sprocket on the adjacent second rotating column in the same vertical row through a second chain, a third sprocket is arranged on one of the second rotating columns, and the third sprocket is connected to the fourth sprocket on the output shaft of the third motor through the third sprocket.

7. The multifunctional raspberry harvesting device according to claim 1, characterized in that: A collecting device is provided below the fruit picking assembly and the pruning assembly.

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