Automatic picking device for arbor fruits

Abstract

The invention relates to the technical field of fruit picking, in particular to an automatic arbor fruit picking device which comprises an intelligent electric vehicle, an intelligent probe used for intelligently recognizing fruits is fixedly mounted at the upper end of the intelligent electric vehicle, an intelligent mechanical arm is fixedly mounted at the upper end of the intelligent electric vehicle, and the output end of the intelligent mechanical arm is fixedly connected with a first mounting barrel. The intelligent probe can automatically recognize fruits, the fruits are fixed through winding of the elastic rubber sheet and cooperation of the elastic rubber sheet and the measuring abutting arm, and a traditional rigid clamping or violent shaking picking mode is abandoned. The elastic rubber sheet can be attached to the surface of the fruit in a self-adaptive mode, when stable wrapping force is applied, fruit skin scratching or sinking or fruit stem tearing caused by uneven pressure is avoided, and the device is especially suitable for apple, pear and other vulnerable fruits. Meanwhile, in the rotary picking process, fruit stems are used as stress points to be twisted off and separated step by step, impact on fruit bodies is reduced to the maximum extent, the fruit integrity is guaranteed, and the commodity value and the storage period of the fruits are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting technology, specifically an automatic fruit harvesting device for trees. Background Technology

[0002] In the current process of agricultural modernization, the harvesting of tree fruits faces a dilemma of balancing efficiency and quality. Traditional manual harvesting relies on farmers climbing, using hand tools to cut or shake branches, which is not only labor-intensive and inefficient, but also easily causes damage such as scratches on the fruit skin and tears in the stem, affecting the commercial value and storage period of the fruit. While existing mechanical harvesting equipment mostly uses strong clamping, vibration, or robotic arm grasping methods to improve harvesting efficiency, it is difficult to accurately adapt to the size of the fruit and the toughness of the stem, resulting in a high fruit breakage rate. Some equipment can also cause irreversible damage to fruit trees, limiting its large-scale application.

[0003] In addition, the sorting of fruits after harvesting often requires secondary manual screening. Most existing harvesting devices lack automated classification functions, making it difficult to efficiently sort fruits based on indicators such as size and maturity, which increases subsequent processing costs and time costs. Therefore, developing a tree fruit harvesting device that can gently fix the fruits to avoid damage, achieve automated rotating harvesting, and simultaneously complete size classification and collection has become a key technological requirement for improving fruit harvesting efficiency, reducing labor costs, and ensuring fruit quality. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic fruit-harvesting device for trees to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An automatic fruit-harvesting device for trees includes an intelligent electric vehicle. An intelligent probe for intelligent fruit identification is fixedly installed on the upper end of the intelligent electric vehicle. An intelligent robotic arm is fixedly installed on the upper end of the intelligent electric vehicle. A first mounting bucket is fixedly connected to the output end of the intelligent robotic arm. The intelligent probe can automatically identify the fruit and send instructions to the intelligent robotic arm. The intelligent robotic arm will control the output end to move according to the instructions. A harvesting mechanism is fixedly installed inside the first mounting bucket.

[0007] The outer wall of the intelligent electric vehicle is also fixedly connected to a collection box, and a collection mechanism is fixedly installed between the collection box and the first installation bucket. The picking mechanism can pick the fruit, and the picked fruit will be collected by the collection mechanism.

[0008] As a further aspect of this solution, the harvesting mechanism includes a mating disc with a reset function, and a second mounting barrel is fixedly connected to the upper end of the first mounting barrel, with the mating disc rotatably connected to the inner wall of the second mounting barrel.

[0009] As a further aspect of this solution, two measuring and abutting arms with reset functions are slidably connected inside the mating disc, and a recovery disc with reset function is rotatably connected to the bottom of the inner wall of the first mounting barrel, and a second connecting rope is wound around the outer wall of the recovery disc.

[0010] As a further aspect of this solution, a connecting ring is fixedly connected to the outer wall of the recycling disc, and two winding swing arms are fixedly connected to the upper end of the connecting ring. Each winding swing arm is fixedly connected to a nearby measuring abutment arm through an elastic rubber sheet.

