Full-automatic persimmon peeling machine

Abstract

The invention discloses a full-automatic persimmon peeling machine, relates to the technical field of equipment, and realizes automation of the whole process of persimmon transportation, fixation, peeling and collection through mechanical cooperation. The transmission belt conveys the persimmons to the tightening arm, and the overturning motor drives the tightening arm to transfer the persimmons to the objective table fixing structure; the pushing motor is linked with the lifting motor, the fixed lower rod is lifted through the general assembly table to penetrate into the bottoms of persimmons, the telescopic structure drives the fixed upper rod to press the tops, and stable clamping is formed; the rotating motor drives the persimmons to rotate through the belt pulley, the peeling knife driving motor controls the peeling knife to rotate from top to bottom, and the attaching module adjusts the attaching pressure in real time to ensure uniform peeling; after peeling, the upper fixing rod rebounds, the lower fixing rod retracts, and the persimmons roll into the collecting structure through the slope; all the components are fixed through bolts and cooperatively controlled through a PID system, the persimmon processing device is suitable for persimmons of different specifications, efficiency and quality consistency are remarkably improved, manual intervention risks are reduced, and the persimmon processing device is suitable for large-scale persimmon processing scenes.

Description

Technical Field

[0001] This invention relates to the field of equipment and machinery technology, specifically to a fully automatic persimmon peeling machine. Background Technology

[0002] In the traditional persimmon processing industry, manual peeling has long suffered from pain points such as low efficiency, high labor intensity, poor safety, and uneven quality: manual operation relies on experience, making it difficult to ensure consistent peeling thickness and easily damaging the fruit flesh; the direct contact of knives with human hands poses a risk of accidental injury, and prolonged operation can easily lead to occupational injuries; at the same time, persimmons vary greatly in size, and manual fixing methods are difficult to adapt to fruits of different sizes, resulting in limited processing adaptability and restricting the efficiency of large-scale production and the level of product standardization.

[0003] This invention addresses the aforementioned industry pain points by implementing a closed-loop process through automated mechanical design: an adjustable fixing structure adapts to persimmons of various sizes, a telescopic-lifting linkage mechanism ensures stable clamping, a cylinder controls the peeling blade to dynamically adhere to the surface, and a rotary motor achieves uniform peeling; a sloping collection structure reduces fruit drop damage, and a bolt-fixed design facilitates maintenance and upgrades. This invention not only significantly improves peeling efficiency and quality consistency while reducing the risk of manual intervention, but also enhances equipment adaptability through modular design. It provides an efficient and safe technical solution for the large-scale, standardized production of persimmons, possessing significant economic value and industry-wide application potential. Summary of the Invention

[0004] The main objective of this invention is to provide a fully automatic persimmon peeling machine, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: On one hand, the present invention provides a fully automatic persimmon peeling machine, including a housing, a transmission belt, and a support base. The transmission belt is provided on the side of the housing, and the support base is provided at the lower end of the transmission belt. A platform is provided at the front end of the upper end of the housing. A peeling knife drive motor is provided on the side of the platform. The transmission shaft of the peeling knife drive motor is connected to a close-fitting module. A telescopic structure is provided next to the peeling knife drive motor. A telescopic rod and a return rod are provided at the upper end of the telescopic structure. The telescopic rod and the return rod are connected to a fixed upper rod through a connecting rod. A ramp is provided at the front end of the platform. A fixed lower rod extends from the middle of the ramp. A fixed structure is provided at the upper end of the platform. A pushing mechanism is provided at the rear end of the platform. A flipping motor is provided next to the pushing mechanism. The transmission shaft of the flipping motor is connected to the rear end of a clamping control structure. A clamping arm is provided at the front end of the clamping control structure. The lower end of the fixed lower rod extends into the housing and connects to the assembly platform. A transmission belt pulley is provided at the front end of the assembly platform. The lower end of the assembly platform is connected to a connecting rod. The lower end of the connecting rod is connected to a lifting connecting rod. The lifting connecting rod is connected to a lifting motor. The lifting motor is fixed in the housing by a connecting fixing column. The connecting fixing column passes through the housing. The rear end of the pushing mechanism is connected to a pushing link, and the pushing link is connected to a pushing motor.

