High-altitude fruit picking device and picking method

Abstract

The application relates to the technical field of picking machines, and provides high-altitude fruit picking equipment and a picking method, which comprises a walking device and a working device; the walking device comprises a walking mechanism, a driving mechanism, a rotating mechanism connected between the walking mechanism and the driving mechanism, and a mechanical arm connected with the driving mechanism; the working device comprises an arc-shaped supporting body, an arc-shaped track, a fruit cutting mechanism and a track driving mechanism; the arc-shaped supporting body is connected with the mechanical arm; the arc-shaped supporting body is provided with an arc-shaped movable channel penetrating through the arc-shaped supporting body; the inner side wall of the arc-shaped supporting body is provided with an arc-shaped accommodation slot in communication with the arc-shaped movable channel; the arc-shaped track is slidably assembled in the arc-shaped movable channel; the upper part of the two ends of the arc-shaped supporting body is provided with the fruit cutting mechanism; the fruit cutting mechanism is connected with the arc-shaped track; and the track driving mechanism is connected between the arc-shaped supporting body and the arc-shaped track. The application has the advantages that the walking distance of the high-altitude fruit picking equipment in the picking process can be effectively reduced, and the overall picking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting equipment technology, and in particular to a high-altitude fruit harvesting device and harvesting method. Background Technology

[0002] Oil palm fruits grow on oil palm trees, usually at higher positions and in clusters. Each oil palm tree typically has about 10-15 fruit clusters, with each cluster weighing between 15-25 kilograms.

[0003] After the oil palm fruit matures, it needs to be harvested from the oil palm tree. With the development of technology, the increasing demand, and the continuous development of automated fruit harvesting technology, the original manual harvesting method can no longer meet the requirements of modern production. Harvesting work is constantly moving towards automation and intelligence, and automated harvesting equipment has emerged accordingly, such as the high-altitude fruit harvesting machine disclosed in Chinese invention patent application number CN202223267190.2. However, existing high-altitude fruit harvesting machines have the following defects in actual use: Because oil palm trees are generally planted in neat rows, with paths between adjacent rows of fruit trees, existing high-altitude fruit harvesting machines, due to structural limitations, can only harvest one row of fruit per trip along the path between adjacent rows of fruit trees, and cannot complete the harvesting of two rows of fruit on both sides of the path in one trip. This results in a long distance that the high-altitude fruit harvesting machine needs to travel, high energy consumption, and increased harvesting costs; at the same time, the cutting blades of the high-altitude fruit harvesting machine are difficult to quickly and accurately reach the required cutting position, resulting in low overall harvesting efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a high-altitude fruit picking device and picking method, which solves the problems of existing high-altitude fruit picking machines having long travel distances, high energy consumption, increased picking costs, and difficulty in quickly and accurately reaching the required cutting position with the cutting blades, resulting in low overall picking efficiency.

[0005] This invention is implemented as follows:

[0006] Firstly, a high-altitude fruit-picking device includes a walking device and a working device;

[0007] The walking device includes a walking mechanism, a driving mechanism located above the walking mechanism, a rotating mechanism connected between the walking mechanism and the driving mechanism, and a robotic arm connected to the driving mechanism.

[0008] The working device includes an arc-shaped support body, an arc-shaped track, a fruit cutting mechanism, and a track drive mechanism. The arc-shaped support body is connected to the end of the robotic arm. An arc-shaped movable channel runs through the arc-shaped support body along the circumferential direction. An arc-shaped clearance groove connected to the arc-shaped movable channel is provided on the inner side wall of the arc-shaped support body along the circumferential direction. The arc-shaped track is slidably assembled in the arc-shaped movable channel. A fruit cutting mechanism is provided above both ends of the arc-shaped support body. Each fruit cutting mechanism is connected to the arc-shaped track through a first connector passing through the arc-shaped clearance groove. The track drive mechanism is connected between the arc-shaped support body and the arc-shaped track.

[0009] Secondly, a method for harvesting fruit from high altitudes, wherein the method uses the aforementioned high-altitude fruit harvesting equipment, and includes the following steps:

[0010] The control walking mechanism drives the high-altitude fruit picking equipment from the beginning of the road between two adjacent rows of fruit trees, and controls the rotation mechanism and mechanical arm of the high-altitude fruit picking equipment to drive the working device to cut and pick the fruit on the two adjacent rows of fruit trees according to the planting order of the two adjacent rows of fruit trees.

[0011] After the aerial fruit picking equipment picks fruit from the starting end to the ending end along the road between two adjacent rows of fruit trees, the control walking mechanism drives the aerial fruit picking equipment into the road between two adjacent rows of unpicked fruit trees to continue cutting and picking.

[0012] By adopting the technical solution of the present invention, at least the following beneficial effects are achieved: On the one hand, the high-altitude fruit picking equipment can complete the picking of fruits on both rows of fruit trees on both sides of the road in one trip when it travels along the road between two adjacent rows of fruit trees. Compared with the traditional method of picking only one row of fruit trees in one trip, this can effectively reduce the travel distance of the high-altitude fruit picking equipment during the picking process, thereby reducing energy consumption and picking costs. On the other hand, it can more accurately and quickly drive the fruit cutting mechanism to the required cutting position, thereby helping to improve the overall picking efficiency. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is an overall structural diagram of the aerial fruit picking equipment modified from an aerial work platform, which is the basis of this invention.

