An automatic oblique holding betel nut picking machine and its installation and control method

Abstract

The application discloses a kind of oblique embrace type automatic betel nut picking machine and its installation and control method, picking machine includes flat rack, oblique embrace device component, picking mechanism component and climbing power device component.Oblique embrace device component adopts left and right oval rack and can be split connection by hole shaft, tension spring provides clamping force, roller is attached to trunk;Picking mechanism component adopts by left and right I-shaped circular arc guide rail splicing and forms I-shaped annular guide rail, motor is driven gear and gear guide rail meshing through speed reducer, and driving support platform and electric saw along guide rail circumferential movement;Climbing power device component adopts motor and driving roller 90 degree reversing through speed reducer, transmission shaft and bevel gear, realize climbing and descending.The application has simple structure, and installation and removal are convenient, can be attached to trunk stable operation, improve betel nut picking efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of areca nut harvesting equipment, and in particular to an integrated device capable of moving stably up and down along the trunk and harvesting areca nuts, as well as its installation and control method. Background Technology

[0002] Currently, areca nut harvesting relies heavily on manual labor, which presents problems such as high labor intensity, low harvesting efficiency, high safety risks, and a high rate of fruit damage. Areca nut trees are often 10-20 meters tall with straight and slender trunks. Manual harvesting mainly involves climbing trees or cutting with sickles attached to long poles. The former is prone to falls from heights, while the latter not only makes it difficult to accurately control the cutting angle but also often results in electric shock injuries or fatalities due to the long pole touching high-voltage lines.

[0003] In recent years, although some automatic climbing areca nut harvesting devices have been proposed, the following unresolved technical defects still exist: Firstly, existing ring-type clamping mechanisms mostly adopt a cylindrical half-body mating structure, with a circular arc surface for clamping. However, the cross-section of the areca nut tree trunk is not a standard circle and its surface is densely covered with ring-shaped stem nodes. The cylindrical clamping surface is in line contact or local point contact with the trunk, which cannot adaptively fit the shape of the trunk cross-section and the undulation of the stem nodes, resulting in uneven distribution of clamping force. During the climbing process, slippage or even the entire machine falling may easily occur.

[0004] Secondly, most existing circular cutting tracks are closed, integral ring structures. During installation, they must be inserted from either the top or bottom of the trunk. However, areca palms are upright, living organisms, making it impossible to insert them from either the top (due to the canopy) or the bottom (where the roots connect to the ground). This renders closed-loop cutting devices unusable in actual areca palm harvesting scenarios. While some solutions employ open structures, they lack precise positioning and reliable connection methods, making it difficult to guarantee the roundness of the guide rail after installation, directly impacting cutting accuracy.

[0005] Third, existing climbing mechanisms mostly use motors to directly drive rollers or hydraulic lifting. The former has low transmission efficiency and insufficient output torque, and is prone to jamming at the stem nodes on the surface of the areca nut tree due to sudden changes in resistance; the latter has a complex structure and heavy weight, which increases the load and safety hazards of the whole machine when working at height.

[0006] Therefore, there is a need for a betel nut harvesting device that can reliably fit the tree trunk, can be quickly installed laterally, has efficient transmission, and provides stable climbing. Summary of the Invention

[0007] The present invention aims to provide an inclined automatic areca nut harvesting machine and its installation and control method, in order to solve the problems of complex device structure, low climbing efficiency and cumbersome installation and disassembly process in the existing areca nut harvesting technology.

[0008] To achieve the above objectives, the present invention provides the following technical solution: An automatic betel nut harvesting machine with a slanted gripping mechanism includes a flat frame, a slanted gripping device assembly, a harvesting mechanism assembly, and a climbing power device assembly.