[0006] Preferably, the length of the connecting fixing column is adjustable according to the usage position, and the push motor is fixed to the housing by bolts.

[0007] Preferably, a cylinder valve is provided at the front end of the proximity module, and the proximity module is connected to the peeler through the cylinder. The peeler is brought closer to or away from the persimmon under the control of the cylinder.

[0008] Preferably, the top of the fixed lower rod is provided with a spike-like structure, the positions of the cylinders on both sides of the fixed structure can be adjusted according to the persimmon specifications, and the outer layer of the telescopic rod is provided with a spring.

[0009] Preferably, the clamping control structure is equipped with a cylinder, and the clamping arm clamps or loosens the persimmon under the control of the cylinder. The flipping motor controls the clamping control structure and the clamping arm to flip from the transmission belt end to the fixed structure. The lower end of the fixed structure is provided with a groove, and the groove of the fixed structure can accommodate the fixed lower rod.

[0010] Preferably, the lower transmission structure of the rotary motor is connected to a transmission belt pulley, the fixed lower rod is connected to the front end of the transmission belt pulley, the transmission belt pulleys are driven by a belt, and the rotary motor drives the fixed lower rod to rotate through the transmission belt pulley.

[0011] Preferably, the lower end of the fixed structure is slightly higher than the slope.

[0012] Preferably, the various mechanical structures at the upper end or inside the housing are fixedly connected by bolts, and the motors or cylinders at the upper end or inside the housing are connected to an external PID system for control.

[0013] On the other hand, the present invention provides the working process of a persimmon peeling machine, specifically including the following steps: S1: The persimmon is transported on the transmission belt to the clamping arm and then stops; the clamping control structure starts the clamping arm to clamp the persimmon. S2: The flipping motor starts, carrying the clamping control structure and clamping arm to flip to the other side and fall into the fixed structure. Then the clamping control structure controls the clamping arm to release the persimmon. The flipping motor starts, carrying the clamping control structure and clamping arm to flip back to the other side to clamp the next persimmon. S3: When the clamping arm flips back, the push motor starts, and pushes out the platform and the upper fixed structure through the push linkage and push mechanism. When pushed to the designated position, the lifting motor starts, and the lifting motor raises the assembly platform through the lifting linkage and linkage. The assembly platform pushes out with the fixed lower rod. At the same time, the telescopic structure starts and applies a downward force. The telescopic rod moves downward with the fixed upper rod. Finally, the fixed upper rod and fixed lower rod fix the persimmon. The platform retracts to carry the next persimmon. S4: After step S is completed, the peeler is at the bottom of the persimmon, the proximity module is activated, and the proximity module controls the peeler to stick to the persimmon; S5: When the peeler sticks to the persimmon, the rotary motor starts. The rotary motor drives the pusher and the persimmon to rotate through the transmission belt pulley. At the same time, the peeler drive motor starts, rotating the peeler and the contact module from top to bottom. During this process, the contact module keeps the peeler in close contact with the persimmon. S6: After the peeler finishes peeling, the telescopic structure stops applying downward force, the rebound rod retracts with the fixed upper rod, and the lifting motor retracts with the fixed lower rod below the slope. The persimmon then detaches from the fixed lower rod with the help of the slope and rolls into the lower collection structure.

