Automatic palm fruit picking device

Abstract

This invention discloses an automatic palm fruit harvesting device, including a support base, a hopper support seat and a lifting mechanism on the support base, a detachable collection box on the hopper support seat, and a telescopic lifting arm on the output end of the lifting mechanism. The lifting mechanism drives the lifting arm to rotate and swing. A fruit drop channel is provided on the lifting arm, with its lower end directly above the collection box. A harvesting component is located at the end of the lifting arm furthest from the lifting mechanism. The harvesting component includes a harvesting fixing seat, a fruit receiving frame connected to the fruit drop channel, a harvesting mounting seat on the fruit receiving frame, and a harvesting mechanism and a straightening mechanism on the harvesting mounting seat. The straightening mechanism clamps and straightens the palm fruit stem, and the harvesting mechanism cuts off the palm fruit stem. This invention, through the coordinated work of various mechanisms, achieves full automation of the palm fruit harvesting and collection process, improving operational efficiency and reducing labor intensity and labor costs.

Description

Technical Field

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

[0002] Palm fruit is an important raw material for oil crops, and its harvesting is a crucial step in the production process. Currently, palm fruit harvesting mainly relies on manual labor. In practice, workers typically use long-handled knives to manually cut down palm fruits growing high up, allowing the fruits to fall directly to the ground. This traditional harvesting method has the following significant problems: manual harvesting is slow, workers spend long hours looking up, resulting in high physical exertion; moreover, the fruits need to be collected and transported again after falling to the ground, consuming a large amount of manpower and time. Summary of the Invention

[0003] To address some or all of the problems existing in the prior art, the present invention provides an automatic palm fruit harvesting device, including a support base, a movable component at the lower end of the support base, a hopper support seat and a lifting mechanism on the support base, a detachable collection box on the hopper support seat, a telescopic lifting arm on the output end of the lifting mechanism, the lifting mechanism driving the lifting arm to rotate and swing, a fruit drop channel on the lifting arm, the lower end of the fruit drop channel being directly above the collection box, and a harvesting component at the end of the lifting arm away from the lifting mechanism; the harvesting component includes a harvesting fixing seat connected to the lifting arm, a fruit receiving frame on the harvesting fixing seat communicating with the fruit drop channel, a harvesting mounting seat on the fruit receiving frame, and a harvesting mechanism and a straightening mechanism on the harvesting mounting seat; the straightening mechanism is used to clamp and straighten the palm fruit stem, and the harvesting mechanism is used to cut the palm fruit stem.

[0004] As a further improvement of the present invention, the lifting mechanism includes a lifting fixed base and a lifting swing arm. The lifting fixed base is connected to the support base. The two ends of the lifting swing arm are respectively hinged to the lifting fixed base and the lifting arm. A first lifting hydraulic cylinder is hinged to the lifting fixed base. The output end of the first lifting hydraulic cylinder is hinged to the lifting swing arm. A second lifting hydraulic cylinder is hinged to the lifting swing arm. The output end of the second lifting hydraulic cylinder is hinged to the lifting arm.

[0005] As a further improvement of the present invention, the hopper support is provided with a hopper loading and unloading mechanism. The hopper loading and unloading mechanism is used to send out the full-load collection box on the hopper support and to install the empty collection box on the hopper support. The hopper loading and unloading mechanism includes a hopper lifting cylinder, which is connected to the hopper support. The output end of the hopper lifting cylinder is provided with a hopper loading and unloading cylinder, and the output end of the hopper loading and unloading cylinder is provided with a hopper pulling block. The hopper pulling block is provided with a hopper slot, and the bottom end of the collection box is provided with a loading and unloading block. The hopper lifting cylinder can drive the hopper loading and unloading cylinder to move up and down, thereby causing the hopper slot to engage or disengage with the loading and unloading block. The hopper loading and unloading cylinder is used to drive the collection box to slide on the hopper support.

[0006] As a further improvement of the present invention, the lower end of the collection box is provided with a limiting block, the hopper support is provided with a slide rail, the limiting block is slidably engaged with the slide rail, the lower end of the collection box is provided with a hopper limiting block, the hopper support is provided with a blocking block, and the hopper limiting block can abut against the blocking block.

[0007] As a further improvement of the present invention, the straightening mechanism includes a straightening robotic arm connected to a harvesting mounting base, and a clamping mechanism at the end of the straightening robotic arm; the clamping mechanism includes a straightening fixing base connected to the end of the straightening robotic arm, a straightening motor mounted on the straightening fixing base, a straightening gear at the output end of the straightening motor, and two straightening racks slidably mounted on the straightening fixing base, one of which meshes with the upper end of the straightening gear, and the other meshes with the lower end of the straightening gear, with straightening blocks mounted on each of the straightening racks.