[0009] The inclined clamping device assembly includes a left elliptical frame, a tension spring, a right elliptical frame, a first axle support, and a first roller. The first roller is mounted on the first axle support and can rotate around the axle. The first axle support is mounted on the left elliptical frame. The right elliptical frame is detachably connected to the left elliptical frame via a hole-shaft fit. The tension spring connects the flat frame to the left and right elliptical frames, providing tension to clamp the areca nut tree. Compared to a cylindrical clamping structure, the elliptical frame can better accommodate the non-circular cross-section of the areca nut tree trunk along its long axis. The first roller is mounted on the left elliptical frame, and the second roller is mounted on the flat frame with their clamping directions opposite, forming multi-point surface contact with the trunk rather than line contact. Combined with the constant tension provided by the tension spring, the clamping force can be kept stable at the undulations of the trunk nodes, avoiding sudden drops in clamping force and slippage caused by protruding nodes. The detachable connection method of the hole and shaft allows the inclined clamping device to be quickly closed and installed from the side of the tree trunk without having to be inserted from the end of the tree trunk, making installation and disassembly convenient.

[0010] The harvesting mechanism includes a spliced ​​I-shaped circular guide rail, a support platform, a drive gear, a first motor, a second motor, a first reducer, an electric saw, and an electric saw controller. The spliced ​​I-shaped circular guide rail is composed of a left I-shaped arc guide rail and a right I-shaped arc guide rail, with a left gear guide rail embedded within the left I-shaped arc guide rail. The second motor drives the gear to rotate via the first reducer, meshing with the left gear guide rail and moving the support platform circumferentially along the tree trunk. The second motor achieves smooth and precise circumferential movement through the first reducer. Compared to ordinary flat guide rails, the I-shaped cross-section guide rail's grooved structure formed by its upper and lower flanges and connecting webs provides multiple limiting mechanisms for the support wheel, effectively preventing the support platform from tipping over or falling off during circumferential movement, significantly improving safety, especially in high-altitude operations. The gear guide rail's embedded layout within the inner wall of the I-shaped guide rail ensures that the meshing point between the drive gear and the guide rail is located inside the guide rail cross-section, resulting in a compact transmission structure, small footprint, and unaffected by external environmental interference during meshing. The chainsaw is mounted on a support platform. The first motor controls the rotation and stationary position of the chainsaw through the chainsaw controller, thus completing the cutting operation of the areca nut stem.

[0011] The climbing power unit assembly includes a power wheel bracket, a third motor, a second reducer, a drive shaft, a driving bevel gear, a driven bevel gear, and a third roller. The third motor reduces its rotational speed and increases its torque through the second reducer, then transmits power to the driving bevel gear via the drive shaft. This drives the driven bevel gear to reverse the power direction by 90 degrees, driving the third roller and enabling the entire areca nut harvesting device to climb and descend. Using bevel gears for 90-degree reversal, compared to a layout where the motor directly drives the rollers, allows the motor and reducer to be arranged along the frame plane, reducing the overall radial dimension of the machine and minimizing the space occupied by the harvester around the tree trunk. Simultaneously, the bevel gear transmission features a stable transmission ratio and high load-bearing capacity, maintaining stable torque output even during sudden changes in stem resistance, preventing jamming.

[0012] As a preferred technical solution, the inclined clamping device assembly further includes a second wheel axle bracket and a second roller. The second roller is mounted on the second wheel axle bracket, which is mounted on the flat frame. The clamping direction of the second roller is opposite to that of the first roller. Together, they press the tree trunk from one side, and with the circumferential support of the elliptical frame and the tension of the spring, a stable clamping force is formed, avoiding uneven load on the entire machine and deviation of the climbing trajectory caused by unilateral clamping.

[0013] As a preferred technical solution, the harvesting mechanism assembly further includes an upper track support wheel and an inner track support wheel. The upper track support wheel rolls in cooperation with the upper wing plate of the spliced ​​I-shaped annular guide rail. The inner track support wheel is located between the upper and lower wing plates, and its radial rolling surface cooperates with the connecting web plate. Limitation is achieved through the upper and lower wing plates, preventing the support platform from accidentally falling during movement. The upper track support wheel bears the weight of the support platform and the electric saw and rolls along the upper wing plate. The inner track support wheel cooperates with the web plate from inside the guide rail section. The two form a bidirectional limiting mechanism, ensuring that even when the electric saw generates a reaction force or the entire machine vibrates, the support platform will not detach from the guide rail, thus eliminating the risk of the aerial work platform falling from its mechanical structure.