[0014] Compared with the prior art, the present invention has the following beneficial effects. This fully automatic persimmon peeling machine achieves full-process automation through the collaboration of multiple components, significantly improving production efficiency and operational safety: a transmission belt transports the persimmons, a clamping arm grips and flips them, a pushing mechanism works in conjunction with a lifting motor for fixation, a rotary motor drives the peeling blade to rotate, and a drive motor controls the lifting and lowering of the peeling blade, forming a continuous closed loop of persimmon positioning-fixing-peeling-collection. The adjustable fixing structure adapts to persimmons of different sizes, and the extension-lifting linkage of the upper and lower fixing rods ensures stable clamping of the persimmons. The peeling blade, under cylinder control, always remains close to the persimmon surface, achieving uniform peeling in conjunction with the rotary motor. The inclined collection structure reduces persimmon damage, and the bolt-fixed components facilitate maintenance. The entire process requires no manual intervention, reducing labor intensity and improving peeling quality and consistency. It is suitable for large-scale persimmon processing scenarios and has significant advantages in terms of high efficiency, safety, and adaptability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall internal structure of the present invention; Figure 2 This is a schematic diagram of the upper end face structure of the box body of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the upper end face structure of the box body of the present invention. Figure 2 ; Figure 4 This is a side view cross-sectional structural diagram of the present invention; Figure 5 This is a magnified schematic diagram of a partial structure in the side view cross-section of the present invention. Figure 1 ; Figure 6 This is a schematic diagram of the stage pushing structure of the present invention; Figure 7 This is a magnified schematic diagram of a partial structure in the side view cross-section of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the internal structure of the housing of the present invention; Figure 9 This is an enlarged schematic diagram of the assembly platform lifting structure of the present invention; Figure 10 This is a close-up diagram of the module's internal structure in this invention; In the diagram: 1. Box body; 2. Transmission belt; 3. Support base; 4. Connecting rod; 5. Telescopic structure; 6. Peeler; 7. Proximity module; 8. Fixed upper rod; 9. Fixed lower rod; 10. Clamping control structure; 11. Clamping arm; 12. Tilting motor; 13. Platform; 14. Fixed structure; 15. Rebound rod; 16. Lifting motor; 17. Assembly table; 18. Push motor; 19. Pushing linkage; 20. Pushing mechanism; 21. Connecting fixed column; 22. Rotary motor; 23. Transmission belt pulley; 24. Lifting linkage; 25. Belt; 26. Linkage rod; 27. Peeler drive motor; 28. Telescopic rod. Detailed Implementation

[0016] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0017] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Example Please see Figure 1-10 The present invention provides a technical solution: This invention provides a fully automatic persimmon peeling machine, comprising a housing 1, a transmission belt 2, and a support base 3. The transmission belt 2 is arranged on the side of the housing 1, and the support base 3 is arranged at the lower end of the transmission belt 2. A platform 13 is arranged at the front end of the upper end of the housing 1. A peeling knife drive motor 27 is arranged on the side of the platform 13. The transmission shaft of the peeling knife drive motor 27 is connected to a proximity module 7. A telescopic structure 5 is arranged next to the peeling knife drive motor 27. A telescopic rod 28 and a return rod 15 are arranged at the upper end of the telescopic structure 5. The telescopic rod 28 and the return rod 15 are connected to a fixed upper rod 8 by a connecting rod 4. A ramp is arranged at the front end of the platform 13, and a fixed lower rod 9 extends out from the middle of the ramp. A fixed structure 14 is arranged at the upper end of the platform 13. A pushing mechanism 20 is arranged at the rear end of the platform 13. A flipping motor 12 is arranged next to the pushing mechanism 20. The transmission shaft of the flipping motor 12 is connected to the rear end of a clamping control structure 10. A clamping arm 11 is arranged at the front end of the clamping control structure 10. The lower end of the fixed lower rod 9 extends into the housing and connects to the assembly platform 17. The front end of the assembly platform 17 is provided with a transmission belt pulley 23. The lower end of the assembly platform 17 is connected to the connecting rod 26. The lower end of the connecting rod 26 is connected to the lifting connecting rod 24. The lifting connecting rod 24 is connected to the lifting motor 16. The lifting motor 16 is fixed in the housing 1 by the connecting fixing column 21. The connecting fixing column 21 passes through the assembly platform 17. The rear end of the push mechanism 20 is connected to the push link 19, and the push link 19 is connected to the push motor 18.