[0015] Figure 2 This is an overall structural diagram of the high-altitude fruit-picking equipment modified from a wheeled excavator or a tracked excavator according to the present invention;

[0016] Figure 3 This is an overall structural diagram of the working device in the first specific embodiment of the present invention;

[0017] Figure 4 This is an overall structural diagram of the working device in the second specific embodiment of the present invention;

[0018] Figure 5 This is a structural diagram of the working device in this invention after removing the fruit cutting mechanism;

[0019] Figure 6 This is a structural diagram of the arc-shaped support body in this invention;

[0020] Figure 7 This is an assembly structure diagram of the arc-shaped track and the track drive mechanism in this invention;

[0021] Figure 8 This is a schematic diagram of the structure of the first or second cutting tool in this invention, which is a Y-shaped tool;

[0022] Figure 9 This is a front view of the fruit cutting mechanism in the first specific embodiment of the present invention;

[0023] Figure 10 This is a three-dimensional structural diagram of the fruit cutting mechanism in the first specific embodiment of the present invention;

[0024] Figure 11 This is a front view of the fruit cutting mechanism in the second specific embodiment of the present invention;

[0025] Figure 12 This is a three-dimensional structural diagram of the fruit cutting mechanism in the second specific embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100 aerial fruit harvesting devices;

[0028] Walking device 1, walking mechanism 11, driving mechanism 12, rotating mechanism 13, robotic arm 14;

[0029] Working device 2, arc-shaped support body 21, arc-shaped moving channel 211, arc-shaped clearance groove 212, main support frame 213, arc-shaped outer side plate 2131, arc-shaped top plate 2132, arc-shaped bottom plate 2133, arc-shaped inner side plate 214, second connecting piece 215, arc-shaped abutment block 216, connecting opening 217, clamping opening 218, arc-shaped track 22, chain assembly groove 221, fruit cutting mechanism 23, support base 231, support bottom plate 2311, support side plate 2312, second lifting assembly 232, bottom bracket 2321, second top bracket 2322, fourth drive cylinder 2323, second telescopic guide rod 2324, angle manual adjustment assembly 233, adjustment The components include: screw 2331, connecting shaft 2332, connecting block 2333, locking nut 2334, second vibration component 234, second cutting tool 235, clamping assembly 236, fifth drive cylinder 2361, clamping plate 2362, track drive mechanism 24, drive motor 241, drive sprocket 242, transmission chain 243, first connector 25, fixed base 261, rotating base 262, first lifting assembly 263, first top bracket 2631, third drive cylinder 2632, first telescopic guide rod 2633, angle automatic adjustment assembly 264, first drive cylinder 2641, second drive cylinder 2642, first vibration component 265, and first cutting tool 266.

[0030] Top roller 3;

[0031] Visual device 4. Detailed Implementation

[0032] To better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing these embodiments and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0034] Example 1

[0035] Please see Figures 1 to 12As shown, the present invention provides a high-altitude fruit picking device 100, which includes a walking device 1 and a working device 2. The walking device 1 is used to carry the working device 2 to the required position, and the working device 2 is used to pick fruits on fruit trees (such as oil palm fruits on oil palm trees).

[0036] The walking device 1 includes a walking mechanism 11, a driving mechanism 12 disposed above the walking mechanism 11, a rotating mechanism 13 connected between the walking mechanism 11 and the driving mechanism 12, and a mechanical arm 14 connected to the driving mechanism 12. The walking mechanism 11 is used to walk along the road, the driving mechanism 12 is used for the picker to drive, the rotating mechanism 13 is used to drive the driving mechanism 12, the mechanical arm 14 and the working device 2 to rotate 360°, and the mechanical arm 14 is used to move the working device 2 to the required position on the fruit tree. In a specific implementation of the present invention, the mechanical arm 14 is connected to one side of the driving mechanism 12 and the working device 2 is located in front of the driving mechanism 12, so that the driver can operate the working device 2 to pick fruit.

[0037] The working device 2 includes an arc-shaped support body 21, an arc-shaped track 22, a fruit cutting mechanism 23, and a track drive mechanism 24. The arc-shaped support body 21 is connected to the end of the robotic arm 14. An arc-shaped movable channel 211 is provided through the arc-shaped support body 21 along the circumferential direction. An arc-shaped relief groove 212 connected to the arc-shaped movable channel 211 is provided on the inner side wall of the arc-shaped support body 21 along the circumferential direction. The arc-shaped track 22 is slidably assembled in the arc-shaped movable channel 211, so that the arc-shaped track 22 can move relative to the arc-shaped support body 21. Fruit cutting mechanisms 23 are provided above both ends of the arc-shaped support body 21. Each fruit cutting mechanism 23 is connected to the arc-shaped track 22 through a first connector 25 passing through the arc-shaped relief groove 212, so that the arc-shaped track 22 can drive the two fruit cutting mechanisms 23 to move together when it moves. The track drive mechanism 24 is connected between the arc-shaped support body 21 and the arc-shaped track 22.