[0014] As a preferred technical solution, the left and right I-shaped arc guide rails are positioned by a blind hole and a shaft engagement, and fixed with bolts. The engagement of the blind hole and shaft automatically achieves radial centering during closing, ensuring that the left and right guide rails form a complete ring after splicing, resulting in high splicing accuracy and avoiding the problem of drive gear jamming due to misalignment.

[0015] As a preferred technical solution, the system also includes a first compression spring and a second compression spring. The first compression spring is positioned between the flatbed frame and the drive wheel support, pushing the drive wheel support upwards to cause the third roller to float and grip the trunk. The second compression spring is positioned between the flatbed frame and the second wheel axle support, pushing the second wheel axle support downwards. Both the first and second compression springs apply a pushing force towards the first roller, while the tension springs pull the first roller towards the second and third rollers, forming a triangular clamping structure. Compared to hydraulic or other methods, the use of compression springs provides a faster response and greater adaptability when dealing with the nodes of the areca nut tree. The triangular clamping layout allows the three rollers to press the trunk together from different directions, resulting in a uniform clamping force distribution. This ensures stable clamping even at changes in trunk diameter and undulating nodes, preventing uneven loading and slippage caused by unilateral force, and making the areca nut harvesting device more stable during ascent and descent.

[0016] As a further preferred technical solution, the first compression spring is a composite compression spring, comprising an inner compression spring and an outer compression spring arranged coaxially. The stiffness of the inner compression spring is greater than that of the outer compression spring, and the outer compression spring participates in compression before the inner compression spring. When the trunk diameter is within the normal range, the outer compression spring works alone, providing a gentle clamping force; when encountering a stem protrusion that increases the compression, the inner compression spring participates, and the clamping force gradually increases, achieving graded buffering and avoiding sudden drops or increases in clamping force.

[0017] Compared to a single compression spring, a composite compression spring can provide progressive clamping force adjustment at the stem nodes, resulting in less fluctuation in the contact force between the third roller and the trunk, and a smoother ascent.

[0018] As a preferred technical solution, the third roller is a curved flexible roller, which has a larger contact area with the areca nut tree and can provide greater friction under the same weight, making the entire harvesting device more stable during movement. The curved surface of the flexible roller can adapt to the slight curvature changes of the trunk surface and absorb impact through elastic deformation at the nodes, preventing the rigid roller from slipping due to the protrusion of the nodes.

[0019] As a preferred technical solution, a storage battery is also included. The battery is mounted on the flatbed frame and supplies power to the first, second, and third motors, as well as the chainsaw. Using battery power eliminates the need for an external power cord, avoiding the problems of cable tangling and dragging during high-altitude operations, and extending the working range beyond the power supply distance.

[0020] The present invention also provides an installation method for the above-mentioned inclined automatic areca nut harvesting machine, comprising the following steps: S1: Separate the left elliptical frame from the right elliptical frame to the left and right, and at the same time separate the left I-shaped arc guide rail from the right I-shaped arc guide rail to the left and right. S2: Press the flat frame onto the areca tree parallel to the growth direction of the areca tree, so that the first compression spring and the second compression spring are in a compressed state; S3: Make the left elliptical frame partially encircle the areca tree, with the first roller in close contact with the areca tree and the tension spring in a stretched state. Connect the right elliptical frame to the left elliptical frame through the hole shaft to complete the installation of the inclined clamping device and achieve the encirclement and clamping of the areca tree. S4: Position the left I-shaped circular arc guide rail and the right I-shaped circular arc guide rail by matching them with the blind hole and the shaft, and fix them with bolts to complete the harvesting mechanism's encirclement of the areca nut tree.

[0021] The present invention also provides a control method for the above-mentioned inclined automatic areca nut harvesting machine, comprising the following steps: S1: Controls the climbing power unit to drive the harvester to climb along the areca nut tree trunk; S2: When the harvester approaches the areca nut stem, the lifting power unit is controlled to stop. S3: Controls the picking mechanism components to move along the tree circumference, and simultaneously controls the operation of the chainsaw to cut the areca nut stem; S4: After cutting is complete, control the chainsaw to stop running; S5: Controls the climbing power unit to drive the harvester down the tree trunk, while simultaneously controlling the harvesting mechanism to return to its original position, thus completing the betel nut harvesting process.

