Multifunctional fruit picking and processing device

Abstract

The application discloses a kind of fruit multifunctional picking processing device, including main controller, slide rail, foot wheel, clamping mechanism, fruit delaying ripening mechanism, waste receiving component and pruning maintenance mechanism.The slide rail fixedly connected in the top end surface of main controller, the clamping mechanism is slidably connected in the side end surface of slide rail, the clamping mechanism includes maintenance mechanism, visual detection system, control box and mechanical claw, the maintenance mechanism includes cutting component and maintenance spraying component, the cutting component and maintenance spraying component are arranged on the side end surface of control box;The fruit delaying ripening mechanism is fixedly connected in the side wall end surface of slide rail located clamping mechanism, the fruit delaying ripening mechanism is used to the fruit picked according to the demand of transport cycle, sprays delay layer, delays the ripening time of fruit, guarantees when it is transported to destination, fruit is just ripe state, improves the high-quality rate of fruit, reduces transport cost.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fruit picking, and particularly relates to a multifunctional fruit picking and processing device. BACKGROUND

[0002] After the fruit ripens, it needs to be picked by the fruit grower. At present, the fruit picking is carried out in two ways, i.e. manual picking and mechanical picking. Some large orchards use special fruit picking machines to pick the fruit through vibration and grabbing functions. This can improve the picking efficiency, but during the fruit picking process, especially for the fragile tomato fruit, the following problems may occur.

[0003] 1) When picking tomatoes, the tomatoes need to be transported for a certain period of time before reaching the destination for sale. Therefore, the fruit grower will choose to pick the tomatoes that are 7-8.5 mature. After picking, the tomatoes are sprayed with a ripening agent for ripening. However, the ripening process is usually carried out before transportation, and sometimes the transportation period is long, which may cause many tomatoes to ripen prematurely. When the vehicle reaches the destination, some fruits have already appeared mature to damaged, resulting in some bad fruits, thereby increasing the cost.

[0004] 2) Some tomatoes may appear cracked fruit, deformed fruit, and green shoulder before ripening. The fruit grower cannot monitor and maintain the fruit in time, which may cause the appearance of defective fruits and affect the yield of the fruit.

[0005] Therefore, in view of the above technical problems, it is necessary to provide a multifunctional fruit picking and processing device.

[0006] The information disclosed in this section of the background art is only intended to increase the understanding of the overall background of the present application and should not be considered as acknowledging or implying in any form that this information constitutes prior art known to those skilled in the art. SUMMARY

[0007] The purpose of the present application is to provide a multifunctional fruit picking and processing device which can solve the above problems.

[0008] In order to achieve the above purpose, the technical scheme provided by an embodiment of the present application is as follows:

[0009] The utility model provides a fruit multifunctional picking processing device, including main controller, slide rail, foot wheel, clamping mechanism, fruit delaying ripening mechanism, waste material receiving component and pruning post maintenance mechanism, the slide rail fixed connection is in the top end surface of main controller, the clamping mechanism sliding connection is in one side end surface of slide rail, the clamping mechanism includes maintenance mechanism, visual detection system, control box and mechanical paw, the maintenance mechanism includes pruning component and maintenance spraying assembly, and the pruning component and maintenance spraying assembly are arranged on the side end surface of control box, the fruit delaying ripening mechanism fixed connection is in the side wall end surface of slide rail and is located clamping mechanism, and the fruit delaying ripening mechanism includes delaying agent spraying assembly and ripening agent spraying assembly, the waste material receiving component rotation is connected in one side end surface of slide rail, the pruning post maintenance mechanism fixed connection is in the bottom end surface of waste material receiving component, the bottom end surface of pruning post maintenance mechanism connects waste residue storage box, and the pruning post maintenance mechanism includes fruit screening component and waste material screening component.

[0010] In one or more embodiments of the present application, the maintenance spraying assembly includes a first storage box and an automatic telescopic spray pipe, a plurality of first spray pipes and a plurality of second spray pipes are arranged on a pair of opposite end surfaces of the mechanical paw, the first spray pipes and the second spray pipes are respectively connected to a pair of first storage boxes, and a pair of the first storage boxes are located on a pair of opposite end surfaces of the control box. The automatic telescopic spray pipe is respectively connected to a pair of first storage boxes. A pesticide box, a calcium nitrate box and a calcium chloride solution box are respectively stored in a pair of first storage boxes, the first spray pipes are connected to the pesticide box, and a plurality of the second spray pipes are respectively connected to the calcium nitrate box and the calcium chloride solution box.

[0011] In one or more embodiments of the present application, the pruning component includes a first air cylinder, a fixed plate and scissors. The first air cylinder is fixedly connected to a side end surface of the control box, the fixed plate is fixedly connected to an upper side end surface of the first air cylinder, and the scissors are movably connected to a side wall end surface of the fixed plate.