[0008] As a further improvement of the present invention, there are two fruit-receiving frames, and the two fruit-receiving frames are symmetrically distributed along the center line of the picking fixing seat. The fruit-receiving frames are slidably connected to the picking fixing seat. The picking fixing seat is provided with a closing mechanism at the position of the fruit-receiving frame, and the output end of the closing mechanism is connected to the corresponding fruit-receiving frame. The closing mechanism is used to drive the fruit-receiving frame to slide on the picking fixing seat.

[0009] As a further improvement of the present invention, one end of the picking fixing seat is provided with a fruit outlet, the fruit outlet is located directly above the fruit drop channel, the fruit receiving frame is provided with a fruit receiving cavity, the fruit receiving cavity can be connected to the fruit outlet, and the upper end of the fruit receiving frame is provided with a fruit drop opening.

[0010] As a further improvement of the present invention, the fruit receiving frame is provided with an arc-shaped guide groove, which is located around the fruit dropping opening. The picking mounting base is slidably engaged with the arc-shaped guide groove, and the picking mounting base is provided with a picking drive mechanism. The picking drive mechanism includes a picking drive motor, which is connected to the picking mounting base. The output end of the picking drive motor is provided with a picking drive gear, and the fruit receiving frame is provided with an arc-shaped rack. The picking drive gear meshes with the arc-shaped rack.

[0011] As a further improvement of the present invention, the fruit receiving frame is provided with a closing door assembly, which is used to open or block the passage between the fruit receiving cavity and the fruit outlet; the closing door assembly includes a closing door and an opening and closing door motor, the opening and closing door motor is connected to the fruit receiving frame, the closing door is rotatably connected to the fruit receiving frame, and the output end of the opening and closing door motor is connected to the closing door to drive the closing door to rotate and swing on the fruit receiving frame.

[0012] As a further improvement of the present invention, the fruit-grafting frame is provided with a trunk clearance space, and a plurality of trunk clamping mechanisms are evenly distributed along the circumference of the trunk clearance space on the fruit-grafting frame; the trunk clamping mechanism includes a trunk clamping cylinder and a trunk clamping block, the trunk clamping block is hinged to the fruit-grafting frame, the output end of the trunk clamping cylinder is hinged to the trunk clamping block, and the trunk clamping cylinder can drive the trunk clamping block to rotate and swing along the fruit-grafting frame.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention automates the entire process of palm fruit harvesting and collection through the coordinated operation of a moving component, a lifting mechanism, a telescopic boom, a harvesting component, a fruit drop channel, and a collection box. The moving component allows the equipment to flexibly reach the work position, while the combination of the lifting mechanism and the telescopic boom ensures safety and accessibility for high-altitude operations. The straightening mechanism accurately positions and stabilizes the fruit stalks, providing ideal cutting conditions for the harvesting mechanism and avoiding the fatigue and danger of manual overhead work. More importantly, the harvested fruit slides directly into the collection box through the receiving frame and fruit drop channel, eliminating the need for secondary picking and handling, greatly improving work efficiency and reducing labor intensity and costs. Attached Figure Description

[0014] To more clearly illustrate the solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0015] Figure 1This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the supporting base in an embodiment of the present invention; Figure 3 This is a schematic diagram of the hopper loading and unloading mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the collection box in an embodiment of the present invention; Figure 5 This is a schematic diagram of the harvesting component in an embodiment of the present invention; Figure 6 This is a schematic diagram of the harvesting component from another perspective in an embodiment of the present invention; Figure 7 This is a schematic diagram of the fruit-receiving frame in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the picking mounting base in an embodiment of the present invention; Figure 9 This is a schematic diagram of the clamping mechanism in an embodiment of the present invention. Detailed Implementation

[0016] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order.

[0017] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0019] like Figure 1-9As shown, an automatic palm fruit harvesting device includes a support base 100. The lower end of the support base 100 is equipped with a moving component, which can be a wheeled or tracked structure, used to drive the entire device to move flexibly across the orchard ground, adapting to different working terrains and fruit tree locations. In this embodiment, the moving component includes four moving wheels 200 with built-in hub motors installed at the lower end of the support base 100. Each moving wheel 200 can be independently controlled, providing not only strong driving force to cope with soft, muddy terrain in the orchard, but also flexible maneuvering actions such as turning on the spot, thus meeting the passage requirements of complex roads in palm plantations.

[0020] A hopper support 300 and a lifting mechanism 400 are fixedly mounted on the support base 100. A detachable collection box 500 is provided on the hopper support 300 for centralized storage of harvested palm fruits. A telescopic lifting arm 600 is connected to the output end of the lifting mechanism 400. The lifting arm 600 is composed of multiple sleeve sections and can be extended or shortened under power. The lifting arm 600 can adopt an existing telescopic sleeve structure, which will not be elaborated upon here. The lifting mechanism 400 is used to drive the entire lifting arm 600 to rotate and swing in a vertical plane, thereby lifting the entire lifting arm 600 to near the fruits or lowering it back to a horizontal position. A fruit drop channel 610 is provided along the length of the lifting arm 600. This fruit drop channel 610 is a channel or chute with a smooth inner wall, and its lower outlet is located directly above the collection box 500, ensuring that the fruits fall accurately into the box. The end of the lifting boom 600 furthest from the lifting mechanism 400, i.e. the farthest end, is equipped with a picking component 700 for performing the picking action.