[0022] The present invention, by adopting the above-described technical solution, has the following beneficial effects: First, the slanted elliptical frame clamping mechanism can reliably fit the areca nut tree trunk. This invention employs a slanted clamping structure where the left and right elliptical frames are detachably connected via a shaft. Combined with a tension spring, it provides a constant clamping force. Compared to existing cylindrical ring-shaped clamping mechanisms, the long axis of the elliptical frame can accommodate the non-circular cross-section of the areca nut tree trunk. The rollers form multi-point surface contact with the trunk, maintaining stable clamping force at the undulating nodes on the trunk surface. This fundamentally solves the problem of sudden drops in clamping force and slippage caused by protruding nodes in existing clamping mechanisms. Simultaneously, the detachable shaft connection allows the slanted clamping device to be quickly assembled and installed from the side of the trunk, without needing to be fitted from the end of the trunk, overcoming the limitation that closed ring-shaped devices cannot be installed on living, upright tree trunks.

[0023] Secondly, the I-shaped spliced ​​ring guide rail, combined with double support wheels, provides a safety guarantee against falls during high-altitude operations. This invention employs a ring guide rail composed of left and right I-shaped arc guide rails. A gear guide rail is embedded within the inner wall of the guide rail, and the drive gear meshes and transmits power within the guide rail cross-section, resulting in a compact structure. The upper track support wheel and the inner track support wheel form a bidirectional limiting mechanism, ensuring that the support platform will not detach from the guide rail even under the reaction force of a chainsaw cut or overall machine vibration. This mechanically eliminates the risk of the high-altitude work platform falling, significantly improving safety and stability compared to existing centripetal slider or single-wheel support structures.

[0024] Third, the bevel gear reversing climbing mechanism is highly efficient and compact in layout. This invention uses a motor to drive the rollers via a reducer, drive shaft, and a 90-degree reversing bevel gear. Compared to a layout where the motor directly drives the rollers, the bevel gear reversing allows the motor and reducer to be arranged along the frame plane, reducing the overall radial dimension of the machine and making the harvester occupy less space around the tree trunk. The bevel gear transmission ratio is stable and has a strong load-bearing capacity, maintaining stable torque output even when the stem resistance changes abruptly, preventing jamming. Combined with the curved, flexible rollers, the contact area with the tree trunk is increased, further preventing slippage during climbing.

[0025] Fourth, the three-roller triangular clamping system, combined with double-compression spring floating compensation, adapts to changes in the shape of the tree trunk. The first, second, and third rollers form a triangular clamping arrangement, pressing the trunk together from different directions with evenly distributed clamping force. The first compression spring pushes the power wheel bracket from bottom to top, causing the third roller to float and grip the trunk. The second compression spring pushes the second wheel axle bracket downwards, and the tension spring pulls the first roller toward the other two rollers. The coordinated action of these three elements allows the machine to adaptively adjust its posture at changes in trunk diameter and undulations in the stem nodes, maintaining continuous contact between the rollers and the trunk. Compared to hydraulic clamping structures, this is faster, cheaper, and lighter. In addition, the first compression spring adopts a coaxial composite compression spring structure. The outer compression spring has lower stiffness and engages first, while the inner compression spring has higher stiffness and engages later. This provides graded buffering at the trunk nodes, allowing the clamping force to gradually change with the compression. Compared to the linear elasticity of a single compression spring, this avoids slippage caused by a sudden drop in clamping force at the nodes and excessive wear of the rollers caused by a sudden increase in clamping force, further improving climbing stability.