[0011] As a further aspect of this solution, two electric telescopic arms are fixedly connected to the top of the inner wall of the first mounting bucket, and a sliding collar is fixedly connected between the output ends of the two electric telescopic arms. The free end of the second connecting rope is fixedly connected to the upper end of the sliding collar.

[0012] As a further aspect of this solution, a fixing pipe is fixedly connected to the inner wall of the first mounting barrel, and an abutting curved plate is fixedly connected to the bottom of the fixing pipe. A matching shrinking pipe is fixedly connected to the bottom of the fixing pipe, and each measuring abutting arm is fixedly connected to the bottom end of the inner wall of the matching shrinking pipe through a first connecting rope.

[0013] As a further aspect of this solution, the collection mechanism includes a movable box, which is fixedly connected to the bottom of the cooperating shrink tube. A folded rubber sleeve is also fixedly connected to the inner wall of the cooperating shrink tube, and a triangular abutment block is fixedly connected to the end of the folded rubber sleeve away from the cooperating shrink tube.

[0014] As a further aspect of this solution, the end of the triangular abutting block away from the folded rubber sleeve abuts against the outer wall of the abutting curved plate, and the outer wall of the first mounting bucket is also provided with a mating opening, and the inside of the collection box is provided with a second collection chamber and a first collection chamber.

[0015] As a further aspect of this solution, a rotating cover is rotatably connected to the upper end of the collection box, and a connecting box is welded and fixed to the upper end of the rotating cover. The connecting box has a third collection chamber and a fourth collection chamber inside. The third collection chamber is connected to the second collection chamber, and the fourth collection chamber is connected to the first collection chamber.

[0016] As a further aspect of this solution, a sliding plate is slidably connected to the upper end of the connecting box, and a mating cylinder is fixedly connected to the side end of the connecting box. The output end of the mating cylinder is fixedly connected to the bottom of the sliding plate, and the mating cylinder is fixedly connected to the folding rubber sleeve.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In use, this invention secures the fruit by wrapping an elastic rubber sheet around it and coordinating with the measuring arm, eliminating the need for traditional rigid clamping or violent shaking during harvesting. The elastic rubber sheet adapts to the fruit surface, applying a stable wrapping force while preventing scratches, dents, or stem tears caused by uneven pressure, making it particularly suitable for fragile fruits such as apples and pears. Simultaneously, during the rotating harvesting process, the fruit is gradually twisted and separated using the stem as the stress point, minimizing impact on the fruit itself, ensuring fruit integrity, and significantly improving the fruit's commercial value and shelf life.

[0019] 2. In use, when the fruit is small, the measuring arm moves a large range, triggering the extension of the folded rubber sleeve and the displacement of the sliding plate, causing the fruit to fall into the small fruit collection chamber. If the fruit is large, the movement of the measuring arm is limited, the sliding plate remains in place, and the fruit enters the large fruit collection chamber. This design eliminates the need for secondary manual sorting, effectively reducing labor costs and sorting time, and automating the entire process of harvesting, screening, and classifying, significantly improving the overall efficiency and intelligence level of tree fruit harvesting operations.

[0020] 3. During the collection and resetting phase, after the electric telescopic arm releases the second connecting rope, the recovery disc automatically retracts the rope under the action of the resetting torsion spring, causing the winding swing arm and elastic rubber sheet to loosen the fruit. At the same time, the measuring and abutting arm releases the first connecting rope, causing the cooperating shrink tube and folding rubber sleeve to reset in conjunction with the cylinder to drive the sliding plate to return to its position. The entire process does not require manual adjustment of the component positions. From fruit fixing to classification and collection and equipment resetting, a complete mechanical linkage closed loop is formed, which greatly reduces the operation interruption time, improves the picking efficiency of single fruit, and ensures the stability of batch operation. Attached Figure Description

[0021] Figure 1 This is a front view of the structure of an automatic fruit-harvesting device for trees.