[0038] This invention incorporates a rotating mechanism 13 between the walking mechanism 11 and the driving mechanism 12 of the walking device 1. This allows the driving mechanism 12, the robotic arm 14, and the working device 2 to rotate 360° as a whole during operation. Simultaneously, the arc-shaped support body 21 is designed with an arc-shaped movable channel 211 and an arc-shaped clearance groove 212. An arc-shaped track 22 is movably fitted within the arc-shaped movable channel 211. A track drive mechanism 24 is positioned between the arc-shaped support body 21 and the arc-shaped track 22. Fruit cutting mechanisms 23 are located above both ends of the arc-shaped support body 21 and connected to the arc-shaped track 22 via a first connecting member 25. During operation, the track drive mechanism 24 drives the arc-shaped track 22, causing the two fruit cutting mechanisms 23 to move circumferentially. The cooperation of the two fruit cutting mechanisms 23 ensures 360° coverage around the fruit tree, achieving harvesting and cutting without blind spots. Therefore, by adopting the above-mentioned technical solution of the present invention, on the one hand, the high-altitude fruit picking equipment 100 can complete the picking of fruits on both sides of the road in one trip when it travels along the road between two adjacent rows of fruit trees. Compared with the traditional method of picking only one row of fruit trees in one trip, this can effectively reduce the travel distance of the high-altitude fruit picking equipment 100 during the picking process, thereby reducing energy consumption and picking costs. On the other hand, it can more accurately and quickly drive the fruit cutting mechanism 23 to the required cutting position, thereby helping to improve the overall picking efficiency.

[0039] As a first specific embodiment of the walking device 1 of the present invention, please refer to the following: Figure 1 As shown, the walking device 1 is an aerial work platform vehicle. An aerial work platform vehicle is a device capable of lifting up and down to perform operations. It is a commonly used device in the field of high-altitude operations. In specific implementation, the present invention can directly modify an existing aerial work platform vehicle to obtain an aerial fruit picking device 100. Specifically, it is only necessary to replace the structure installed at the free end of the mechanical arm of the existing aerial work platform vehicle with the working device 2 of the present invention.

[0040] As a second specific embodiment of the walking device 1 of the present invention, please refer to the following: Figure 2 As shown, the walking device 1 is a wheeled excavator or a tracked excavator. Both wheeled and tracked excavators are very common excavation equipment in the prior art. In specific implementation, the present invention can directly modify an existing wheeled or tracked excavator to obtain the high-altitude fruit picking device 100. Specifically, it is only necessary to replace the bucket installed at the free end of the mechanical arm of the existing wheeled or tracked excavator with the working device 2 of the present invention.

[0041] In specific implementation of this invention, if the fruit trees to be harvested are relatively short, an aerial fruit harvesting device 100 can be obtained by modifying an existing wheeled excavator or tracked excavator; if the fruit trees to be harvested are relatively tall, an aerial work platform can be obtained by modifying an existing aerial work platform vehicle.

[0042] Please refer to this carefully. Figure 3 , Figure 9 and Figure 10 As shown, in a first specific embodiment of the fruit cutting mechanism 23 of the present invention, the fruit cutting mechanism 23 includes a fixed base 261, a rotating base 262, a first lifting assembly 263, an automatic angle adjustment assembly 264, a first vibration component 265, and a first cutting blade 266. The fixed base 261 provides support, the rotating base 262 allows for rotational adjustment, the first lifting assembly 263 drives the first cutting blade 266 to rise or fall for cutting, the automatic angle adjustment assembly 264 automatically adjusts the tilt angle of the first cutting blade 266, and the first vibration component 265 drives the first cutting blade 266 to vibrate. The first cutting blade 266 performs the cutting function. The fixed base 261 is connected to the first connecting member 25, and the rotating base 262 is mounted on the fixed base 261. The rotating base 262 is hinged to the top of the fixed base 261, allowing the rotating base 262 to rotate relative to the fixed base 261. The bottom of the first lifting component 263 is hinged to one end of the rotating base 262, allowing the first lifting component 263 to rotate relative to the rotating base 262. The first vibration component 265 is connected to the upper end of the first lifting component 263, and the first cutting blade 266 is located at the upper end of the first vibration component 265. During cutting, the first lifting component 263 quickly pushes the first cutting blade 266 upward or pulls it downward, enabling the first cutting blade 266 to cut and harvest the fruit. Simultaneously, during the cutting process, the first vibration component 265 can drive the first cutting blade 266 to vibrate, thereby increasing the cutting force of the first cutting blade 266.

[0043] The automatic angle adjustment component 264 includes a first drive cylinder 2641 and a second drive cylinder 2642, both of which can be hydraulic cylinders or pneumatic cylinders. The lower end of the first drive cylinder 2641 is hinged to the other end of the rotating base 262, and the upper end of the first drive cylinder 2641 is hinged to the first lifting component 263. The first drive cylinder 2641 adjusts the first angle formed between the rotating base 262 and the first lifting component 263. The upper end of the second drive cylinder 2642 is hinged to any side of the rotating base 262, and the lower end of the second drive cylinder 2642 is hinged to the fixed base 261. The second drive cylinder 2642 adjusts the second angle formed between the fixed base 261 and the rotating base 262. This invention designs an automatic angle adjustment component 264, including a first drive cylinder 2641 disposed between the first lifting component 263 and the rotating base 262, and a second drive cylinder 2642 disposed between the fixed base 261 and the rotating base 262. This allows the first drive cylinder 2641 to move the first lifting component 263 and the first cutting blade 266 towards or away from the oil palm tree trunk (i.e., forward and backward adjustment), and the second drive cylinder 2642 to swing the first lifting component 263 and the first cutting blade 266 left and right. Therefore, through the above technical solution of this invention, the tilt angle of the first lifting component 263 and the first cutting blade 266 can be automatically adjusted effectively, enabling the first cutting blade 266 to meet the cutting needs of fruits of various heights and tapers, and ensuring that the first cutting blade 266 can better align with the fruits on the oil palm tree, thereby improving cutting efficiency.