[0020] In this embodiment, the length of the connecting fixing column 21 is adjusted according to the usage position, and the push motor 18 is fixed inside the box 1 by bolts.

[0021] In this embodiment, a cylinder valve is provided at the front end of the proximity module 7, and the proximity module 7 is connected to the peeler 6 through a cylinder. The peeler 6 is brought closer to or away from the persimmon under the control of the cylinder.

[0022] In this embodiment, the top of the fixed lower rod 9 is provided with a spike-like structure, the position of the cylinders on both sides of the fixed structure 14 can be adjusted according to the persimmon specifications, and the outer layer of the telescopic rod 28 is provided with a spring.

[0023] In this embodiment, a cylinder is provided inside the clamping control structure 10. The clamping arm 11 clamps or loosens the persimmon under the control of the cylinder. The flipping motor 12 controls the clamping control structure 10 and the clamping arm 11 to flip from the end of the transmission belt 2 onto the fixing structure 14. The lower end of the fixing structure 14 is provided with a groove, and the groove of the fixing structure 14 can accommodate the fixing rod 9.

[0024] In this embodiment, the lower transmission structure of the rotary motor 22 is connected to the transmission belt pulley 23, the fixed lower rod 9 is connected to the front end of the transmission belt pulley 23, the transmission belt pulleys 23 are driven by a belt 25, and the rotary motor 22 rotates the fixed lower rod 9 through the transmission belt pulley 23.

[0025] In this embodiment, the lower end of the fixing structure 14 is slightly higher than the slope.

[0026] In this embodiment, the mechanical structures at the upper end or inside of the housing 1 are fixedly connected by bolts, and the motors or cylinders at the upper end or inside of the housing 1 are connected to an external PID system for control.

[0027] The specific implementation process of this invention is as follows: The specific implementation process of this invention achieves automated persimmon peeling through precision mechanical coordination. The functions of each component and the coordination logic are as follows: The housing 1 serves as the main frame, supporting the transmission belt 2, the support base 3, and the internal mechanisms; the transmission belt 2 and the support base 3 together form a transportation system that precisely transports the persimmons to the clamping arm 11.

[0028] The ramp design at the front of the platform 13, combined with the groove of the fixing structure 14, provides stable support for the persimmons after they are transferred. The cylindrical sections on both sides of the fixing structure 14 are adjustable to accommodate persimmons of different sizes, and the lower end is slightly higher than the ramp to avoid interference.

[0029] The telescopic structure 5 includes a telescopic rod 28 and a rebound rod 15. The upper rod 8 is fixed by the connecting rod 4. The outer spring of the telescopic rod 28 provides the rebound force. The rebound rod 15 and the telescopic rod 28 work together to realize the lifting control of the fixed upper rod 8, and together with the spike-like structure at the top of the fixed lower rod 9, they form a stable clamp for the persimmon.

[0030] The flipping motor 12 drives the clamping control structure 10 and the clamping arm 11 to complete the flipping transfer of the persimmon from the transmission belt 2 to the fixed structure 14; the cylinder inside the clamping control structure 10 controls the clamping / releasing action of the clamping arm 11 to ensure the stability of the transfer process.

[0031] The pushing mechanism 20 is driven by the pushing motor 18 through the pushing link 19 to realize the horizontal pushing and retraction of the platform 13; the lifting motor 16 drives the fixed lower rod 9 to rise and fall vertically through the lifting link 24 and the link 26 in conjunction with the assembly platform 17, forming an upper and lower clamping force with the fixed upper rod 8 of the telescopic structure 5.

[0032] The rotary motor 22 drives the fixed lower rod 9 to rotate via the transmission belt pulley 23 and belt 25, causing the persimmon to rotate. The peeling knife drive motor 27 drives the contact module 7 and the peeling knife 6 to rotate from top to bottom. The cylinder inside the contact module 7 adjusts the contact degree between the peeling knife 6 and the persimmon in real time to ensure uniform peeling.