[0022] Figure 2 This is a schematic diagram of the internal structure of the second mounting barrel in an automatic fruit-harvesting device for trees.

[0023] Figure 3 This is a schematic diagram of the internal structure of the first mounting barrel in an automatic fruit-harvesting device for trees.

[0024] Figure 4 This is a schematic diagram of the position and structure of the first connecting rope in an automatic fruit-harvesting device for trees.

[0025] Figure 5 This is a schematic diagram of the bottom structure of an automatic fruit-harvesting device for trees, which is equipped with a disc.

[0026] Figure 6 This is a schematic diagram of the internal structure of a fixed tube in an automatic fruit-harvesting device for trees.

[0027] Figure 7 for Figure 6 Enlarged diagram of point A.

[0028] Figure 8 This is a schematic diagram of the internal structure of a moving box in an automatic fruit-harvesting device for trees.

[0029] Figure 9 This is a schematic diagram of the internal structure of the collection box in an automatic fruit-harvesting device for trees.

[0030] Figure 10 This is a schematic diagram of the internal structure of the second connecting pipe in an automatic fruit-harvesting device for trees.

[0031] Figure 11 A demonstration image showing a fruit wrapped in an elastic rubber sheet.

[0032] In the diagram: 1. Intelligent electric vehicle; 2. Intelligent probe; 3. Intelligent robotic arm; 4. First mounting bucket; 5. Collection box; 6. Second mounting bucket; 7. Matching disc; 8. Measuring and contacting arm; 9. Winding swing arm; 10. Elastic rubber sheet; 11. Electric telescopic arm; 12. Fixed tube; 13. Moving box; 14. First return torsion spring; 15. Connecting and mating ring; 16. Recycling disc; 17. Rotating arm;

[0033] 18. Connecting block; 19. Mating groove; 20. Limiting threaded rod; 21. First connecting rope; 22. First return spring; 23. Rectangular groove; 24. Sliding collar; 25. Second connecting rope; 26. Mating shrink tube; 27. Folding rubber sleeve; 28. Triangular abutment block; 29. ​​Mating opening; 30. Abutment curved plate; 31. Second connecting tube; 32. First collecting chamber;

[0034] 33. Second collecting chamber; 34. Matching cylinder; 35. Connecting box; 36. Third collecting chamber; 37. Fourth collecting chamber; 38. Sliding plate; 39. Collecting funnel; 40. Rotating cover; 41. Fixing ring; 101. Harvesting mechanism; 201. Collecting mechanism. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figures 1-2 As shown in the embodiment of the present invention, an automatic fruit harvesting device for trees includes an intelligent electric vehicle 1. An intelligent probe 2 for intelligent fruit identification is fixedly installed on the upper end of the intelligent electric vehicle 1. An intelligent robotic arm 3 is also fixedly installed on the upper end of the intelligent electric vehicle 1 by bolts. The output end of the intelligent robotic arm 3 is also fixedly connected to a first mounting bucket 4 by bolts. The intelligent probe 2 can automatically identify the fruit and send instructions to the intelligent robotic arm 3. The intelligent robotic arm 3 will control the output end to move according to the instructions. The intelligent probe 2 and the intelligent robotic arm 3 are existing technologies and will not be described in detail here. A harvesting mechanism 101 is fixedly installed inside the first mounting bucket 4. A collection box 5 is also fixedly connected to the outer wall of the intelligent electric vehicle 1. Multiple rollers are rotatably connected to the bottom of the collection box 5 through bearings. A collection mechanism 201 is fixedly installed between the collection box 5 and the first mounting bucket 4. The harvesting mechanism 101 can harvest the fruit, and the harvested fruit will be collected by the collection mechanism 201.