[0044] In this invention, the first lifting assembly 263 includes a first top support 2631, a third drive cylinder 2632, and a first telescopic guide rod 2633. The third drive cylinder 2632 is used to drive the first cutting tool 266 to move up and down, and the third drive cylinder 2632 can be a hydraulic cylinder or a pneumatic cylinder as needed. The first telescopic guide rod 2633 serves as a guide, enabling the first cutting tool 266 to move more smoothly. The lower end of the first telescopic guide rod 2633 is hinged to one end of the rotating base 262, and the upper end of the first telescopic guide rod 2633 is connected to the first top support 2631. The upper end of the third drive cylinder 2632 is hinged to the first top support 2631, and the lower end of the third drive cylinder 2632 is hinged to the lower end of the first telescopic guide rod 2633. The third drive cylinder 2632 is located on the side of the first telescopic guide rod 2633 that is away from the first drive cylinder 2641. The first vibration component 265 is disposed on the first top support 2631.

[0045] The first vibration component 265 can specifically be a vibration cylinder. When the first cutting blade 266 is cutting the fruit, the vibration cylinder drives the first cutting blade 266 to vibrate, making the first cutting blade 266 more powerful when cutting.

[0046] As a first specific embodiment of the first cutting tool 266 of the present invention, such as Figure 8 As shown, the first cutting tool 266 is a Y-shaped tool. In a specific implementation of the present invention, when the first cutting tool 266 is a Y-shaped tool, before cutting, the first cutting tool 266 needs to be positioned below the stalk of the oil palm fruit. During cutting, the third drive cylinder 2632 pushes the first cutting tool 266 upward quickly, enabling the first cutting tool 266 to quickly cut off the stalk of the oil palm fruit. Simultaneously, when the outer side of the oil palm fruit is obstructed by a leaf stalk, before cutting, the first cutting tool 266 needs to be positioned below the leaf stalk. During cutting, the third drive cylinder 2632 pushes the first cutting tool 266 upward quickly, enabling the first cutting tool 266 to quickly cut off both the leaf stalk and the stalk of the oil palm fruit.

[0047] As a second specific embodiment of the first cutting tool 266 of the present invention, such as Figure 10 As shown, the first cutting tool 266 is an inverted L-shaped tool or a T-shaped tool with double-sided cutting edges. In specific implementation of the present invention, when the first cutting tool 266 is an inverted L-shaped tool or a T-shaped tool with double-sided cutting edges, the first cutting tool 266 needs to be positioned above the stalk of the oil palm fruit before cutting. During cutting, the third drive cylinder 2632 is used to quickly pull the first cutting tool 266 downward, so that the first cutting tool 266 can quickly cut off the stalk of the oil palm fruit. Of course, if there is a leaf petiole blocking the outside of the oil palm fruit, the first cutting tool 266 can cut off the stalk and leaf petiole of the oil palm fruit together.

[0048] As a second specific embodiment of the fruit cutting mechanism 23 of the present invention, please refer to the following: Figure 4 , Figure 11 and Figure 12As shown, the fruit cutting mechanism 23 includes a support base 231, a second lifting assembly 232, a manual angle adjustment assembly 233, a second vibration component 234, and a second cutting blade 235. The support base 231 provides support; the second lifting assembly 232 raises or lowers the second cutting blade 235 to achieve cutting; the manual angle adjustment assembly 233 manually adjusts the tilt angle of the second cutting blade 235; and the second vibration component 234 vibrates the second cutting blade 235, which then performs the cutting function. The base 231 is connected to the first connector 25. One end of the bottom of the second lifting component 232 is hinged to the support base 231, so that the second lifting component 232 can rotate relative to the support base 231. The angle manual adjustment component 233 is located between the support base 231 and the other end of the bottom of the second lifting component 232. In use, the angle between the support base 231 and the second lifting component 232 can be adjusted by the angle manual adjustment component 233. The second vibration component 234 is connected to the upper end of the second lifting component 232. The second cutting tool 235 is located at the upper end of the second vibration component 234. In specific operation, before harvesting, the fruit cutting mechanism 23 of the present invention can manually adjust the angle between the support base 231 and the second lifting component 232 according to the height and taper (i.e., the taper formed by the gradual reduction of the trunk from bottom to top) of the oil palm tree and the position of the fruit through the angle manual adjustment component 233, so that the second cutting blade 235 is tilted at the required angle. During cutting, the second cutting blade 235 is quickly pushed upward or pulled downward by the second lifting component 232, so that the second cutting blade 235 can cut and harvest the fruit. At the same time, during the cutting process, the second vibration component 234 can drive the second cutting blade 235 to vibrate, thereby increasing the cutting force of the second cutting blade 235. It should be noted that since oil palm trees in the same row are usually planted at the same time, their height and taper are roughly the same, and the position of the fruit is also not much different. Therefore, there is no need to frequently adjust the angle between the support base 231 and the second lifting component 232. Adjustment is only required when the height, taper, and position of the oil palm trees differ significantly.