[0012] In one or more embodiments of the present application, the fruit delaying ripening mechanism includes a temporary storage box and a slide way spraying mechanism. The temporary storage box is fixedly connected to a side wall end surface of the control box located in the clamping mechanism, a first recess is formed in the temporary storage box, and a second recess matching the temporary storage box is formed in a bottom end surface of the temporary storage box. The slide way spraying mechanism is internally provided with the delaying agent spraying assembly and the ripening agent spraying assembly, a third recess is formed in a bottom end surface of the slide way spraying mechanism, a transfer box is connected to the bottom end surface of the slide way spraying mechanism, a fourth recess matching the third recess is formed in the transfer box, the transfer box is connected to a second multi-axis mechanical arm, the second multi-axis mechanical arm is connected to a side wall end surface of the slide rail located in the ripening agent storage box, and a fruit storage frame is arranged on an upper side end surface of the main controller. The slide way spraying mechanism is obliquely arranged on a side end surface of the slide rail.

[0013] In one or more embodiments of the present application, the retardant spraying assembly comprises a retardant storage box and retardant spray holes, the inner wall end surface of the slide spraying mechanism is provided with a buffer pad, a plurality of retardant spray holes are formed on the slide spraying mechanism and the buffer pad, the retardant spray holes are connected with a retardant conveying pipe, and the retardant conveying pipe is connected with the retardant storage box. The ripening agent spraying assembly comprises a ripening agent storage box and ripening agent spray holes, a plurality of ripening agent spray holes are formed on the slide spraying mechanism and the buffer pad, the ripening agent spray holes are connected with a ripening agent conveying pipe, the ripening agent conveying pipe is connected with the ripening agent storage box, and the plurality of retardant spray holes are located on the upper side end surface of the ripening agent spray holes. The retardant storage box stores a retardant, and the ripening agent storage box stores a ripening agent. The retardant is aminoethoxy ethylene glycine, and the ripening agent is ethylene.

[0014] In one or more embodiments of the present application, one side end surface of the transfer box is provided with a second telescopic device, the second telescopic device comprises a second telescopic rod, the second telescopic rod is fixedly connected with a connecting plate, the connecting plate is fixedly connected with a first closing plate, a fifth groove is formed on the bottom end surface of the transfer box, and the transfer box is slidably connected with the first closing plate on the upper side end surface of the fifth groove.

[0015] In one or more embodiments of the present application, the inner wall end surface of the temporary storage box is provided with a first telescopic device, the first telescopic device comprises a first telescopic rod, the first telescopic rod is fixedly connected with a first sliding plate, and the first sliding plate is matched with the inner wall end surface of the temporary storage box.

[0016] In one or more embodiments of the present application, the waste receiving assembly comprises a pair of bases and an extension plate. One of the pair of bases is fixedly connected to one side end surface of the slide rail, one of the pair of bases is connected with a driving motor, the extension plate is rotatably connected between the pair of bases, and a second falling groove is formed on one side end surface of the extension plate.

[0017] In one or more embodiments of the present application, the post-trimming maintenance mechanism comprises an outer box and a screening box. The outer box is fixedly connected to the lower side end surface of the waste receiving assembly, the outer box has a hollow structure, a first limiting groove matched with the second falling groove is formed on the outer box, the screening box is fixedly connected to the inner wall end surface of the outer box, the screening box is provided with a second limiting groove matched with the first limiting groove, and a bearing plate is arranged on one side end surface of the inner wall end surface of the screening box.

[0018] In one or more embodiments of the present application, the fruit screening assembly includes a second closure plate and a fourth telescopic device. One side end surface of the load-bearing plate is attached to the second closure plate, a third drop slot is formed in the bottom end surface of the screening box, the second closure plate covers the third drop slot, and a fruit storage box is arranged at the bottom end surface of the third drop slot. The fourth telescopic device includes a fourth telescopic rod, the fourth telescopic rod is fixedly connected with a second limiting plate, and the second limiting plate is fixedly connected with the second closure plate. The waste screening assembly includes a third telescopic device, the third telescopic device includes a pair of third telescopic rods, the third telescopic device is fixed to one side end surface of the screening box, the third telescopic rods are connected with the scraping plates, the scraping plates are attached to one side end surface of the screening box, a first drop slot is formed in one side end surface of the screening box, and a connecting box is fixedly connected to the bottom end surface of the first drop slot.

[0019] Compared with the prior art, the fruit multifunctional picking and processing device has the following benefits.

[0020] 1) The fruit maturation delaying mechanism sprays a delaying layer according to the transportation period requirement of the fruit to be transported, delays the maturation time of the fruit, ensures that the fruit is in a mature state when it is transported to the destination, and improves the high-quality rate of the fruit.

[0021] 2) The maintenance mechanism regularly inspects the orchard and detects the fruit through a visual detection system, timely takes corresponding maintenance measures when an adverse situation occurs, and ensures the high-quality rate of the fruit.