[0021] The harvesting assembly 700 includes a harvesting fixing seat 710, which is fixedly installed at the end of the lifting arm 600. A fruit receiving frame 720 is provided on the harvesting fixing seat 710. The fruit receiving frame 720 is a hollow frame structure and is connected to the fruit drop channel 610. A harvesting mounting seat 730 is provided on the fruit receiving frame 720. The harvesting mounting seat 730 is equipped with a harvesting mechanism 740 and a straightening mechanism 750. The straightening mechanism 750 is used to clamp and straighten the palm fruit stem, and the harvesting mechanism 740 is used to cut the palm fruit stem.

[0022] During operation, the automatic harvesting equipment is first moved to a suitable harvesting position near the target palm tree using the moving wheels 200. Then, the lifting mechanism 400 is activated, driving the lifting arm 600 to tilt upwards. Based on the actual height of the palm fruit, the lifting arm 600 is extended, precisely delivering the harvesting component 700 to the side of the palm fruit to be harvested on the palm tree. Next, the straightening mechanism 750 in the harvesting component 700 activates, precisely clamping and straightening the fruit stem to stabilize it. Subsequently, the harvesting mechanism 740 is activated to cut the stem, causing the palm fruit to fall. The fallen palm fruit naturally falls into the fruit receiving frame 720 under gravity. Since the fruit receiving frame 720 is connected to the fruit drop channel 610 and the fruit drop channel 610 is set at an angle, the fruit falling into the fruit receiving frame 720 will roll down along the fruit drop channel 610 under its own gravity, and finally fall into the collection box 500 from the lower outlet of the fruit drop channel 610, completing a complete picking and collection cycle.

[0023] Specifically, such as Figure 2 As shown, the lifting mechanism 400 specifically includes a lifting base 410 and a lifting boom 420. The lifting base 410 is fixedly mounted on the support base 100, serving as the mounting foundation for the entire lifting mechanism 400. One end of the lifting boom 420 is hinged to the lifting base 410, and the other end is hinged to the root of the boom 600. A first lifting hydraulic cylinder 430 is hingedly mounted on the lifting base 410, and the output end of the first lifting hydraulic cylinder 430 is hinged to the middle of the lifting boom 420. A second lifting hydraulic cylinder 440 is also hingedly mounted on the lifting boom 420, and the output end of the second lifting hydraulic cylinder 440 is hinged to the middle of the boom 600. In this embodiment, there are two of each of the first and second lifting hydraulic cylinders 430; in other embodiments, the number of lifting hydraulic cylinders can be any other number.

[0024] During operation, the extension and retraction of the first lifting hydraulic cylinder 430 directly drives the lifting boom 420 to rotate around its hinge point with the lifting base 410, enabling a wide range of pitch angle adjustments for the lifting boom 600. The extension and retraction of the second lifting hydraulic cylinder 440 further drives the lifting boom 600 to rotate around its hinge point with the lifting boom 420. The two sets of lifting hydraulic cylinders work in tandem: the first lifting hydraulic cylinder 430 is responsible for raising or lowering the entire lifting structure, while the second lifting hydraulic cylinder 440 is responsible for precise angle adjustments of the lifting boom 600 relative to the lifting boom 420 and the distribution of lifting torque. This dual-hydraulic cylinder articulated linkage mechanism provides a greater lifting height and a more flexible adjustment range, while ensuring stable support of the lifting boom 600 in different postures, ensuring the safety and accuracy of high-altitude harvesting operations.

[0025] like Figure 2-3As shown, in order to facilitate the replacement of the collection box 500, a hopper loading and unloading mechanism is also provided on the hopper support 300. The hopper loading and unloading mechanism is used to automatically send out the collection box 500 that is already full on the hopper support 300, and can accurately install the empty collection box 500 onto the hopper support 300 to realize automatic replacement.

[0026] Specifically, the hopper loading and unloading mechanism includes a hopper lifting cylinder 310, which is vertically fixed on the hopper support 300. A horizontally arranged hopper loading and unloading cylinder 320 is connected to the output end of the hopper lifting cylinder 310. A hopper pulling block 330 is fixedly installed on the output end of the hopper loading and unloading cylinder 320, and a hopper slot 331 is provided on the hopper pulling block 330. Correspondingly, a loading and unloading block 501 is fixedly provided at the corresponding position at the bottom of the collection box 500. The hopper lifting cylinder 310 can drive the hopper loading and unloading cylinder 320 to lift and lower as a whole, thereby causing the hopper slot 331 on the hopper pulling block 330 to engage or disengage with the loading and unloading block 501 at the bottom of the collection box 500. The hopper loading and unloading cylinder 320 is used to horizontally pull or push the collection box 500 to slide on the hopper support 300 in the engaged state.