[0049] In this invention, the fruit cutting mechanism 23 further includes a clamping component 236 disposed on the support base 231, and the movable ends of the clamping components 236 of the two fruit cutting mechanisms 23 are arranged facing each other. In specific use, the clamping components 236 of the two fruit cutting mechanisms 23 can be used to clamp the trunk of the oil palm tree to ensure the stability of the second cutting blade 235 during the cutting process.

[0050] In a specific implementation of the present invention, the support base 231 includes a support base plate 2311 and support side plates 2312 fixed on both sides of the support base plate 2311, and the clamping assembly 236 is arranged horizontally between the two support side plates 2312.

[0051] The second lifting assembly 232 includes a bottom support 2321, a second top support 2322, a fourth drive cylinder 2323, and a second telescopic guide rod 2324. The fourth drive cylinder 2323 can be a hydraulic cylinder or a pneumatic cylinder, depending on actual needs. The fourth drive cylinder 2323 and the second telescopic guide rod 2324 are both connected between the bottom support 2321 and the second top support 2322. The fourth drive cylinder 2323 is used to drive the second cutting tool 235 to move up and down. The second telescopic guide rod 2324 is used to guide the second cutting tool 235 to move more smoothly. One end of the bottom support 2321 is hinged to the support base 231, and the second vibration component 234 is disposed on the second top support 2322.

[0052] The manual angle adjustment assembly 233 includes an adjusting screw 2331, a connecting shaft 2332, a connecting block 2333, and a locking nut 2334. The lower end of the adjusting screw 2331 is rotatably connected to two support side plates 2312 of the support base 231 via the connecting shaft 2332. The connecting block 2333 is rotatably mounted at the other end of the bottom bracket 2321. The upper end of the adjusting screw 2331 passes through the connecting block 2333, and locking nuts 2334 are screwed onto the adjusting screw 2331 at both the upper and lower positions corresponding to the connecting block 2333. When adjusting the angle, the locking nut 2334 at the upper or lower position needs to be rotated away from the connecting block 2333. After adjusting the angle between the support base 231 and the second lifting assembly 232, the two locking nuts 2334 are then tightened towards each other.

[0053] The second vibration component 234 can be a vibration cylinder. When the second cutting tool 235 is cutting the fruit, the vibration cylinder drives the second cutting tool 235 to vibrate, making the second cutting tool 235 more powerful when cutting.

[0054] As a first specific embodiment of the second cutting tool 235 of the present invention, such as Figure 8As shown, the second cutting tool 235 is a Y-shaped tool. In specific implementation of the present invention, when the second cutting tool 235 is a Y-shaped tool, before cutting, the second cutting tool 235 needs to be positioned below the stalk of the oil palm fruit. During cutting, the fourth drive cylinder 2323 pushes the second cutting tool 235 upward quickly, enabling the second cutting tool 235 to quickly cut off the stalk of the oil palm fruit. At the same time, when the outer side of the oil palm fruit is blocked by a leaf stalk, before cutting, the second cutting tool 235 needs to be positioned below the leaf stalk. During cutting, the fourth drive cylinder 2323 pushes the second cutting tool 235 upward quickly, enabling the second cutting tool 235 to quickly cut off both the leaf stalk and the stalk of the oil palm fruit.

[0055] As a second specific embodiment of the second cutting tool 235 of the present invention, such as Figure 12 As shown, the second cutting tool 235 is an inverted L-shaped tool or a T-shaped tool with double-sided cutting edges. In specific implementation of the present invention, when the second cutting tool 235 is an inverted L-shaped tool or a T-shaped tool with double-sided cutting edges, the second cutting tool 235 needs to be positioned above the stalk of the oil palm fruit before cutting. During cutting, the fourth drive cylinder 2323 is used to quickly pull the second cutting tool 235 downward, so that the second cutting tool 235 can quickly cut off the stalk of the oil palm fruit. Of course, if there is a leaf petiole blocking the outside of the oil palm fruit, the second cutting tool 235 can cut off the stalk and leaf petiole of the oil palm fruit together.

[0056] In this invention, the clamping assembly 236 includes a fifth drive cylinder 2361 and a clamping plate 2362. The clamping plate 2362 is connected to the movable end of the fifth drive cylinder 2361. The fifth drive cylinder 2361 can be a hydraulic cylinder or a pneumatic cylinder according to actual needs. During operation, the fifth drive cylinder 2361 drives the clamping plate 2362 to clamp against the surface of the oil palm tree trunk or move away from the surface of the oil palm tree trunk.

[0057] In a specific implementation of the present invention, a vision device 4 may be provided on the first top support 2631 or the second top support 2322, and the vision device 4 is positioned facing the first cutting tool 266 or the second cutting tool 235. During the harvesting process, the vision device 4 can be used to take pictures of the tool, fruit tree and fruit in real time and transmit them to the driver for viewing, so that the driver can operate the robotic arm 14 and the working device 2 to harvest the fruit.

[0058] In this invention, both the arc-shaped support body 21 and the arc-shaped track 22 are arc structures, and the arcs of both the arc-shaped support body 21 and the arc-shaped track 22 are superior arcs, to ensure that the two fruit cutting mechanisms 23 can cover 360° around the fruit tree to achieve harvesting and cutting without dead angles; a clamping opening 218 is formed between the two ends of the arc-shaped support body 21, so that the arc-shaped support body 21 can clamp the trunk of the fruit tree through the clamping opening 218.