[0022] 3) The pruning post-maintenance mechanism collects and stores the bad leaves and branches pruned by the maintenance mechanism, facilitates recycling in the later period, prevents the pruned waste from falling to the ground, and increases the cleaning intensity in the later period. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0024] Figure 1 It is a structural schematic diagram of the fruit multifunctional self-picking and processing device in an embodiment of the present application.

[0025] Figure 2 It is a first use state schematic diagram of the fruit multifunctional self-picking and processing device in an embodiment of the present application.

[0026] Figure 3 is a structure schematic view of A of Figure 2 ;

[0027] Figure 4 is a second use state schematic view of the fruit multifunctional self-taking processing device in an embodiment of the present application;

[0028] Figure 5 is a structure schematic view of B of Figure 4 ;

[0029] Figure 6 is a cross-sectional view of the fruit multifunctional self-taking processing device in an embodiment of the present application Figure 1 ;

[0030] Figure 7 is a structure schematic view of C of Figure 6 ;

[0031] Figure 8 is a third use state schematic view of the fruit multifunctional self-taking processing device in an embodiment of the present application;

[0032] Figure 9 is a structure schematic view of D of Figure 8 ;

[0033] Figure 10 is a cross-sectional view of the fruit multifunctional self-taking processing device in an embodiment of the present application Figure 2 ;

[0034] Figure 11 is a structure schematic view of E of Figure 10

[0035] Explanation of main reference signs:

[0036] ​1-Main controller, 101-Waste residue storage box, 2-Casting wheel, 3-Fruit storage frame, 4-Slide rail, 5-Clamping mechanism, 501-First multi-axis robotic arm, 502-Control box, 503-First storage box, 504-Camera, 505-Fixing plate, 5051-First cylinder, 5052-Scissors, 506-Mechanical claw, 507-Automatic telescopic nozzle, 508-Feeding pipe, 5081-First nozzle, 5082-Second nozzle, 6-Fruit ripening delay mechanism, 601-Temporary storage box, 6011-First groove, 6012-First telescopic device, 6013-First telescopic rod, 6014-First sliding plate, 602-Slide spraying mechanism, 6021-Slide box, 6022-Buffer pad, 6023-Ripe starter nozzle, 6024-Retardant nozzle, 603- 604-Ripe-promoting agent storage box, 605-Transfer box, 6051-First sealing plate, 6052-Second telescopic device, 6053-Second telescopic rod, 6054-Connecting plate, 606-Second multi-axis robotic arm, 7-Post-pruning maintenance mechanism, 701-Outer box, 702-First limiting groove, 703-Screwing box, 704-Third telescopic device, 7041-Third telescopic rod, 7042-Scraping plate, 705-Fourth telescopic device, 7051-Fourth telescopic rod, 7052-Second limiting plate, 706-Bearing plate, 707-Second sealing plate, 708-First drop groove, 709-Connecting box, 710-Dropped fruit storage box, 8-Waste receiving assembly, 801-Base, 802-Extension plate, 8021-Second drop groove, 803-Drive motor. Detailed Implementation

[0037] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0038] like Figure 1 As shown, a multi-functional fruit picking and processing device according to one embodiment of the present invention includes a main controller 1 and a foot wheel 2. The main controller 1 drives and controls the foot wheel 2 to walk and pick tomatoes.

[0039] A multifunctional fruit harvesting and processing device also includes a clamping mechanism 5, a fruit ripening delay mechanism 6, a waste receiving component 8, and a post-pruning maintenance mechanism 7. A slide rail 4 is fixedly connected to the top end face of the main controller 1, and the clamping mechanism 5 is slidably connected to one side end face of the slide rail 4. Preferably, the slide rail 4 is a linear guide rail module, and the slide rail 4 drives the clamping mechanism 5 to slide up and down, thereby harvesting the tomatoes.

[0040] The clamping mechanism 5 comprises a maintenance mechanism, a visual detection system, a control box 502 and a mechanical claw 506, the maintenance mechanism comprises a pruning assembly and a maintenance spraying assembly, the control box 502 is provided with the pruning assembly and the maintenance spraying assembly on one side end face, so that pruning and maintenance can be performed when the tomato appears a deformed fruit or a green shoulder, and the high-quality rate of the fruit is improved.

[0041] The visual detection system is used for pre-entering pictures of various adverse conditions of the fruit, facilitating monitoring in the later period, immediately judging the current condition and performing corresponding maintenance treatment when a split fruit appears, and performing fruit recognition, positioning and obstacle avoidance by using a software algorithm, and the maturity of the tomato is judged by using a color model and spectrum analysis.

[0042] Further, as shown in Figures 1-3 The control box 502 is provided with a plurality of first spraying pipes 5081 and a plurality of second spraying pipes 5082 on a pair of opposite end faces of the mechanical claw 506, the plurality of first spraying pipes 5081 and the plurality of second spraying pipes 5082 are connected with a material conveying pipe 508, the material conveying pipe 508 is connected with the first storage box 503, the first spraying pipe 5081 and the second spraying pipe 5082 are respectively connected with a pair of first storage boxes 503 through the material conveying pipe 508, and the pair of first storage boxes 503 are located on a pair of opposite end faces of the control box 502.