[0027] In operation, when the collection box 500 on the hopper support 300 is detected to be full of fruit, the hopper lifting cylinder 310 is activated, driving the hopper loading / unloading cylinder 320 to rise vertically until the hopper slot 331 on the hopper pulling block 330 accurately engages with the neck of the loading / unloading block 501, achieving a secure connection. Then, the hopper loading / unloading cylinder 320 extends, driving the hopper pulling block 330 to move outward. Because the hopper slot 331 engages with the loading / unloading block 501, the collection box 500 slides outward on the hopper support 300, sending the fully loaded collection box 500 out of the main body of the equipment. When an empty collection box 500 needs to be installed, first place the empty collection box 500 on one side of the hopper support 300, at the same height as the hopper support 300. The hopper loading / unloading cylinder 320 extends first, driving the hopper pulling block 330 to move below the loading / unloading block 501 of the empty collection box 500. Next, the hopper lifting cylinder 310 operates, pushing the hopper pulling block 330 upward, causing the hopper slot 331 to engage the loading and unloading block 501. Finally, the hopper loading and unloading cylinder 320 retracts, pulling the empty collection box 500 smoothly into the hopper support seat 300, completing the replacement. The hopper loading and unloading mechanism achieves automated loading and unloading of the collection box 500, significantly reducing downtime caused by manual handling and improving the equipment's continuous operation capability and overall efficiency.

[0028] like Figure 2 , Figure 4As shown, in order to limit the loading and unloading sliding direction of the collection box 500, multiple limiting blocks 502 are provided at the lower end of the collection box 500. Correspondingly, a matching slide rail 340 is provided on the hopper support 300, and the limiting blocks 502 are slidably engaged with the slide rail 340. When the hopper loading and unloading cylinder 320 pulls or pushes the collection box 500, the limiting blocks 502 will slide on the slide rail 340. This engagement structure precisely limits and guides the loading and unloading sliding direction of the collection box 500, preventing the collection box 500 from tilting or falling out during movement.

[0029] like Figure 2 , Figure 4 As shown, in order to limit the installation position of the collection box 500 on the hopper support 300, a hopper limiting block 503 is provided at the lower end of the collection box 500, and a blocking block 350 is provided at the corresponding end of the hopper support 300. The hopper limiting block 503 can abut against the blocking block 350. When the empty collection box 500 is installed, the hopper loading and unloading cylinder 320 will pull the collection box 500 to slide on the slide rail 340. After the collection box 500 is pulled to the point directly below the fruit drop channel 610, the hopper limiting block 503 will abut against the blocking block 350. The cooperation between the blocking block 350 and the hopper limiting block 503 can finally position the sliding stroke of the collection box 500, ensuring that the collection box 500 is accurately positioned directly below the end of the fruit drop channel 610 each time it is installed, so that the harvested palm fruits can fall into the collection box 500 without deviation and avoid the problem of palm fruits scattering due to inaccurate positioning.

[0030] like Figure 8 As shown, the harvesting mechanism 740 includes a harvesting robotic arm 741. The harvesting robotic arm 741 can be any existing three-axis robotic arm. The harvesting robotic arm 741 is fixedly connected to the harvesting mounting base 730, and a shearing mechanism 742 is installed at its end. The shearing mechanism 742 can be any existing type, which will not be elaborated upon here. The shearing mechanism 742 is responsible for cutting the fruit stalk connecting the palm fruit to the tree, allowing the palm fruit to detach from the palm tree, thus completing the harvesting action.

[0031] The straightening mechanism 750 includes a straightening robotic arm 751, which can be any existing four-axis robotic arm. The straightening robotic arm 751 is fixedly connected to the harvesting mounting base 730, and a clamping mechanism 752 is provided at the end of the straightening robotic arm 751. The clamping mechanism 752 is specifically used to clamp the fruit stalk of the palm fruit. In actual harvesting operations, the straightening mechanism 750 is first activated, and the straightening robotic arm 751 drives the clamping mechanism 752 at its end to move to the target fruit stalk and clamp it stably. Then, the straightening robotic arm 751 moves, using the clamping force to adjust and straighten the drooping or stacked fruit stalk to a position that is easy to cut. Then, the harvesting robotic arm 741 is activated, driving the cutting mechanism 742 at its end to accurately reach the position of the straightened fruit stalk and perform the cutting action to cut the fruit stalk, thereby successfully completing the entire palm fruit harvesting task.

[0032] like Figure 9 As shown, the clamping mechanism 752 includes a straightening fixing seat 7521, which is directly connected to the end of the straightening robotic arm 751. A straightening motor 7522 is mounted on the straightening fixing seat 7521, and a straightening gear 7523 is fixedly mounted on the output shaft of the straightening motor 7522. Two parallel straightening racks 7524 are also slidably mounted on the straightening fixing seat 7521. One straightening rack 7524 meshes with the upper half-circumference of the straightening gear 7523, and the other straightening rack 7524 meshes with the lower half-circumference of the straightening gear 7523. A straightening block 7525 is mounted on each straightening rack 7524. When the straightening motor 7522 is working, it drives the straightening gear 7523 to rotate. The straightening gear 7523 drives the two straightening racks 7524 to slide in opposite directions, so that the two straightening blocks 7525 move closer or further apart, realizing the function of clamping and releasing the fruit stem.