[0033] The adjustable length of the connecting fixed column 21 can be adapted to different work positions. Each motor / cylinder is controlled in coordination through an external PID system to ensure accurate timing of actions.

[0034] Collaborative operation logic Loading and Transfer: The transmission belt 2 transports the persimmons into the clamping arm 11. The clamping control structure 10 starts the clamping arm 11 to clamp the persimmons. The flipping motor 12 drives the clamping control structure 10 and the clamping arm 11 to flip over to the top of the fixed structure 14. After releasing the persimmons, it flips back to its original position to clamp the next persimmon.

[0035] Positioning and Fixing: Push motor 18 drives push mechanism 20 through push link 19 to push platform 13 to designated position; lifting motor 16 lifts assembly platform 17 through lifting link 24 and link 26, fixing lower rod 9 to push out and insert into bottom of persimmon; at the same time, telescopic structure 5 drives telescopic rod 28 to press down, and through connecting rod 4 drives fixing upper rod 8 to press the top of persimmon, forming a stable clamp; platform 13 then retracts to support the next persimmon.

[0036] Peeling process: The proximity module 7 controls the peeling knife 6 to press against the bottom of the persimmon; the rotary motor 22 drives the fixed lower rod 9 and the persimmon to rotate through the transmission belt pulley 23 and belt 25; the peeling knife drive motor 27 synchronously drives the peeling knife 6 and the proximity module 7 to rotate from top to bottom, and the proximity module 7 dynamically adjusts the contact pressure between the peeling knife 6 and the persimmon to ensure uniform peeling throughout the process.

[0037] Unloading and Resetting: After peeling, the telescopic structure 5 stops applying force, and the rebound rod 15 drives the fixed upper rod 8 to retract; the lifting motor 16 drives the fixed lower rod 9 to retract below the slope, and the persimmon rolls into the collection structure with the help of gravity of the slope; all mechanisms reset and enter the next cycle.

[0038] This implementation process, through the precise coordination of mechanical structure and control system, automates the entire process of persimmon transportation, fixing, peeling to collection, significantly improving efficiency and quality consistency, reducing the risk of human intervention, and adapting to the needs of large-scale production.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic persimmon peeling machine, comprising a housing (1), a transmission belt (2), and a support base (3), characterized in that: A transmission belt (2) is provided on the side of the box (1), and a support base (3) is provided at the lower end of the transmission belt (2). A platform (13) is provided at the front end of the upper end of the box (1). A peeler drive motor (27) is provided on the side of the platform (13). The drive shaft of the peeler drive motor (27) is connected to the close-fitting module (7). A telescopic structure (5) is provided next to the peeler drive motor (27). A telescopic rod (28) and a return rod (15) are provided at the upper end of the telescopic structure (5). The telescopic rod (28) and the return rod (15) are connected to the close-fitting module (7). The spring rod (15) is connected to the fixed upper rod (8) via the connecting rod (4). The front end of the platform (13) is provided with a ramp, and the fixed lower rod (9) extends out from the middle of the ramp. The upper end of the platform (13) is provided with a fixed structure (14). The rear end of the platform (13) is provided with a pushing mechanism (20). The pushing mechanism (20) is provided next to the flipping motor (12). The drive shaft of the flipping motor (12) is connected to the rear end of the clamping control structure (10). The front end of the clamping control structure (10) is provided with a clamping arm (11). The lower end of the fixed lower rod (9) extends into the housing and connects to the assembly platform (17). The front end of the assembly platform (17) is provided with a transmission belt pulley (23). The lower end of the assembly platform (17) is connected to a connecting rod (26). The lower end of the connecting rod (26) is connected to a lifting connecting rod (24). The lifting connecting rod (24) is connected to a lifting motor (16). The lifting motor (16) is fixed in the housing (1) by a connecting fixing column (21). The connecting fixing column (21) passes through the assembly platform (17). The push mechanism (20) is connected to a push link (19) at its rear end, and the push link (19) is connected to a push motor (18).

2. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The length of the connecting fixing column (21) is adjusted according to the usage position, and the push motor (18) is fixed inside the box (1) by bolts.

3. The fully automatic persimmon peeling machine according to claim 1, characterized in that; The probing module (7) is equipped with a cylinder valve at its front end. The probing module (7) is connected to the peeler (6) via a cylinder. The peeler (6) is brought closer to or moved away from the persimmon under the control of the cylinder.

4. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The top of the fixed lower rod (9) is provided with a spike-like structure, the position of the cylinders on both sides of the fixed structure (14) can be adjusted according to the persimmon specifications, and the outer layer of the telescopic rod (28) is provided with a spring.

5. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The clamping control structure (10) is equipped with a cylinder. The clamping arm (11) clamps or loosens the persimmon under the control of the cylinder. The flipping motor (12) controls the clamping control structure (10) and the clamping arm (11) to flip from the end of the transmission belt (2) onto the fixed structure (14). The lower end of the fixed structure (14) is provided with a groove. The groove of the fixed structure (14) can accommodate the fixed lower rod (9).

6. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The lower transmission structure of the rotary motor (22) is connected to the transmission belt pulley (23), and the fixed lower rod (9) is connected to the front end of the transmission belt pulley (23). The transmission belt pulleys (23) are driven by a belt (25), and the rotary motor (22) rotates with the fixed lower rod (9) through the transmission belt pulley (23).

7. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The lower end of the fixed structure (14) is slightly higher than the slope.

8. The fully automatic persimmon peeling machine according to claim 1, characterized in that: The mechanical structures at the top or inside of the housing (1) are fixedly connected by bolts, and the motors or cylinders at the top or inside of the housing (1) are connected to an external PID system for control.

9. The working process of the persimmon peeling machine according to any one of claims 1-8, characterized in that: Specifically, the following steps are included: S1: The persimmon is transported on the transmission belt (2) to the clamping arm (11) and then stopped. The clamping control structure (10) starts the clamping arm (11) to clamp the persimmon. S2: The flipping motor (12) starts, carrying the clamping control structure (10) and clamping arm (11) to flip to the other side and fall into the fixed structure (14). Then the clamping control structure (10) controls the clamping arm (11) to release the persimmon. The flipping motor (12) starts, carrying the clamping control structure (10) and clamping arm (11) to flip back to the other side to pick up the next persimmon. S3: When the clamping arm (11) flips back, the push motor (18) starts, and pushes out the platform (13) and the upper fixed structure (14) through the push link (19) and the push mechanism (20). When pushed to the designated position, the lifting motor (16) starts, and the lifting motor (16) lifts the assembly platform (17) through the lifting link (24) and the link (16). The assembly platform (17) pushes out with the fixed lower rod (9). At the same time, the telescopic structure (5) starts to apply downward force. The telescopic rod (28) moves downward with the fixed upper rod (8). Finally, the fixed upper rod (8) and the fixed lower rod (9) fix the persimmon. The platform (13) retracts to carry the next persimmon. S4: After completing step S3, the peeler (6) is at the bottom of the persimmon, the proximity module (7) is activated, and the proximity module (7) controls the peeler (6) to stick to the persimmon; S5: When the peeler (6) is attached to the persimmon, the rotary motor (22) is started. The rotary motor (22) drives the pusher (19) and the persimmon to rotate through the transmission belt pulley (23). At the same time, the peeler drive motor (27) is started, rotating the peeler (6) and the contact module (7) from top to bottom. During this process, the contact module (7) keeps the peeler (6) in close contact with the persimmon. S6: After the peeler (6) finishes peeling, the telescopic structure (5) stops applying downward force, the rebound rod retracts with the fixed upper rod (8), and the lifting motor (16) retracts with the fixed lower rod (9) below the slope. The persimmon is released from the fixed lower rod (9) by the slope and then rolls into the lower collection structure.

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