[0043] The pair of first storage boxes 503 respectively store a pesticide box, a calcium nitrate box and a calcium chloride solution box, the first spraying pipe 5081 is connected with the pesticide box, and the plurality of second spraying pipes 5082 are respectively connected with the calcium nitrate box and the calcium chloride solution box.

[0044] Specifically, when performing a regular inspection process or in the process of picking tomatoes, if some tomatoes appear deformed fruits, timely maintenance can be performed, the early deformed flowers and fruits are removed by using the scissors 5052, and the normal fruits are concentratedly supplied with nutrients.

[0045] When the green shoulder appears, the scissors 5052 is controlled to remove the old leaves around the fruits in time, and the illumination of the orchard is controlled to enhance the illumination and reduce the green shoulder.

[0046] When the split fruit appears, the split fruit is caused by uneven water supply, calcium deficiency and sudden temperature change, so the plurality of second spraying pipes 5082 are controlled to spray calcium nitrate on the peripheral leaf surface of the tomato with problems, the spraying is performed 2-3 times per week according to the situation, the temperature condition of the orchard is adjusted in time, the soil humidity is kept stable, the temperature is lowered in time when the temperature is high, and the fruit skin stress is reduced.

[0047] When the pest situation is found in the process of inspection, the first spray pipe 5081 can be controlled to spray pesticide to eliminate the pests, and the diseased fruits can be removed in time by the mechanical claw 506 to prevent the spread.

[0048] As shown in Figure 3 , the automatic telescopic spray pipe 507 is connected with a pair of first storage boxes 503 respectively, so that the first spray pipe 5081 and the second spray pipe 5082 can spray on both sides, and the mechanical claw 506 located on the lower side of the mechanical claw 506 can cover the upper and lower end faces for spraying, realizing omnidirectional spraying and enhancing the maintenance effect.

[0049] As shown in Figure 3 , the cutting assembly includes a first cylinder 5051, a fixed plate 505, and a scissors 5052. The first cylinder 5051 is located on the upper side of the mechanical claw 506. The scissors 5052 is movably connected to the side wall end face of the fixed plate 505. The first cylinder 5051 is fixedly connected to one side end face of the control box 502. The first cylinder 5051 is connected with a sliding plate, and the sliding plate is fixedly connected with the fixed plate 505. Thus, the first cylinder 5051 drives the sliding plate to move forward and backward, and then drives the fixed plate 505 to move, and the pruning is performed by the scissors 5052.

[0050] The fruit ripening delaying mechanism 6 is fixedly connected to the side wall end face of the slide rail 4 located on the clamping mechanism 5, that is, the fruit ripening delaying mechanism 6 is located on one side end face adjacent to the clamping mechanism 5. The fruit ripening delaying mechanism 6 includes a delaying agent spraying assembly and a ripening agent spraying assembly, which can spray delaying layer and delay the ripening time of the picked fruits according to the transportation cycle requirements, so as to ensure that the fruits are in a mature state when they are transported to the destination, and improve the quality rate of the fruits.

[0051] The fruit ripening delaying mechanism 6 includes a temporary storage box 601 and a slide way spraying mechanism 602. The temporary storage box 601 is fixedly connected to the side wall end face of the control box 502 located on the clamping mechanism 5. A first groove 6011 is formed in the temporary storage box 601. A second groove matched with the temporary storage box 601 is formed in the bottom end face of the temporary storage box 601. The fruits picked by the mechanical claw 506 are moved to the first groove 6011 on the upper side of the temporary storage box 601, and then enter the second groove and the third groove, and then enter the slide way spraying mechanism 602. When the fruits are moved downward in the slide way spraying mechanism 602, the delaying layer is sprayed by the slide way spraying mechanism 602, and then the ripening layer is sprayed, so as to delay the ripening of the fruits.

[0052] The inner wall of the temporary storage box 601 is provided with a first telescopic device 6012, the first telescopic device 6012 comprises a first telescopic rod 6013, the first telescopic rod 6013 is fixedly connected with a first sliding plate 6014, the first sliding plate 6014 is matched with the inner wall of the temporary storage box 601, the first telescopic device 6012 controls the first telescopic rod 6013 to be telescopic, and then the first sliding plate 6014 is controlled to move, and the fruit entering the temporary storage box 601 is pushed and fallen into the slide material spraying mechanism 602 from the third groove,

[0053] The temporary storage box 605 is connected with the second multi-axis mechanical arm 606, the second multi-axis mechanical arm 606 is connected at the side wall end face of the slide rail 4 located at the ripening agent storage box 604, that is, the second multi-axis mechanical arm 606 is movably connected at one side end face of the ripening agent storage box 604, so that the temporary storage box 605 is conveniently transported by the second multi-axis mechanical arm 606.