[0033] like Figure 8 As shown, to enhance the device's intelligent sensing capabilities, a depth camera 731 and a supplementary light 732 are integrated into the harvesting mounting base 730. The depth camera 731 can capture real-time images of palm fruits on the palm tree, obtaining precise position, orientation, and posture information of the fruits in three-dimensional space through image processing algorithms. This data is used to guide the motion planning of the harvesting robotic arm 741 and the straightening robotic arm 751. The supplementary light 732 actively provides illumination in low-light conditions, such as evening, night, or under the shade of the tree canopy, ensuring that the depth camera 731 can obtain clear, high-contrast images, thereby guaranteeing the accuracy of visual recognition.

[0034] Considering that palm trees typically have thick trunks and their fruits grow in clusters, in order to maximize the efficiency and coverage of a single operation, in this embodiment, such as Figure 5-6As shown, two fruit-grabbing frames 720 are preferably designed, and these two fruit-grabbing frames 720 are symmetrically arranged along the center line of the picking fixing seat 710. Each fruit-grabbing frame 720 is independently equipped with a complete picking mechanism 740 and a straightening mechanism 750, so that the fruit clusters on both sides of the trunk can be picked simultaneously. In addition, each fruit-grabbing frame 720 is slidably connected to the picking fixing seat 710. A closing mechanism is installed on the picking fixing seat 710 corresponding to the position of each fruit-grabbing frame 720, and the output end of the closing mechanism is directly connected to the corresponding fruit-grabbing frame 720. The core function of the closing mechanism is to provide power to drive the fruit-grabbing frame 720 to reciprocate along the slide rail 340 on the picking fixing seat 710, so that the two fruit-grabbing frames 720 can move closer to each other to form a whole, or move further apart to separate, as needed.

[0035] Specifically, such as Figure 5 As shown, the closing mechanism includes a closing hydraulic cylinder 760. The cylinder body of the closing hydraulic cylinder 760 is fixed on the picking fixing base 710, and the piston rod of the closing hydraulic cylinder 760 is connected to the fruit receiving frame 720. The closing hydraulic cylinder 760 drives the two fruit receiving frames 720 to move closer or further apart, thereby enabling the two fruit receiving frames 720 to be combined into a whole or separated. The closing hydraulic cylinder 760 can provide very large thrust and pull forces, and its operation is smooth, making it very suitable for driving the movement of large components that bear heavy loads, ensuring that the two fruit receiving frames 720 can be stably closed or separated.

[0036] To enhance the structural strength and integrity of the two fruit-receiving frames 720 after they are joined, a mechanical interlocking structure was designed. Specifically, as follows: Figure 6 As shown, limiting pins 721 are fixedly installed at both ends of one of the fruit-receiving frames 720, while corresponding limiting holes 722 are installed at the corresponding ends of the other fruit-receiving frame 720. When the closing hydraulic cylinder 760 pushes the two fruit-receiving frames 720 closer together and finally closes, the limiting pins 721 will precisely insert into the corresponding limiting holes 722. This interlocking not only serves as a guide and positioner, but more importantly, it can firmly connect the two independent fruit-receiving frames 720 into a single frame, effectively resisting various complex loads generated during harvesting, preventing relative displacement or deformation of the fruit-receiving frames 720 under stress, and greatly improving the stability of the overall structure.

[0037] For fruit collection and diversion, one end of the picking fixture 710 is designed with a fruit outlet 711, which is located directly above the fruit drop channel 610. The hollow interior of the fruit receiving frame 720 forms a fruit receiving cavity 723, and the two fruit receiving cavities 723 can communicate with the internal channel of the fruit outlet 711 when the fruit receiving frame 720 is closed. The upper end face of the fruit receiving frame 720 has a fruit drop opening 724, which serves as the entrance for the palm fruit to enter. During the harvesting process, the palm fruits cut by the shearing mechanism 742 fall due to gravity, then enter the fruit collection chamber 723 through the fruit drop port 724, and then flow into the fruit outlet 711 along the fruit collection chamber 723. From one end of the fruit outlet 711, they fall into the fruit drop channel 610. Because the fruit drop channel 610 is inclined, the palm fruits falling into the fruit drop channel 610 roll down along the fruit drop channel 610 under their own gravity, and finally fall into the collection box 500 from the lower end of the fruit drop channel 610, completing a complete harvesting and collection cycle.