[0026] Fifth, the installation and control methods enable highly efficient and automated operations. The installation method, through the sequence of left and right separation, lateral pressing, hole-shaft connection, and bolt fixing, achieves rapid installation without the need for climbing tools. The control method, through the process of climbing, stopping, circumferential cutting, and descent reset, achieves full automation of areca nut harvesting, with higher work efficiency than manual tree climbing and continuous operation, reducing labor intensity and the safety risks of working at heights. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the left side structure in an embodiment of the present invention; Figure 2 This is a schematic diagram of the upper right side structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the harvesting mechanism components according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the climbing power device assembly structure according to an embodiment of the present invention.

[0028] in: Figure 1The circles in the diagram represent the approximate locations of the overall structure of the climbing device (B) and the picking device (A), respectively, for ease of understanding only.

[0029] Explanation of reference numerals in the attached figures: In the diagram: 1-Flatbed frame; 2-Left elliptical frame; 3-Tension spring; 4-Battery; 5-First compression spring; 6-First roller; 7-Second roller; 8-Bolt; 9-Blind hole; A-Harvesting mechanism; B-Climbing power mechanism; 11-Inner track support wheel; 12-Second compression spring; 13-Hole shaft; 14-Right I-shaped arc guide rail; 15-Right gear guide rail; 16-First wheel axle bracket; 17-Second wheel axle bracket; 18-Right elliptical frame; 20-Electric saw; 21-Electric saw control. 22-First motor; 23-Second motor; 24-First reducer; 25-Support platform; 26-Drive gear; 27-First mounting base; 28-Second mounting base; 29-Upper rail support wheel; 31-Left I-shaped arc guide rail; 32-Left gear guide rail; 40-Power wheel bracket; 41-Third motor; 42-Second reducer; 43-Drive shaft; 44-Extension of power wheel bracket; 45-Driving bevel gear; 46-Driven bevel gear; 47-Third roller. Detailed Implementation

[0030] For ease of understanding, based on the technical solutions of the present invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solutions of the present invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solutions of the present invention.

[0031] like Figure 1 , Figure 2 As shown, an automatic betel nut harvesting machine with a slanted gripping mechanism includes a flat frame 1, a slanted gripping device assembly, a climbing power device assembly B, and a harvesting mechanism assembly A.

[0032] The inclined clamping device assembly includes a left elliptical frame 2, a tension spring 3, a right elliptical frame 18, a first axle bracket 16, a first roller 6, a second axle bracket 17, and a second roller 7. The first roller 6 is mounted on the first axle bracket 16 and can rotate around its axle. The first axle bracket 16 is mounted on the left elliptical frame 2. The second roller 7 is mounted on the second axle bracket 17, which is mounted on a flat frame 1. The clamping direction of the second roller 7 is opposite to that of the first roller 6. The right elliptical frame 18 is detachably connected to the left elliptical frame 2 via a hole shaft 13. The tension spring 3 connects the flat frame 1 to the left elliptical frame 2 and the right elliptical frame 18, providing tension to achieve the clamping operation of the areca nut tree. The first roller 6 and the second roller 7 clamp in opposite directions, pressing the trunk together from one side. Combined with the circumferential support of the elliptical frame and the constant tension of the tension spring 3, the clamping force can be kept stable at the undulations of the trunk nodes, avoiding uneven loading and slippage caused by clamping on one side.

[0033] A first compression spring 5 is provided between the flat plate frame 1 and the power wheel bracket 40. The first compression spring 5 pushes the power wheel bracket 40 from bottom to top, so that the third roller 47 floats and hugs the tree trunk.

[0034] Furthermore, the first compression spring 5 is a composite compression spring, comprising an inner compression spring and an outer compression spring arranged coaxially, with the inner compression spring having a greater stiffness than the outer compression spring. When the harvester climbs normally along the tree trunk, the outer compression spring compresses alone, providing basic clamping force; when the third roller 47 passes over the protrusion of the tree trunk node, the compression increases, the inner compression spring participates in the compression, and the clamping force gradually increases, achieving graded buffering and preventing a sudden drop in clamping force or roller bouncing due to a sudden change in compression at the node caused by a single compression spring.