[0037] Example 2: Please refer to Figures 2-7 As shown, the harvesting mechanism 101 includes a mating disc 7 with a reset function. A second mounting barrel 6 is fixedly connected to the upper end of the first mounting barrel 4. The mating disc 7 is rotatably connected to the inner wall of the second mounting barrel 6 via a rotating shaft. A first reset torsion spring 14 is engaged between the mating disc 7 and the inner wall of the second mounting barrel 6. Two measuring abutment arms 8 with reset functions are also slidably connected inside the mating disc 7. Specifically, two rectangular grooves 23 are formed inside the mating disc 7, and each measuring abutment arm 8 is slidably connected to the inner wall of an adjacent rectangular groove 23. Each measuring arm 8 is fixedly connected to a first return spring 22 between itself and the mating disc 7. When the two measuring arms 8 are pushed, the first return spring 22 is stretched and stored. The rectangular groove 23 also limits the measuring arms 8. When the measuring arms 8 stop being pushed, the first return spring 22 will drive the measuring arms 8 to quickly return to their original position. A silicone pad is fixedly connected to one end of each of the two measuring arms 8. When the two measuring arms 8 press against the fruit, the silicone pad acts as a buffer to prevent the fruit from being damaged.

[0038] The bottom of the inner wall of the first mounting barrel 4 is rotatably connected to a recovery disc 16 with a reset function via a rotating shaft. A second reset torsion spring (not shown in the figure) is engaged between the recovery disc 16 and the inner wall of the first mounting barrel 4. The outer wall of the recovery disc 16 has multiple weight-reducing holes, which are circumferentially distributed on the outer wall of the recovery disc 16. The rotating shaft between the mating disc 7 and the second mounting barrel 6 passes through the interior of the recovery disc 16. A second connecting rope 25 is wound around the outer wall of the recovery disc 16. A connecting ring 15 is also fixedly connected to the outer wall of the recovery disc 16 by bolts. Two winding swing arms 9 are fixedly connected to the upper end of the connecting ring 15. Each winding swing arm 9 is fixedly connected to the adjacent measuring abutment arm 8 through an elastic rubber sheet 10. The elastic coefficient of the elastic rubber sheet 10 is less than that of the first reset torsion spring 14. Two electric telescopic arms 11 are fixedly connected to the top of the inner wall of the first mounting barrel 4. A sliding collar 24 is fixedly connected between the output ends of the two electric telescopic arms 11. The free end of the second connecting rope 25 is fixedly connected to the upper end of the sliding collar 24, and the outer wall of the second connecting rope 25 slides through the interior of the second mounting barrel 6 and the first mounting barrel 4.

[0039] Two rotating arms 17 are rotatably connected between the two measuring and abutting arms 8 via a rotating shaft. Each rotating arm 17 is rotatably connected to a connecting block 18 at its turning point. The internal thread of the connecting block 18 is connected to a limiting thread rod 20. Two mating grooves 19 are opened at the upper end of the mating disc 7. Each mating groove 19 is located directly below the adjacent limiting thread rod 20.

[0040] Specifically, rotating the limiting threaded rod 20 causes it to rotate along the inner wall of the connecting block 18 and move downwards. When the bottom of the limiting threaded rod 20 is inserted into the mating groove 19, the two measuring abutment arms 8 are limited. The intelligent robotic arm 3 is then activated to adjust the positions of the first mounting bucket 4 and the second mounting bucket 6, positioning the fruit between the two measuring abutment arms 8. Then, the output ends of the two electric telescopic arms 11 are extended, causing the sliding collar 24 to move downwards. The sliding collar 24 pulls the second connecting rope 25, which in turn rotates the recovery disc 16. The rotation of the recovery disc 16 then rotates the connecting mating ring 15, which in turn rotates the connecting mating ring 15. As all the winding arms 9 move, since the two measuring and abutting arms 8 are already limited, the winding arms 9 will stretch the elastic rubber sheet 10 when they move. The outer wall of the elastic rubber sheet 10 will abut against the outer wall of the fruit, and the outer wall of the elastic rubber sheet 10 will also abut against the outer wall of the next winding arm 9. This will cause the elastic rubber sheet 10 to rotate and wrap around the outer walls of the two winding arms 9, so that the fruit is wrapped. Note that as long as the diameter of the fruit's cross-section is greater than the lateral thickness of the winding arms 9, because the elastic rubber sheet 10 is wrapped between the two measuring and abutting arms 8, the space between the wrapped elastic rubber sheets 10 is very small, which can wrap and fix smaller fruits and limit smaller fruits.