[0054] The upper side end face of the main controller 1 is provided with a fruit storage frame 3, that is, the temporary storage box 605 is moved by the second multi-axis mechanical arm 606, and the fruit is uniformly placed in the fruit storage frame 3 for storage.

[0055] Preferably, the side end face of the temporary storage box 605 is provided with a second telescopic device 6052, the second telescopic device 6052 comprises a second telescopic rod 6053, the second telescopic rod 6053 is fixedly connected with a connecting plate 6054, the connecting plate 6054 is fixedly connected with a first closing plate 6051, the bottom end face of the temporary storage box 605 is provided with a fifth groove, and the first closing plate 6051 is slidably connected to the upper side end face of the temporary storage box 605 located in the fifth groove, so that the second telescopic rod 6053 and the connecting plate 6054 are moved forward and backward by the second telescopic device 6052, and then the fifth groove is controlled to be opened and closed, when the fruit enters the temporary storage box 605, the fifth groove is in a closed state, when it is needed to be transferred to the fruit storage frame 3, the first closing plate 6051 is controlled to slide away from the fifth groove, and the fruit falls from the fifth groove into the fruit storage frame 3 for storage.

[0056] The inner wall end face of the temporary storage box 601 is provided with a first telescopic device 6012, the first telescopic device 6012 comprises a first telescopic rod 6013, the first telescopic rod 6013 is fixedly connected with a first sliding plate 6014, the first sliding plate 6014 is matched with the inner wall end face of the temporary storage box 601, the first telescopic device 6012 controls the first telescopic rod 6013 to be telescopic, and then the first sliding plate 6014 is controlled to move, and the fruit entering the temporary storage box 601 is pushed and fallen into the slide material spraying mechanism 602,

[0057] The slide material spraying mechanism 602 is obliquely arranged at one side end face of the slide rail 4, the fruit enters the slide material spraying mechanism 602, can be obliquely rolled downward into the temporary storage box 605, and the inner wall end face of the slide material spraying mechanism 602 is provided with a buffer pad 6022, so that the impact force of the fruit rolling is reduced, and the fruit is protected.

[0058] The retardant spraying assembly comprises a retardant storage box 603 and retardant spray holes 6024, a plurality of retardant spray holes 6024 are formed on the slide spraying mechanism 602 and the buffer pad 6022, the slide spraying mechanism 602 is provided with a spray head inside the plurality of retardant spray holes 6024 and the ripening agent spray hole 6023, the retardant spray hole 6024 is connected with a retardant conveying pipe through the spray head, the retardant conveying pipe is connected with the retardant storage box 603, and the retardant layer is sprayed on the surface of the tomato through the retardant spray hole 6024 when the tomato enters the slide box 6021 to roll down.

[0059] The ripening agent spraying assembly comprises a ripening agent storage box 604 and a ripening agent spray hole 6023, a plurality of ripening agent spray holes 6023 are formed on the slide spraying mechanism 602 and the buffer pad 6022, the ripening agent spray hole 6023 is connected with a ripening agent conveying pipe, the ripening agent conveying pipe is connected with the ripening agent storage box 604, and the plurality of retardant spray holes 6024 are located on the upper end face of the ripening agent spray hole 6023, so that the ripening layer is sprayed on the surface of the tomato through the ripening agent spray hole 6023 when the tomato enters the slide box 6021 to roll down.

[0060] It should be noted that the ripening agent spray hole 6023 and the retardant spray hole 6024 are arranged on the inner wall of the slide spraying mechanism 602, so that the surface of the fruit can be fully covered when the tomato rolls down in the slide spraying mechanism 602, and the fruit can be sprayed in a covering manner, which is especially suitable for large tomatoes, such as spraying before picking, and the tomatoes are prone to grow in a stringed manner, so that the tomatoes cannot be fully covered when sprayed, and the tomatoes are prone to be not sprayed in some places, resulting in unripened parts and affecting the taste of the tomatoes. However, the above problems will not occur when the tomatoes are sprayed through the slide spraying mechanism 602 after picking.

[0061] The retardant storage box 603 stores a retardant, and the ripening agent storage box 604 stores a ripening agent. The retardant is aminoethoxy ethylene glycine, and the ripening agent is ethylene. The aminoethoxy ethylene glycine can delay the ripening of the tomato by inhibiting the synthesis of ethylene and delaying the ripening of the tomato. In addition, the aminoethoxy ethylene glycine can also delay the ripening of the tomato by blocking the synthesis of ACS and reducing the generation of ACC, the precursor of ethylene.

[0062] Further, the retardant storage box 603 and the ripening agent storage box 604 are provided with a medicament storage pipe and a water tank, a self-contained medicator is connected between the medicament storage pipe and the water tank, the proportion of the retardant and the ripening agent is controlled through the automatic medicator, and then the ripening time of the fruit is controlled.