[0035] A second compression spring 12 is installed between the flatbed frame 1 and the second wheel axle support 17, pushing the second wheel axle support 17 downwards. Both the first compression spring 5 and the second compression spring 12 apply a pushing force towards the first roller 6. The tension spring 3 pulls the first roller 6 towards the second roller 7 and the third roller 47, forming a triangular clamp between the first roller 6, the second roller 7, and the third roller 47. This allows for adaptive adjustment when facing the areca nut tree stem nodes, maintaining stability during the climbing and descending process. A battery 4 is also installed on the flatbed frame 1 to power the various motors and the chainsaw.

[0036] When installing the areca nut harvesting machine onto the areca nut tree, first separate the left elliptical frame 2 and the right elliptical frame 18 to the left and right respectively, and simultaneously separate the left I-shaped arc guide rail 31 and the right I-shaped arc guide rail 14 to the left and right. Then, gently press the flat frame 1 parallel to the growth direction of the areca nut tree onto the tree, so that the first compression spring 5 and the second compression spring 12 are in a compressed state. Next, let the left elliptical frame 2 partially encircle the areca nut tree, so that the first roller 6 is in close contact with the areca nut tree, and the tension spring 3 is in a stretched state. Then, connect the right elliptical frame 18 and the left elliptical frame 2 through the hole shaft 13 to complete the installation of the oblique clamping device, realizing the encirclement and clamping of the areca nut tree. Finally, position the left I-shaped arc guide rail 31 and the right I-shaped arc guide rail 14 through the blind hole 9 and the hole shaft 13, and fix them with bolts 8 to realize the encirclement of the areca nut tree by the harvesting mechanism.

[0037] like Figure 3 As shown, the harvesting mechanism component A includes an electric saw 20, an electric saw controller 21, a first motor 22, a second motor 23, a first reducer 24, a support platform 25, a drive gear 26, a first mounting base 27, a second mounting base 28, an upper track support wheel 29, an inner track support wheel 11, a left I-shaped arc guide rail 31, a left gear guide rail 32, a right I-shaped arc guide rail 14, and a right gear guide rail 15. The left I-shaped arc guide rail 31 and the right I-shaped arc guide rail 14 are spliced ​​together to form an I-shaped ring guide rail. The left I-shaped arc guide rail 31 is embedded with the left gear guide rail 32, and the right I-shaped arc guide rail 14 is embedded with the right gear guide rail 15. The left gear guide rail 32 and the right gear guide rail 15 are spliced ​​together to form a complete ring gear guide rail.

[0038] The second motor 23 drives the gear 26 to rotate via the first reducer 24. The drive gear 26 meshes with the left gear guide rail 32, causing the support platform 25 to move circumferentially along the tree trunk. The second motor 23 achieves smooth and precise circumferential movement through the first reducer 24, ensuring high motion accuracy and smooth cutting by the chainsaw 20 during areca nut harvesting. The first motor 22 controls the rotation and stationary position of the chainsaw 20 via the chainsaw controller 21, completing the cutting operation of the areca nut stalk. The first mounting base 27 and the second mounting base 28 are set on the support platform 25 for mounting components such as the first motor 22 and the second motor 23.

[0039] The I-shaped annular guide rail has an upper flange, a lower flange, and a connecting web. The upper track support wheel 29 rolls with the upper flange, bearing the weight of the support platform 25 and the electric saw 20. The inner track support wheel 11 is located between the upper and lower flanges, and its radial rolling surface engages with the connecting web, achieving positioning via the upper and lower flanges. The upper track support wheel 29 and the inner track support wheel 11 form a bidirectional positioning system, ensuring that even when the electric saw 20 generates a reaction force or the entire machine vibrates, the support platform 25 will not detach from the guide rail. This mechanical structure prevents the support platform 25 from accidentally falling during operation, improving the stability and safety of the harvester.