[0038] It should be noted that, through the symmetrical arrangement of the two fruit-receiving frames 720 and the driving of the closing mechanism, the two fruit-receiving frames 720 can close together and surround the outside of the palm tree trunk for harvesting. This wraparound design offers two significant advantages: Firstly, when the fruit-receiving frame 720 closes and fits tightly against the trunk, a robust mechanical connection is established between the entire harvesting assembly 700 and the trunk, greatly reducing the vibration and reaction forces generated during the operation of the harvesting robotic arm 741 and the straightening mechanism 750, thus improving the overall stability of the machine during harvesting. Secondly, because the fruit-receiving frame 720 is arranged circumferentially around the trunk and has a fruit drop opening 724 at its upper end, regardless of where the palm fruit grows on the trunk or how it falls after being cut, the fruit can be reliably intercepted by the fruit-receiving frame 720 below and accurately fall into the fruit collection cavity 723. This effectively avoids damage to the fruit, fruit scattering, and the need for secondary manual collection caused by the fruit falling directly to the ground, thus achieving efficient and damage-free collection of the harvested fruit.

[0039] like Figure 6-7 As shown, to facilitate control of fruit discharge, each fruit receiving frame 720 is equipped with a closing assembly 770. This closing assembly 770 is primarily used to open or close the connection between the fruit receiving cavity 723 and the fruit outlet 711. In practical applications, if the collection box 500 is full and needs to be replaced, the closing assembly 770 can be used to close the passage between the fruit receiving cavity 723 and the fruit outlet 711, thus preventing the harvested palm fruits from falling to the ground. After the collection box 500 is replaced, the closing assembly 770 can be used to reopen the passage between the fruit receiving cavity 723 and the fruit outlet 711.

[0040] Specifically, the closing assembly 770 includes a closing door 771 and an opening / closing door motor 772. The opening / closing door motor 772 is fixed to the side wall of the receiving frame 720, while the closing door 771 is rotatably connected to the receiving frame 720 via a shaft or other means. The output end of the opening / closing door motor 772 is connected to the closing door 771 via a gear set or other transmission structure; when the opening / closing door motor 772 rotates, it drives the closing door 771 to swing on the receiving frame 720. By controlling the rotation angle of the opening / closing door motor 772, the closing door 771 can be driven to swing to the blocking position, thereby blocking the passage between the receiving cavity 723 and the outlet; or it can swing to the open position, allowing the passage to be unobstructed.

[0041] To enable the harvesting mechanism 740 and the straightening mechanism 750 to move extensively in the horizontal circumferential direction, thus meeting the harvesting needs of palm fruits around the entire circumference of the tree trunk, an arc-shaped guide groove 725 is provided on the fruit receiving frame 720, surrounding the periphery of the fruit dropping opening 724. The harvesting mounting seat 730 slides and engages with the corresponding arc-shaped guide groove 725, allowing the harvesting mounting seat 730 to slide freely along an arc trajectory. When the two fruit receiving frames 720 are fully closed by the closing mechanism, the arc-shaped guide grooves 725 on the two fruit receiving frames 720 precisely align to form a complete circular track. The harvesting mounting seat 730 is equipped with a harvesting drive mechanism 780, which drives the harvesting mounting seat 730 to slide on the arc-shaped guide groove 725.

[0042] In this embodiment, the harvesting drive mechanism 780 includes a harvesting drive motor 781. The harvesting drive motor 781 is fixed on the harvesting mounting base 730, and a harvesting drive gear 782 is mounted on the output shaft of the harvesting drive motor 781. Correspondingly, an arc-shaped rack 783, concentrically arranged with the arc-shaped guide groove 725, is fixedly mounted on the fruit-receiving frame 720. When the two fruit-receiving frames 720 are closed, the two arc-shaped racks 783 also mesh to form a complete circular rack. The harvesting drive gear 782 meshes with the corresponding arc-shaped rack 783. When the harvesting drive motor 781 rotates, it drives the harvesting drive gear 782 to rotate, which in turn drives the harvesting mounting base 730 to translate along the arc-shaped guide groove 725 through the gear and rack meshing pair, thereby driving the entire harvesting mechanism 740 and the straightening mechanism 750 to make continuous circular motions along the outer periphery of the tree trunk. Because the arc-shaped guide groove 725 forms a complete 360° circular track when closed, the picking drive motor 781 can drive the picking mounting base 730 to slide along the track at any angle, thereby achieving full coverage picking of all palm fruits within a 360° circumference of the trunk. This allows the device to pick fruit clusters at different angles around the trunk sequentially without moving the entire machine or repositioning it. The device is flexible and responsive, significantly improving the picking range and efficiency after a single positioning, and completely solving the problem of needing to operate at multiple angles because the fruit grows around the trunk.

[0043] To facilitate trunk passage, a trunk clearance space 726 is provided on the grafting frame 720. The trunk clearance space 726 is typically a semi-circular notch, which forms a complete circular opening when two grafting frames 720 are closed to surround the trunk. On each grafting frame 720, multiple trunk clamping mechanisms 790 are distributed at equal angular intervals along the circumferential direction of the trunk clearance space 726.