[0059] In this invention, the arc-shaped support body 21 includes a main support frame 213, two arc-shaped inner side plates 214, a second connector 215, and an arc-shaped abutment block 216. The main support frame 213 is formed by an arc-shaped outer side plate 2131, an arc-shaped top plate 2132, and an arc-shaped bottom plate 2133. The two arc-shaped inner side plates 214 are respectively located on the upper and lower parts of the inner side of the main support frame 213. An arc-shaped clearance groove 212 is formed between the two arc-shaped inner side plates 214. Each arc-shaped inner side plate 214 is detachably connected to the main support frame 213 through several second connectors 215 to support the arc-shaped inner side plate 214. Each arc-shaped inner side plate 214 is provided with an arc-shaped abutment block 216 on the side facing the arc-shaped movable channel 211, and the arc-shaped abutment block 216 abuts against the inner side of the arc-shaped track 22. By adopting the above structural design, it is possible to easily disassemble and assemble the arc-shaped track 22 during actual use, and the arc-shaped abutment block 216 can be used to abut the inner side of the arc-shaped track 22 to improve the stability of the arc-shaped track 22 during movement.

[0060] In this invention, the top and bottom of the arc-shaped support body 21 are provided with several connecting openings 217 that communicate with the arc-shaped movable channel 211. At the top and bottom of the arc-shaped support body 21, corresponding to each connecting opening 217, abutting rollers 3 are rotatably provided. The abutting rollers 3 abut against the upper or lower surface of the arc-shaped track 22. Specifically, the abutting rollers 3 located at the top of the arc-shaped support body 21 abut against the upper surface of the arc-shaped track 22, and the abutting rollers 3 located at the bottom of the arc-shaped support body 21 abut against the lower surface of the arc-shaped track 22. By adopting the above structural design, on the one hand, the abutting rollers 3 can support and limit the arc-shaped track 22, allowing the arc-shaped track 22 to move smoothly along the arc-shaped movable channel 211; on the other hand, because the abutting rollers 3 can rotate, the friction between the abutting rollers 3 and the arc-shaped track 22 can be effectively reduced, ensuring smooth movement of the arc-shaped track 22.

[0061] In this invention, the track drive mechanism 24 includes a drive motor 241, a drive sprocket 242, and a transmission chain 243. The drive motor 241 is installed in the middle of the outer side of the arc-shaped support body 21, specifically, the drive motor 241 can be positioned in the middle of the outer side of the arc-shaped support body 21. The drive sprocket 242 is connected to the output end of the drive motor 241, so that the drive motor 241 drives the drive sprocket 242 to rotate. A chain mounting groove 221 is provided along the circumferential direction on the outer side of the arc-shaped track 22, and the transmission chain 243 is fixedly installed in the chain mounting groove 221. The drive sprocket 242 meshes with the transmission chain 242. Because the outer surface of the arc-shaped track 22 is an arc-shaped curved surface, by using the transmission chain 243 and the drive sprocket 242 to drive the arc-shaped track 22 to move, it can better adapt to the arc-shaped curved surface.

[0062] Example 2

[0063] Please see Figures 1 to 12 As shown, this invention discloses a method for harvesting fruit at high altitudes. The method utilizes a high-altitude fruit harvesting device 100. The specific structure and technical effects of the high-altitude fruit harvesting device 100 are identical to those in Embodiment 1. Please refer to the detailed description of Embodiment 1 for further details; the method will not be repeated here. The high-altitude fruit harvesting method includes the following steps:

[0064] The control walking mechanism 11 drives the high-altitude fruit picking equipment 100 from the starting end of the road between two adjacent rows of fruit trees, and controls the rotation mechanism 13 and the mechanical arm 14 of the high-altitude fruit picking equipment 100 to drive the working device 2 to cut and pick the fruit on the two adjacent rows of fruit trees according to the planting order of the two adjacent rows of fruit trees.

[0065] After the high-altitude fruit picking equipment 100 picks fruit from the starting end to the ending end along the road between two adjacent rows of fruit trees, the control walking mechanism 11 drives the high-altitude fruit picking equipment 100 into the road between the two adjacent rows of fruit trees that have not been picked to continue cutting and picking.

[0066] In practice, an oil palm tree is planted at regular intervals on both sides of the road, for example, one every 8 meters. Since adjacent rows of fruit trees are separated by the road, the trees on both sides can be planted aligned, although they can also be planted out of alignment. Taking aligned planting as an example, in the specific implementation of this invention, when the walking mechanism 11 drives the high-altitude fruit-harvesting device 100 along the road between adjacent rows of fruit trees to the location of the first fruit tree, the high-altitude fruit-harvesting device 100 stops moving. The rotating mechanism 13 then rotates the driving mechanism 12, the robotic arm 14, and the working device 2 together, so that the driver and the working device 2 face the first fruit tree on one side. This facilitates the driver's operation of the robotic arm 14 and the working device 2 to harvest the fruit from the first fruit tree on one side. After harvesting the fruit from the first fruit tree on one side, the rotating mechanism 13 rotates the driving mechanism 12, the robotic arm 14, and the working device 2 together. The driver and working device 2 face the first fruit tree on the other side, and the robotic arm 14 and working device 2 are operated to pick the fruit from the first fruit tree on the other side. After the first fruit tree on the other side is also picked, the walking mechanism 11 drives the high-altitude fruit picking equipment 100 to travel along the road between two adjacent rows of fruit trees to the location of the second fruit tree. The rotating mechanism 13 drives the driving mechanism 12, robotic arm 14 and working device 2 to rotate together, so that the driver and working device 2 face the second fruit tree on one side. This process is repeated until all the fruit trees on both sides of the road are picked. Then the walking mechanism 11 drives the high-altitude fruit picking equipment 100 to enter the road between other unpicked adjacent rows of fruit trees.