[0041] A fixed tube 12 is fixedly connected to the top of the inner wall of the first mounting barrel 4. A sliding collar 24 is sleeved on the outer wall of the fixed tube 12. A matching shrink tube 26 is fixedly connected to the bottom of the fixed tube 12. Each measuring abutment arm 8 is fixedly connected to the bottom of the inner wall of the matching shrink tube 26 through a first connecting rope 21. The outer wall of the first connecting rope 21 passes through the interior of the fixed tube 12, the matching disc 7, the first mounting barrel 4, and the second mounting barrel 6.

[0042] Please see Figure 2 , Figures 8-10As shown, the collection mechanism 201 includes a movable box 13, which is fixedly connected to the bottom of the fitting shrink tube 26 by bolts. A folded rubber sleeve 27 is also fixedly connected to the inner wall of the fitting shrink tube 26. A triangular abutment block 28 is fixedly connected to the end of the folded rubber sleeve 27 away from the fitting shrink tube 26. The outer wall of the triangular abutment block 28 passes through the interior of the movable box 13. An abutment arc plate 30 is also fixedly connected to the bottom of the fixed tube 12. The end of the triangular abutment block 28 away from the folded rubber sleeve 27 abuts against the outer wall of the abutment arc plate 30. The outer wall of the first mounting barrel 4 is also provided with a fitting opening 29, which is adapted to the triangular abutment block 28. Specifically, when the folded rubber sleeve 27 is fully extended and moves the triangular abutment block 28, and if the triangular abutment block 28 disengages from abutting against the outer wall of the abutment arc plate 30, in order to avoid the triangular abutment block 28 abutting against the inner wall of the first mounting barrel 4, the triangular abutment block 28 will pass through the interior of the fitting opening 29.

[0043] The collection box 5 has a second collection chamber 33 and a first collection chamber 32 inside. A rotating cover 40 is rotatably connected to the upper end of the collection box 5 via a pivot. A connecting box 35 is welded and fixed to the upper end of the rotating cover 40. The connecting box 35 has a third collection chamber 36 and a fourth collection chamber 37 inside. The third collection chamber 36 is connected to the second collection chamber 33, and the fourth collection chamber 37 is connected to the first collection chamber 32. A sliding plate 38 is slidably connected to the upper end of the connecting box 35, located above the fourth collection chamber 37. A collection funnel 39 is fixedly connected to the upper end of the sliding plate 38 for better fruit collection. The side of the connecting box 35... The end is fixedly connected to a mating cylinder 34 by bolts. The output end of the mating cylinder 34 is fixedly connected to the bottom of the sliding plate 38. At this time, the mating cylinder 34 is in an extended state. The mating cylinder 34 and the folded rubber sleeve 27 are fixedly connected by a second connecting pipe 31. The outer wall of the second connecting pipe 31 passes through the inside of the first mounting barrel 4. The second connecting pipe 31 is made of rubber, which has good toughness. Multiple fixing rings 41 are also fixedly connected inside the second connecting pipe 31. The fixing rings 41 can enhance the internal structure of the second connecting pipe 31 and prevent the second connecting pipe 31 from expanding due to excessive air pressure inside the second connecting pipe 31.

[0044] The working principle of this invention is:

[0045] When this invention is in use, the intelligent electric vehicle 1 moves automatically, identifies the fruit through the intelligent probe 2, and sends a command to the intelligent robotic arm 3. The intelligent robotic arm 3 adjusts the position of its output end so that the fruit is inside the second mounting bucket 6, between the two measuring and abutting arms 8. At this time, the two electric telescopic arms 11 are activated, which drive the sliding collar 24 to move downward. The sliding collar 24 pulls the second connecting rope 25, which drives the recovery disc 16 to rotate. When the recovery disc 16 rotates, it drives the connecting engagement ring 15 to rotate, and the connecting engagement ring 15 drives all the winding... As the fruit moves around the swing arm 9, the elastic rubber sheet 10 is stretched. The outer wall of the elastic rubber sheet 10 comes into contact with the outer wall of the fruit, and the outer wall of the elastic rubber sheet 10 also comes into contact with the outer wall of the next swing arm 9. This causes the elastic rubber sheet 10 to rotate and wrap around the outer walls of the two swing arms 9, thus wrapping the fruit. At the same time, as the two elastic rubber sheets 10 press against the outer walls of the swing arms 9 and tighten, the two measuring and abutting arms 8 move in opposite directions. The measuring and abutting arms 8 also clamp and fix the outer wall of the fruit, thus limiting and fixing the fruit.

[0046] When the elastic rubber sheet 10 cannot be pulled, it will overcome the elasticity of the first reset torsion spring 14. At this time, the cooperating disc 7 will rotate, and the cooperating disc 7 will drive the fruit to rotate. In this way, the fruit stalk connecting the fruit and the branch will be rotated and broken, so that the fruit stalk on the fruit will be separated from the branch, and the harvesting of the fruit can be completed.

[0047] As the two measuring abutment arms 8 move in opposite directions, each measuring abutment arm 8 releases the corresponding first connecting rope 21. At this time, the cooperating shrink tube 26 extends downward, which in turn drives the moving box 13 to move downward. When the triangular abutment block 28 disengages from the outer wall of the abutment curved plate 30, the folding rubber sleeve 27 extends, causing the triangular abutment block 28 to disengage from the outer wall of the abutment curved plate 30. The triangular abutment block 28 passes through the mating opening 29. When the folding rubber sleeve 27 extends, it also sucks into the mating cylinder 34 through the second connecting tube 31. The mating cylinder 34 drives the sliding plate 38 to move. When the sliding plate 38 moves to the upper end of the third collection chamber 36, it is only necessary to control the intelligent robotic arm 3 to move the second mounting bucket 6 to directly above the collection funnel 39. At this time, the electric telescopic arm 11 will drive the sliding collar 24 to return to its original position. When the sliding collar 24 releases the second connecting rope 25, the recovery disc 16 will rotate and reset under the action of the second reset torsion spring. The recovery disc 16 will recover the second connecting rope 25. The recovery disc 16 will drive the connecting engagement ring 15 and the winding swing arm 9 to reset and move. The winding swing arm 9 will release the elastic rubber sheet 10. When the elastic rubber sheet 10 disengages from the outer wall of the fruit, the fruit falls into the second collection chamber 33 through the collection funnel 39. At the same time, the first connecting rope 21 will drive the moving box 13 to reset. The moving box 13 will drive the triangular abutment block 28 to abut against the outer wall of the abutment curved plate 30. The triangular abutment block 28 will drive the folding rubber sleeve 27 to retract. The gas inside the folding rubber sleeve 27 will enter the engagement cylinder 34. The sliding plate 38 will reset under the action of the engagement cylinder 34, and the next harvesting of the fruit can be carried out.

[0048] Furthermore, when the two measuring abutment arms 8 move in opposite directions, they abut against the outer wall of the fruit. However, when the first connecting rope 21 is released, the moving box 13 moves downward a limited distance. When the triangular abutment block 28 does not disengage from the abutment of the outer wall of the abutment curved plate 30, it indicates that the fruit is large enough, the folded rubber sleeve 27 has not extended, and the sliding plate 38 remains above the fourth collection chamber 37, causing the fruit to fall into the collection funnel 39. Subsequently, the fruit falls into the first collection chamber 32 (see reference). Figure 11 ).