[0044] Specifically, the trunk clamping mechanism 790 includes a trunk clamping cylinder 791 and a trunk clamping block 792. One end of the trunk clamping block 792 is hinged to the fruit-receiving frame 720 via a hinge shaft, allowing it to swing around the hinge point. The cylinder body of the trunk clamping cylinder 791 is also hinged to the fruit-receiving frame 720, and the piston rod end of the trunk clamping cylinder 791 is hinged to the middle or end of the trunk clamping block 792. When the trunk clamping cylinder 791 extends or retracts, it pushes the trunk clamping block 792 to rotate around its hinge point, causing it to swing inward toward the trunk clearance 726 and ultimately press against the trunk from all sides, or swing in the opposite direction to detach from the trunk. This mechanism activates when the device is in operation, firmly clamping the trunk and providing a stable working platform for the entire harvesting system; it also prevents palm fruits that have fallen into the fruit-receiving cavity 723 from slipping out of the trunk clearance 726.

[0045] Working principle: After the automatic palm fruit harvesting equipment is started, it is first driven by four moving wheels 200 to accurately move the automatic palm fruit harvesting equipment to a suitable harvesting position near the target palm tree.

[0046] Upon reaching the harvesting location, the crane mechanism 400 is controlled to begin operation. The first lifting hydraulic cylinder 430 drives the lifting arm 420 to rotate upward around the hinge point and open. Then, the second lifting hydraulic cylinder 440 drives the lifting arm 600 to rotate upward relative to the lifting arm 420 and open. The two work together to make the telescopic lifting arm 600 tilt upward. Then, by controlling the lifting arm 600 to automatically extend and lengthen, the harvesting component 700 is precisely delivered to the side of the palm fruit to be harvested on the palm tree. It is also ensured that the two fruit receiving frames 720 are located on both sides of the palm tree.

[0047] After the harvesting component 700 is in place, the two fruit-receiving frames 720 are driven to move closer to each other by the closing hydraulic cylinder 760, and finally close and hug the outside of the tree trunk. Then the trunk clamping cylinder 791 pushes the trunk clamping block 792 to rotate around the hinge point, firmly pressing the tree trunk from all sides.

[0048] Next, the harvesting assembly 700 begins operation, using a depth camera 731 and a supplementary light 732 to acquire the three-dimensional position and posture of the palm fruit in real time. Then, the straightening robotic arm 751 moves the end-effector gripping mechanism 752 to the target fruit stalk. The straightening motor 7522 drives the straightening blocks 7525 to come together to clamp the stalk, straightening any drooping or stacked stalks to a position suitable for cutting. Next, the harvesting robotic arm 741 drives the cutting mechanism 742 to precisely reach the straightened stalk and cut it, thus detaching the palm fruit from the tree. After falling, the fruit falls into the receiving frame 720 below under gravity.

[0049] Palm fruits falling into the fruit collection cavity 723 flow through the internal channel to the fruit outlet 711, and then fall into the inclined fruit drop channel 610. The palm fruits then roll downwards along the fruit drop channel 610, finally falling into the collection box 500 from the lower outlet. During harvesting, the harvesting drive motor 781 drives the entire harvesting mounting base 730 to slide, enabling the harvesting mechanism 740 and the straightening mechanism 750 to sequentially reach the palm fruit positions at any angle around the trunk.

[0050] When the collection box 500 is full, the door opening and closing motor 772 drives the closing door 771 to swing, blocking the passage between the fruit collection cavity 723 and the fruit outlet 711 to prevent the fruit from falling further. Then, the hopper lifting cylinder 310 pushes the hopper loading and unloading cylinder 320 to rise, causing the hopper slot 331 on the hopper pulling block 330 to engage with the loading and unloading block 501 at the bottom of the full collection box 500; then the hopper loading and unloading cylinder 320 extends, pushing the full collection box 500 out of the equipment body along the slide rail 340. Then, the empty collection box 500 is pulled back into the designated position of the hopper support seat 300 by the hopper loading and unloading mechanism; then the door closing assembly 770 reopens the passage, continuing the next round of harvesting and collection cycle.

[0051] The specific embodiments described above are preferred embodiments of the present invention and are not intended to limit the specific scope of the present invention. The scope of the present invention includes, but is not limited to, these specific embodiments. All equivalent changes made in accordance with the present invention are within the protection scope of the present invention.

Claims

1. A palm fruit automatic picking apparatus characterized by: The device includes a support base, a movable component at the lower end of the support base, a hopper support and a lifting mechanism on the support base, a detachable collection box on the hopper support, a telescopic lifting arm on the output end of the lifting mechanism, the lifting mechanism for driving the lifting arm to rotate and swing, a fruit drop channel on the lifting arm, the lower end of the fruit drop channel being directly above the collection box, and a picking component on the end of the lifting arm away from the lifting mechanism. The harvesting assembly includes a harvesting fixing seat connected to the lifting arm. The harvesting fixing seat is provided with a fruit receiving frame, which is connected to the fruit drop channel. The fruit receiving frame is provided with a harvesting mounting seat, which is provided with a harvesting mechanism and a straightening mechanism. The straightening mechanism is used to clamp and straighten the fruit stalk of the palm fruit, and the harvesting mechanism is used to cut the fruit stalk of the palm fruit.