[0067] Due to structural limitations, existing aerial fruit harvesters cannot harvest fruit from both rows of trees in a single trip when traveling along the path between adjacent rows of fruit trees. However, by adopting the technical solution of this invention, fruit can be harvested from both rows of trees in a single trip, effectively reducing the travel distance of the aerial fruit harvesting equipment 100 during the harvesting process, thereby reducing energy consumption and harvesting costs.

[0068] As a first specific embodiment of the present invention, the rotating mechanism 13 and the robotic arm 14 of the high-altitude fruit picking equipment 100 drive the working device 2 to cut and pick the fruits on two adjacent rows of fruit trees, specifically including:

[0069] The rotating mechanism 13 drives the working device 2 to rotate, orienting it toward the fruit tree to be harvested. The robotic arm 14 drives the working device 2 to move, causing the arc-shaped support body 21 of the working device 2 to clamp the trunk of the fruit tree and position the arc-shaped support body 21 below the fruit to be harvested. The control track drive mechanism 24 drives the arc-shaped track 22 to move one of the fruit cutting mechanisms 23 along the circumferential direction to the position of the fruit to be harvested. At the same time, the control angle automatic adjustment component 264 adjusts the angle of the first cutting blade 266 of the fruit cutting mechanism 23, specifically through the first drive cylinder 2641 driving the first lifting mechanism. The components 263 and the first cutting blade 266 can be adjusted to move closer to or further away from the trunk of the oil palm tree (i.e., front and back adjustment). Alternatively, the second drive cylinder 2642 can be used to drive the first lifting component 263 and the first cutting blade 266 to swing left and right, so that the first cutting blade 266 can be more accurately aligned with the fruit stalk. The first lifting component 263 of the fruit cutting mechanism 23 drives the first cutting blade 266 to move up and down, while controlling the first vibration component 265 to drive the first cutting blade 266 to vibrate, so that the first cutting blade 266 vibrates to cut the fruit on the fruit tree.

[0070] As a second specific embodiment of the present invention, the rotating mechanism 13 and the robotic arm 14 of the high-altitude fruit picking equipment 100 drive the working device 2 to cut and pick the fruits on two adjacent rows of fruit trees, specifically including:

[0071] Based on the height, taper, and fruit position of the fruit tree, the angle of the second cutting blade 235 of the fruit cutting mechanism 23 is manually adjusted using the angle manual adjustment component 233, allowing the second cutting blade 235 to more accurately cut and harvest the fruit on the tree. The rotating mechanism 13 drives the working device 2 to rotate, orienting it towards the fruit tree to be harvested. The robotic arm 14 drives the working device 2 to move, causing the arc-shaped support body 21 of the working device 2 to clamp the trunk of the fruit tree, positioning the arc-shaped support body 21 below the fruit to be harvested. The control rail... The drive mechanism 24 drives the arc track 22 to move one of the fruit cutting mechanisms 23 along the circumference to the position of the fruit to be picked, and controls the clamping components 236 of the two fruit cutting mechanisms 23 to clamp the trunk of the fruit tree to improve the stability of the second cutting blade 235 during cutting; the second lifting component 232 of the fruit cutting mechanism 23 drives the second cutting blade 235 to move up and down, and at the same time controls the second vibration component 234 to drive the second cutting blade 235 to vibrate, so that the second cutting blade 235 vibrates to cut the fruit on the fruit tree.

[0072] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A high-altitude fruit-picking device, characterized in that: Includes both walking and working devices; The walking device includes a walking mechanism, a driving mechanism located above the walking mechanism, a rotating mechanism connected between the walking mechanism and the driving mechanism, and a robotic arm connected to the driving mechanism. The working device includes an arc-shaped support body, an arc-shaped track, a fruit cutting mechanism, and a track drive mechanism. The arc-shaped support body is connected to the end of the robotic arm. An arc-shaped movable channel is provided through the arc-shaped support body along the circumferential direction. An arc-shaped relief groove connected to the arc-shaped movable channel is provided on the inner side wall of the arc-shaped support body along the circumferential direction. The arc-shaped track is slidably assembled in the arc-shaped movable channel. A fruit cutting mechanism is provided above both ends of the arc-shaped support body. Each fruit cutting mechanism is connected to the arc-shaped track through a first connector passing through the arc-shaped relief groove. The track drive mechanism is connected between the arc-shaped support body and the arc-shaped track. The arc-shaped support body includes a main support frame and two arc-shaped inner side plates. The main support frame is formed by an arc-shaped outer side plate, an arc-shaped top plate, and an arc-shaped bottom plate. The two arc-shaped inner side plates are respectively located on the upper and lower parts of the inner side of the main support frame, and an arc-shaped clearance groove is formed between the two arc-shaped inner side plates. During operation, the track drive mechanism drives the arc-shaped track to move the two fruit cutting mechanisms along the circumference. Through the cooperation of the two fruit cutting mechanisms, the fruit tree can be covered 360° around it to achieve harvesting and cutting without dead angles.

2. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The walking device is an aerial work platform vehicle.

3. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The walking device is a wheeled excavator or a tracked excavator.

4. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The fruit cutting mechanism includes a fixed base, a rotating base, a first lifting component, an automatic angle adjustment component, a first vibration component, and a first cutting blade. The fixed base is connected to the first connecting member, the rotating base is located above the fixed base and hinged to the fixed base, the bottom of the first lifting component is hinged to one end of the rotating base, the first vibration component is connected to the upper end of the first lifting component, and the first cutting blade is located at the upper end of the first vibration component. The automatic angle adjustment component includes a first drive cylinder and a second drive cylinder. The lower end of the first drive cylinder is hinged to the other end of the rotating base, and the upper end of the first drive cylinder is hinged to the first lifting component. The first drive cylinder adjusts the first angle formed between the rotating base and the first lifting component. The upper end of the second drive cylinder is hinged to any side of the rotating base, and the lower end of the second drive cylinder is hinged to the fixed base. The second drive cylinder adjusts the second angle formed between the fixed base and the rotating base.

5. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The fruit cutting mechanism includes a support base, a second lifting component, a manual angle adjustment component, a second vibration component, and a second cutting blade. The support base is connected to the first connecting member. One end of the bottom of the second lifting component is hinged to the support base. The manual angle adjustment component is located between the support base and the other end of the bottom of the second lifting component. The second vibration component is connected to the upper end of the second lifting component. The second cutting blade is located at the upper end of the second vibration component. The fruit cutting mechanism also includes a clamping component mounted on a support base, and the movable ends of the clamping components of the two fruit cutting mechanisms are arranged facing each other.

6. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: Both the arc-shaped support body and the arc-shaped track are circular arc structures, and the arcs of both the arc-shaped support body and the arc-shaped track are superior arcs.

7. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The arc-shaped support body also includes a second connector and an arc-shaped abutment block. Each arc-shaped inner side plate is detachably connected to the main support frame through several second connectors. Each arc-shaped inner side plate is provided with an arc-shaped abutment block on the side facing the arc-shaped moving channel, and the arc-shaped abutment block abuts against the inner side of the arc-shaped track.

8. The high-altitude fruit harvesting equipment as described in claim 1, characterized in that: The top and bottom of the arc-shaped support body are provided with several connecting openings that are connected to the arc-shaped movable channel. At the top and bottom of the arc-shaped support body, a top roller is rotatably provided at the position corresponding to each connecting opening. The top roller abuts against the upper or lower surface of the arc-shaped track.

9. A method for harvesting fruits from high altitudes, characterized in that: The high-altitude fruit harvesting method uses the high-altitude fruit harvesting equipment as described in any one of claims 1-8, and includes the following steps: The control walking mechanism drives the high-altitude fruit picking equipment from the beginning of the road between two adjacent rows of fruit trees, and controls the rotation mechanism and mechanical arm of the high-altitude fruit picking equipment to drive the working device to cut and pick the fruit on the two adjacent rows of fruit trees according to the planting order of the two adjacent rows of fruit trees. After the aerial fruit picking equipment picks fruit from the starting end to the ending end along the road between two adjacent rows of fruit trees, the control walking mechanism drives the aerial fruit picking equipment into the road between two adjacent rows of unpicked fruit trees to continue cutting and picking.

10. A method for harvesting fruits from high altitudes as described in claim 9, characterized in that: The rotating mechanism and robotic arm of the high-altitude fruit-picking equipment specifically include the following: [The specific details of the process of cutting and picking fruits from adjacent rows of fruit trees are not provided in the original text.] The rotating mechanism drives the working device to rotate, orienting it toward the fruit tree to be harvested. A robotic arm moves the working device, causing its arc-shaped support to clamp the tree trunk and position itself below the fruit to be harvested. A control track drive mechanism propels the arc-shaped track, moving one of the fruit cutting mechanisms circumferentially to the position of the fruit to be harvested. Simultaneously, an automatic angle adjustment component adjusts the angle of the first cutting blade of the fruit cutting mechanism. The first lifting component of the fruit cutting mechanism moves the first cutting blade up and down, while a first vibration component vibrates the first cutting blade, causing it to vibrate and cut the fruit on the tree. Alternatively, based on the height, taper, and position of the fruit tree, the angle of the second cutting blade of the fruit cutting mechanism can be manually adjusted using the angle manual adjustment component; the rotating mechanism drives the working device to rotate, orienting it toward the fruit tree to be harvested; the robotic arm drives the working device to move, causing the arc-shaped support body of the working device to clamp the trunk of the fruit tree, with the arc-shaped support body positioned below the fruit to be harvested; the control track drive mechanism drives the arc-shaped track to move one of the fruit cutting mechanisms along the circumference to the position of the fruit to be harvested, and controls the clamping components of the two fruit cutting mechanisms to clamp the trunk of the fruit tree; the second lifting component of the fruit cutting mechanism drives the second cutting blade to move up and down, while simultaneously controlling the second vibration component to vibrate the second cutting blade, causing the second cutting blade to vibrate and cut the fruit on the fruit tree.

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