[0040] like Figure 4 As shown, the climbing power unit component B includes a power wheel bracket 40, a third motor 41, a second reducer 42, a drive shaft 43, a driving bevel gear 45, a driven bevel gear 46, and a third roller 47. The power wheel bracket 40 is floatingly mounted on the flat frame 1. The first compression spring 5 pushes the power wheel bracket 40 from bottom to top, causing the third roller 47 to float and grip the tree trunk, adaptively adjusting the clamping force according to changes in the trunk diameter and the undulation of the stem nodes. The third motor 41 reduces the rotational speed and increases the torque through the second reducer 42, and then transmits the power to the driving bevel gear 45 through the drive shaft 43, which drives the driven bevel gear 46 to reverse the power by 90 degrees, driving the third roller 47, thus realizing the climbing and lowering of the entire areca nut harvesting device. The 90-degree reversal of the bevel gears allows the third motor 41 and the second reducer 42 to be arranged along the frame plane, reducing the overall radial dimension of the machine and making the harvester occupy less space around the tree trunk. The bevel gear transmission ratio is stable and has a strong load-bearing capacity, maintaining stable torque output when the resistance of the stem nodes changes abruptly, thus preventing jamming. The third roller 47 is a curved flexible roller, which has a larger contact area with the areca nut tree and can provide greater friction for the same weight. The flexible curved surface can adapt to the slight curvature changes of the tree trunk surface, absorbing impact through elastic deformation at the stem nodes, making the movement of the entire harvesting device more stable.

[0041] The control method of this embodiment is as follows: First, the third motor 41 of the climbing power unit component B is controlled to operate, driving the third roller 47 to rotate, so that the harvester climbs along the areca nut tree trunk. During the climbing process, the first compression spring 5 and the second compression spring 12 adaptively compress according to the changes in the tree trunk surface, and the tension spring 3 keeps the first roller 6, the second roller 7 in close contact with the tree trunk. When the harvester climbs to a position close to the areca nut stalk, the third motor 41 is controlled to stop operating, and the harvester stops rising. Subsequently, the second motor 23 is started, driving the gear 26 to mesh with the left gear guide rail 32 through the first reducer 24, driving the support platform 25 and the electric saw 20 to move around the tree trunk circumferentially along the I-shaped circular guide rail. At the same time, the first motor 22 is started, and the electric saw 20 operates to cut the areca nut stalk. After the cutting is completed, the first motor 22 is controlled to stop, and the electric saw 20 stops operating. Finally, the third motor 41 is controlled to rotate in the opposite direction, and the harvester descends along the tree trunk to the ground. At the same time, the second motor 23 is controlled to rotate in the opposite direction, driving the support platform 25 back to its original position, thus completing a single betel nut harvesting operation.

[0042] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. An automatic areca nut harvesting machine with a slanted gripping mechanism, comprising a flat frame (1), a slanted gripping device assembly, a harvesting mechanism assembly (A), and a climbing power device assembly (B), characterized in that: The inclined clamping device assembly includes a left elliptical frame (2), a tension spring (3), a right elliptical frame (18), a first wheel axle bracket (16), and a first roller (6). The first roller (6) is mounted on the first wheel axle bracket (16) and can rotate around the wheel axle. The first wheel axle bracket (16) is mounted on the left elliptical frame (2). The right elliptical frame (18) is detachably connected to the left elliptical frame (2) through a hole shaft (13). The tension spring (3) connects the flat frame (1) and the left elliptical frame. The frame (2) and the right elliptical frame (18) provide clamping force; the harvesting mechanism assembly (A) includes a spliced ​​I-shaped circular guide rail, a support platform (25), a drive gear (26), a first motor (22), a second motor (23), a first reducer (24), an electric saw (20), and an electric saw controller (21). The spliced ​​I-shaped circular guide rail is formed by splicing a left I-shaped arc guide rail (31) and a right I-shaped arc guide rail (14). The left I-shaped arc guide rail (31) is embedded with a left gear guide rail (32). The motor (23) drives the drive gear (26) to rotate through the first reducer (24). The drive gear (26) meshes with the left gear guide rail (32) and drives the support platform (25) to move circumferentially along the spliced ​​I-shaped annular guide rail. The electric saw (20) is mounted on the support platform (25). The first motor (22) controls the rotation and stationary position of the electric saw (20) through the electric saw controller (21). The climbing power device assembly (B) includes a power wheel bracket (40) and a third motor. (41) Second reducer (42) Drive shaft (43) Drive bevel gear (45) Drive bevel gear (46) and third roller (47). The third motor (41) reduces speed and increases torque through the second reducer (42) and drives the drive bevel gear (45) to rotate through the drive shaft (43). The drive bevel gear (45) meshes with the driven bevel gear (46) to achieve a 90-degree power reversal. The driven bevel gear (46) drives the third roller (47) to rotate to achieve the climbing and descending of the harvester. The left I-shaped arc guide rail (31) and the right I-shaped arc guide rail (14) are positioned by the blind hole (9) and the hole shaft (13), and are fixed by bolts (8).