2. The automatic palm fruit picking apparatus as claimed in claim 1, wherein: The lifting mechanism includes a lifting base and a lifting boom. The lifting base is connected to the support base. Both ends of the lifting boom are hinged to the lifting base and the lifting boom, respectively. A first lifting hydraulic cylinder is hinged to the lifting base, and the output end of the first lifting hydraulic cylinder is hinged to the lifting boom. A second lifting hydraulic cylinder is hinged to the lifting boom, and the output end of the second lifting hydraulic cylinder is hinged to the lifting boom.

3. The automatic palm fruit picking apparatus as claimed in claim 1, wherein: The hopper support is provided with a hopper loading and unloading mechanism, which is used to send out the full collection box on the hopper support and to install the empty collection box on the hopper support. The hopper loading and unloading mechanism includes a hopper lifting cylinder connected to the hopper support base. A hopper loading and unloading cylinder is provided at the output end of the hopper lifting cylinder, and a hopper pulling block is provided at the output end of the hopper loading and unloading cylinder. A hopper slot is provided on the hopper pulling block, and a loading and unloading block is provided at the bottom of the collection box. The hopper lifting cylinder can drive the hopper loading and unloading cylinder to move up and down, thereby causing the hopper slot to engage or disengage with the loading and unloading block. The hopper loading and unloading cylinder is used to drive the collection box to slide on the hopper support base.

4. The automatic palm fruit picking apparatus as claimed in claim 3, wherein: The lower end of the collection box is provided with a limiting block, and the hopper support is provided with a slide rail. The limiting block is slidably engaged with the slide rail. The lower end of the collection box is provided with a hopper limiting block, and the hopper support is provided with a blocking block. The hopper limiting block can abut against the blocking block.

5. The automatic palm fruit picking apparatus according to any one of claims 1-4, characterized in that: The straightening mechanism includes a straightening robotic arm, which is connected to the picking mounting base, and a clamping mechanism is provided at the end of the straightening robotic arm; The clamping mechanism includes a straightening fixing seat, which is connected to the end of the straightening robotic arm. The straightening fixing seat is equipped with a straightening motor, and the output end of the straightening motor is equipped with a straightening gear. Two straightening racks are slidably arranged on the straightening fixing seat, one of which meshes with the upper end of the straightening gear, and the other straightening rack meshes with the lower end of the straightening gear. Straightening blocks are respectively provided on the straightening racks.

6. The automatic palm fruit picking apparatus as claimed in claim 5, wherein: There are two fruit-receiving frames, and the two fruit-receiving frames are symmetrically distributed along the center line of the picking fixing seat. The fruit-receiving frames are slidably connected to the picking fixing seat. The picking fixing base and the fruit receiving frame are respectively provided with closing mechanisms. The output end of the closing mechanism is connected to the corresponding fruit receiving frame. The closing mechanism is used to drive the fruit receiving frame to slide on the picking fixing base.

7. The automatic palm fruit picking apparatus as claimed in claim 6, wherein: One end of the picking fixing seat is provided with a fruit outlet, which is located directly above the fruit drop channel. The fruit receiving frame is provided with a fruit receiving cavity, which can be connected to the fruit outlet. The upper end of the fruit receiving frame is provided with a fruit drop opening.

8. The automatic palm fruit picking apparatus as claimed in claim 7, wherein: The fruit receiving frame is provided with an arc-shaped guide groove, which is located around the fruit dropping opening. The picking mounting base is slidably engaged with the arc-shaped guide groove, and the picking mounting base is provided with a picking drive mechanism. The picking drive mechanism includes a picking drive motor, which is connected to the picking mounting base. The output end of the picking drive motor is provided with a picking drive gear, and the fruit receiving frame is provided with an arc-shaped rack. The picking drive gear meshes with the arc-shaped rack.

9. The automatic palm fruit picking apparatus as claimed in claim 7, wherein: The fruit receiving frame is provided with a closing door assembly, which is used to open or block the passage between the fruit receiving cavity and the fruit outlet. The closing assembly includes a closing door and an opening / closing door motor. The opening / closing door motor is connected to the fruit receiving frame. The closing door is rotatably connected to the fruit receiving frame. The output end of the opening / closing door motor is connected to the closing door and is used to drive the closing door to rotate and swing on the fruit receiving frame.

10. The automatic palm fruit picking apparatus according to any one of claims 6-9, characterized in that: The fruit-grabbing frame is provided with a trunk clearance space, and multiple trunk clamping mechanisms are evenly distributed along the circumference of the trunk clearance space on the fruit-grabbing frame. The trunk clamping mechanism includes a trunk clamping cylinder and a trunk clamping block. The trunk clamping block is hinged to the fruit-grabbing frame. The output end of the trunk clamping cylinder is hinged to the trunk clamping block. The trunk clamping cylinder can drive the trunk clamping block to rotate and swing along the fruit-grabbing frame.

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