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic fruit-harvesting device for trees, comprising an intelligent electric vehicle (1), characterized in that, The intelligent electric vehicle (1) is fixedly equipped with an intelligent probe (2) for intelligent fruit identification. The intelligent electric vehicle (1) is fixedly equipped with an intelligent robotic arm (3). The output end of the intelligent robotic arm (3) is fixedly connected to a first mounting bucket (4). The intelligent probe (2) can automatically identify the fruit and send instructions to the intelligent robotic arm (3). The intelligent robotic arm (3) will control the output end to move according to the instructions. The first mounting bucket (4) is fixedly equipped with a picking mechanism (101). The outer wall of the intelligent electric vehicle (1) is also fixedly connected to a collection box (5). A collection mechanism (201) is fixedly installed between the collection box (5) and the first installation bucket (4). The picking mechanism (101) can pick the fruit, and the picked fruit will be collected by the collection mechanism (201).

2. The automatic fruit-harvesting device for trees according to claim 1, characterized in that, The harvesting mechanism (101) includes a mating disc (7) with a reset function. The upper end of the first mounting barrel (4) is fixedly connected to a second mounting barrel (6). The mating disc (7) is rotatably connected to the inner wall of the second mounting barrel (6).

3. The automatic fruit-harvesting device for trees according to claim 2, characterized in that, The inner side of the mating disc (7) is also slidably connected to two measuring abutment arms (8) with reset function. The bottom of the inner wall of the first mounting barrel (4) is rotatably connected to a recycling disc (16) with reset function. The outer wall of the recycling disc (16) is wound with a second connecting rope (25).

4. The automatic fruit-harvesting device for trees according to claim 3, characterized in that, The outer wall of the recycling disc (16) is fixedly connected to a connecting ring (15), and the upper end of the connecting ring (15) is fixedly connected to two winding swing arms (9). Each winding swing arm (9) is fixedly connected to the adjacent measuring abutment arm 8 through an elastic rubber sheet (10).

5. An automatic fruit-harvesting device for trees according to claim 4, characterized in that, Two electric telescopic arms (11) are fixedly connected to the top of the inner wall of the first installation bucket (4). A sliding collar (24) is fixedly connected between the output ends of the two electric telescopic arms (11). The free end of the second connecting rope (25) is fixedly connected to the upper end of the sliding collar (24).

6. An automatic fruit-harvesting device for trees according to claim 3, characterized in that, The inner wall of the first installation bucket (4) is fixedly connected to a fixing pipe (12), and the bottom of the fixing pipe (12) is also fixedly connected to an abutting curved plate (30). The bottom of the fixing pipe (12) is fixedly connected to a cooperating shrinking pipe (26). Each measuring abutting arm (8) is fixedly connected to the bottom end of the inner wall of the cooperating shrinking pipe (26) through a first connecting rope (21).

7. An automatic fruit-harvesting device for trees according to claim 1, characterized in that, The collecting mechanism (201) includes a movable box (13), which is fixedly connected to the bottom of the cooperating shrink tube (26). The inner wall of the cooperating shrink tube (26) is also fixedly connected to a folded rubber sleeve (27), and a triangular abutment block (28) is fixedly connected to one end of the folded rubber sleeve (27) away from the cooperating shrink tube (26).

8. An automatic fruit-harvesting device for trees according to claim 7, characterized in that, The end of the triangular abutment block (28) away from the folded rubber sleeve (27) abuts against the outer wall of the abutment curved plate (30), and the outer wall of the first mounting bucket (4) is also provided with a matching opening (29). The inside of the collection box (5) is provided with a second collection chamber (33) and a first collection chamber (32).

9. An automatic fruit-harvesting device for trees according to claim 8, characterized in that, The upper end of the collection box (5) is rotatably connected to a rotating cover (40), and a connecting box (35) is welded and fixed to the upper end of the rotating cover (40). The connecting box (35) has a third collection chamber (36) and a fourth collection chamber (37) inside. The third collection chamber (36) is connected to the second collection chamber (33), and the fourth collection chamber (37) is connected to the first collection chamber (32).

10. An automatic fruit-harvesting device for trees according to claim 9, characterized in that, The upper end of the connecting box (35) is slidably connected to a sliding plate (38), and the side end of the connecting box (35) is fixedly connected to a mating cylinder (34). The output end of the mating cylinder (34) is fixedly connected to the bottom of the sliding plate (38), and the mating cylinder (34) is fixedly connected to the folding rubber sleeve (27).

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