[0063] For example, tomatoes need 7 days of transportation time, the proportion of aminoethoxy ethylene glycerol is adjusted to 100 mg / L AVG for spraying on tomatoes. The proportion of ethylene is adjusted to 10 / 4 L. Then, after spraying the delay layer through the delay agent spray hole 6024 at the same time as picking tomatoes, the ripening layer is sprayed through the ripening agent spray hole 6023, ensuring that it can mature normally after 7 days.

[0064] It should be noted that the characteristics of tomato fruits include thin skin, high juice content and fear of squeezing, so it is necessary to pick them before they are fully ripe to better protect the fruits and reduce damage during transportation and storage. Therefore, it is necessary to use the plant growth regulator ethylene to ripen after picking, so that the fruits gradually color and meet the market sales standards. Therefore, in order to ensure that tomatoes can gradually color and meet the market sales standards after a long period of transportation, we choose to spray the delay layer first and then the ripening layer to delay the ripening time, so that the fruits can meet the market sales standards when they arrive at the destination according to the transportation requirements. Of course, the delay layer can also be sprayed alone according to actual needs.

[0065] As shown in Figures 2-6 The waste receiving assembly 8 is rotatably connected to one side end face of the slide rail 4;

[0066] The waste receiving assembly 8 includes a pair of bases 801 and an extension plate 802, the pair of bases 801 are fixedly connected to one side end face of the slide rail 4, one of the bases 801 is connected with a drive motor 803, the drive motor 803 is fixedly connected to one side end face of the slide rail 4, the extension plate 802 is rotatably connected between the pair of bases 801, one side end face of the extension plate 802 is provided with a second falling groove 8021. When it is necessary to prune the fruits, the angle of inclination of the extension plate 802 can be adjusted according to the height of pruning and planting soil, so that the waste from pruning falls on the extension plate 802 and slides into the outer box 701 through the second falling groove 8021 for subsequent processing;

[0067] The pruning maintenance mechanism 7 is fixedly connected to the bottom end face of the waste receiving assembly 8, the bottom end face of the pruning maintenance mechanism 7 is connected with the waste residue storage box 101, and the pruning maintenance mechanism 7 includes a fruit screening assembly and a waste screening assembly.

[0068] The pruning maintenance mechanism 7 includes an outer box 701 and a screening box 703, the outer box 701 is fixedly connected to the lower end face of the waste receiving assembly 8, the outer box 701 is a hollow structure, and the outer box 701 is provided with a first limiting groove 702 matched with the second falling groove 8021, so that the waste or fruits enter the outer box 701 from the first limiting groove 702.

[0069] Specifically, when cutting by the clamping mechanism 5 or picking fruits, sometimes the fruits are also prone to falling, and the extension plate 802 can carry the fallen fruits or cut waste to pass through the second falling groove 8021 into the pruning maintenance mechanism 7 for processing,

[0070] The screening box 703 is fixedly connected to the inner wall end face of the outer box 701, the screening box 703 is provided with a second limiting groove matched with the first limiting groove 702, so that the fruits enter the screening box 703 from the first limiting groove 702 and the second limiting groove. The inner wall end face of the screening box 703 is provided with a bearing plate 706. The second camera is arranged on one side of the bearing plate 706, so as to judge whether the current is fruit or waste leaves, waste residues, etc. according to the situation, and the waste residues are transported into the waste residue storage box 101 or the fruit falling storage box 710.

[0071] The fruit screening assembly includes a second closing plate 707 and a fourth telescopic device 705. The second closing plate 707 is attached to one side of the bearing plate 706. The bottom end face of the screening box 703 is provided with a third falling groove, and the second closing plate 707 covers the third falling groove. The projection of the second closing plate 707 on the horizontal plane is greater than the projection of the third falling groove on the horizontal plane. The third falling groove is provided with a fruit falling storage box 710 at the bottom end face. The fourth telescopic device 705 includes a fourth telescopic rod 7051, and the fourth telescopic rod 7051 is fixedly connected with a second limiting plate 7052. The second limiting plate 7052 is fixedly connected with the second closing plate 707.

[0072] When the second camera detects that the current is a perfect fruit that falls by accident, the fourth telescopic rod 7051 drives the second limiting plate 7052 to move the second closing plate 707 away from the third falling groove, so that the fruit enters the fruit falling storage box 710 for storage, and the staff takes it out later.

[0073] The waste material screening assembly includes a third telescopic device 704. The third telescopic device 704 includes a pair of third telescopic rods 7041. The third telescopic device 704 is fixed to one side of the screening box 703. The third telescopic rod 7041 is connected with a scraping plate 7042. The scraping plate 7042 is attached to one side of the screening box 703. The third telescopic rod 7041 drives the screening box 703 to extend and drives the scraping plate 7042 to move, so that the identified waste material is scraped off from the second closing plate 707 and the bearing plate 706, and falls from the first falling groove 708.

[0074] The first drop groove 708 is arranged on one side end surface of the screening box 703, the outer box 701 is fixedly connected with the connecting box 709 at the bottom end surface of the first drop groove 708, and the bottom end surface of the connecting box 709 is in communication with the waste residue storage box 101. The waste material after cutting is stored in the waste residue storage box 101, which is convenient for recycling in the later period and can be made into fertilizer for fertilization.

[0075] In use, as shown in Figure 1 , the device finds the early deformed flower and fruit and the old leaves around the fruit when the device is in normal inspection or picking process, and removes the early deformed flower and fruit and the old leaves around the fruit by the scissors 5052 for timely maintenance. When the device finds the cracked fruit, the device can control multiple second spray pipes 5082 to spray calcium nitrate on the surrounding leaves of the problem tomato for maintenance. When the device finds the pest, the device can control the first spray pipe 5081 to spray the pesticide to eliminate the pest.

[0076] As shown in Figure 2 , the early deformed flower and fruit, the old leaves around the fruit, and the diseased fruit are removed by the scissors 5052, or the high-quality fruit falls during the picking process. Therefore, before picking, the drive motor 803 is controlled to drive the extension plate 802 to rotate to the appropriate position to carry the fallen fruit or waste material. The waste material enters the pruning and maintenance mechanism 7 through the second drop groove 8021 for screening, the waste material is stored in the waste residue storage box 101, and the high-quality fruit is stored in the fruit drop storage box 710.

[0077] As shown in Figure 6 , when long-distance transportation is needed and the ripening time of the fruit is required, the mechanical claw 506 can be controlled to transfer the fruit to the temporary storage box 601, and then enter the slide spraying mechanism 602 through multiple retardant spray holes 6024 to spray the retardant layer, and then enter the ripening agent spray hole 6023 to spray the ripening layer, and then enter the transfer box 605 to be uniformly stored in the fruit storage frame 3 for later transfer.

[0078] Of course, when the retardant layer and the ripening layer are not needed to be sprayed, the ripening agent spray hole 6023 and the retardant spray hole 6024 are not started, and the fruit directly enters the transfer box 605 from the slide spraying mechanism 602 for transfer.

[0079] Example 2

[0080] In addition, the delaying layer and the ripening layer can be sprayed during the fruit picking process according to the requirement, that is, the whole technical structure of the fruit delaying maturation mechanism 6 is cancelled, and the plurality of first spray pipes 5081 are connected with the delaying agent tank and the ripening agent tank in the main controller 1. That is, the delaying agent tank and the ripening agent tank are arranged in the main controller 1, the plurality of first spray pipes 5081 are connected with the plurality of conveying pipes respectively, and the plurality of conveying pipes are connected with the delaying agent tank and the ripening agent tank respectively, so that the delaying agent and the ripening agent are conveyed into the conveying pipes through the delaying agent tank and the ripening agent tank, and are sprayed through the plurality of first spray pipes 5081.

[0081] In use, the delaying agent and the ripening agent are sprayed before the fruit ripens, the delaying agent is first sprayed and then the ripening agent is sprayed through the plurality of first spray pipes 5081, and after the spraying is completed, the fruit is picked after 2-3 days, so as to avoid the pesticide residue.

[0082] The difference between the embodiment 1 and the embodiment 2 is that the delaying agent and the ripening agent are sprayed on the fruit after picking in the embodiment 1, which is suitable for large volume tomatoes, while the delaying agent and the ripening agent are sprayed before the fruit picking in the embodiment 2, which is suitable for small volume tomatoes.

[0083] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

[0084] In addition, it should be understood that although the present specification is described in terms of embodiments, each embodiment does not contain only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can be combined to form other embodiments which can be understood by those skilled in the art.

Claims

1. A multifunctional fruit harvesting and processing device, comprising a main controller, a slide rail, and casters, characterized in that, Including: The clamping mechanism is fixedly connected to the top end face of the main controller, and slidably connected to one side end face of the slide rail. The clamping mechanism includes a maintenance mechanism, a vision inspection system, a control box, and a mechanical gripper. The maintenance mechanism includes a cutting component and a maintenance spraying component. The cutting component and the maintenance spraying component are provided on one side end face of the control box. A fruit ripening delay mechanism is fixedly connected to the side wall end face of the slide rail located in the clamping mechanism. The fruit ripening delay mechanism includes a retardant spraying component and a ripening agent spraying component. The waste receiving assembly is rotatably connected to one end face of the slide rail; A post-pruning maintenance mechanism is fixedly connected to the bottom end face of the waste receiving component. The bottom end face of the post-pruning maintenance mechanism is connected to the waste storage box. The post-pruning maintenance mechanism includes a fruit screening component and a waste screening component. The fruit ripening delay mechanism includes a temporary storage box and a slide spraying mechanism. The temporary storage box is fixedly connected to the side wall end face of the control box located in the clamping mechanism. A first groove is provided on the temporary storage box, and a second groove matching the temporary storage box is provided on the bottom end face of the temporary storage box. The slide spraying mechanism is equipped with a retarder spraying component and a ripening agent spraying component. A third groove is provided on the bottom end face of the slide spraying mechanism. A transfer box is connected to the bottom of the slide spraying mechanism. A fourth groove matching the third groove is provided on the transfer box. The transfer box is connected to a second multi-axis robotic arm. The second multi-axis robotic arm is connected to the side wall end face of the slide rail located on the ripening agent storage box. A fruit storage frame is provided on the upper end face of the main controller. The slide spraying mechanism is inclinedly arranged on one side end face of the slide rail. The retarder spraying assembly includes a retarder storage box and a retarder spray hole. The inner wall end face of the slide spraying mechanism is provided with a buffer pad. Multiple retarder spray holes are opened on the slide spraying mechanism and the buffer pad. The retarder spray holes are connected to the retarder delivery pipe, and the retarder delivery pipe is connected to the retarder storage box. The ripening agent spraying assembly includes a ripening agent storage box and ripening agent spray holes. Multiple ripening agent spray holes are provided on the slide spraying mechanism and the buffer pad. The ripening agent spray holes are connected to the ripening agent delivery pipe, and the ripening agent delivery pipe is connected to the ripening agent storage box. Multiple retardant spray holes are located on the upper end face of the ripening agent spray holes. The retardant storage box contains a retardant, and the ripening agent storage box contains a ripening agent. The retardant is aminoethoxyethylene glycine, and the ripening agent is ethylene. By controlling the ratio of retardants and ripening agents, the ripening time of the fruit can be controlled.

2. The multifunctional fruit harvesting and processing device according to claim 1, characterized in that, The maintenance spraying assembly includes: The first storage box, the control box is located on a pair of opposite end faces of the mechanical gripper, and a plurality of first nozzles and a plurality of second nozzles are respectively provided. The first nozzles and the second nozzles are each connected to a pair of first storage boxes, and the pair of first storage boxes are located on a pair of opposite end faces of the control box. Automatic telescopic nozzles are connected to a pair of first storage boxes; A pair of first storage boxes respectively store an insecticide box, a calcium nitrate box, and a calcium chloride solution box. The first spray nozzle is connected to the insecticide box, and multiple second spray nozzles are respectively connected to the calcium nitrate box and the calcium chloride solution box.

3. The multifunctional fruit harvesting and processing device according to claim 2, characterized in that, The trimming component includes: The first cylinder is fixedly connected to one side end face of the control box; The fixing plate is fixedly connected to the upper end face of the first cylinder. The scissors are movably connected to the side wall end face of the fixed plate.

4. The multifunctional fruit harvesting and processing device according to claim 1, characterized in that, A second telescopic device is provided on one end face of the transfer box. The second telescopic device includes a second telescopic rod, which is fixedly connected to a connecting plate. The connecting plate is fixedly connected to a first sealing plate. A fifth groove is provided on the bottom end face of the transfer box. The first sealing plate is slidably connected to the upper end face of the transfer box located in the fifth groove.

5. A multifunctional fruit harvesting and processing device according to claim 1, characterized in that, The inner wall end face of the temporary storage box is provided with a first telescopic device, the first telescopic device includes a first telescopic rod, the first telescopic rod is fixedly connected to a first sliding plate, and the first sliding plate matches the inner wall end face of the temporary storage box.

6. The multifunctional fruit harvesting and processing device according to claim 1, characterized in that, The waste receiving assembly includes: A pair of bases are fixedly connected to one end face of the slide rail, and one of the bases is connected to a drive motor; An extension plate is rotatably connected between the two bases, and a second drop groove is provided on one end face of the extension plate.

7. The multifunctional fruit harvesting and processing device according to claim 1, characterized in that, The post-trimming maintenance mechanism includes an outer box and a screening box. The outer box is fixedly connected to the lower end face of the waste receiving component. The outer box has a hollow structure and a first limiting groove that matches the second drop groove is provided on the outer box. The screening box is fixedly connected to the inner wall end face of the outer box and a second limiting groove that matches the first limiting groove is provided on the screening box. A load-bearing plate is provided on one side of the inner wall end face of the screening box.

8. A multifunctional fruit harvesting and processing device according to claim 7, characterized in that, The fruit sorting component includes: The second sealing plate is attached to one side of the load-bearing plate. The bottom end face of the screening box is provided with a third drop groove. The second sealing plate covers the third drop groove. A fruit storage box is provided at the bottom end face of the third drop groove. The fourth telescopic device includes a fourth telescopic rod, the fourth telescopic rod being fixedly connected to a second limiting plate, and the second limiting plate being fixedly connected to a second closing plate; The waste screening assembly includes a third telescopic device, which includes a pair of third telescopic rods. The third telescopic device is fixed to one side of the screening box. The third telescopic rods are connected to a scraper plate, which is attached to one side of the screening box. A first drop groove is provided on one side of the screening box. A connecting box is fixedly connected to the bottom end of the outer box located in the first drop groove. The bottom end of the connecting box is connected to the waste storage box.

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