2. The inclined-grip automatic areca nut harvesting machine according to claim 1, characterized in that: The inclined clamping device assembly also includes a second wheel axle bracket (17) and a second roller (7). The second roller (7) is mounted on the second wheel axle bracket (17) and can rotate around the wheel axle. The second wheel axle bracket (17) is mounted on the flat frame (1). The clamping direction of the second roller (7) is opposite to the clamping direction of the first roller (6).

3. The inclined-grip automatic areca nut harvesting machine according to claim 1, characterized in that: The harvesting mechanism component (A) also includes an upper track support wheel (29) and an inner track support wheel (11). The upper track support wheel (29) rolls with the upper wing plate of the spliced ​​I-shaped annular guide rail. The inner track support wheel (11) is located between the upper wing plate and the lower wing plate. The radial rolling surface of the inner track support wheel (11) is engaged with the connecting web plate, and the upper wing plate and the lower wing plate achieve limiting.

4. The inclined-grip automatic areca nut harvesting machine according to claim 2, characterized in that: It also includes a first compression spring (5) and a second compression spring (12). The first compression spring (5) is located between the flat frame (1) and the power wheel bracket (40), pushing the power wheel bracket (40) from bottom to top, so that the third roller (47) floats and hugs the tree trunk. The second compression spring (12) is located between the flat frame (1) and the second wheel axle bracket (17), pushing the second wheel axle bracket (17) downward. The first compression spring (5) and the second compression spring (12) both apply a pushing force to the first roller (6), and the tension spring (3) pulls the first roller (6) toward the second roller (7) and the third roller (47), so that the first roller (6), the second roller (7) and the third roller (47) form a triangular clamp.

5. The inclined-grip automatic areca nut harvesting machine according to claim 4, characterized in that: The first compression spring (5) is a composite compression spring, including an inner compression spring and an outer compression spring arranged coaxially. The stiffness of the inner compression spring is greater than that of the outer compression spring. The outer compression spring participates in compression before the inner compression spring to achieve graded buffering.

6. The inclined-grip automatic areca nut harvesting machine according to claim 1, characterized in that: The third roller (47) is a curved flexible roller used to increase the contact area with the areca nut tree trunk.

7. The inclined-grip automatic areca nut harvesting machine according to claim 1, characterized in that: It also includes a storage battery (4), which is mounted on the flat frame (1) to power the first motor (22), the second motor (23), the third motor (41) and the chainsaw (20).

8. A method for installing a slanted-hold automatic areca nut harvester as described in claim 4 or 5, characterized in that, Includes the following steps: S1: Separate the left elliptical frame (2) from the right elliptical frame (18) to the left and right, and at the same time separate the left I-shaped arc guide rail (31) from the right I-shaped arc guide rail (14) to the left and right; S2: Press the flat frame (1) parallel to the growth direction of the areca tree onto the areca tree, so that the first compression spring (5) and the second compression spring (12) are in a compressed state; S3: Make the left elliptical frame (2) partially encircle the areca tree, the first roller (6) is in close contact with the areca tree, the tension spring (3) is in a stretched state, and connect the right elliptical frame (18) and the left elliptical frame (2) through the hole shaft (13). S4: Position the left I-shaped arc guide rail (31) and the right I-shaped arc guide rail (14) by engaging the blind hole (9) with the shaft (13), and fix them with bolts (8) to complete the installation.

9. A control method for an inclined-grip automatic areca nut harvester as described in any one of claims 1-7, characterized in that, The process includes the following steps: S1: Controlling the climbing power unit (B) to drive the harvester to climb along the trunk of the areca nut tree; S2: When the harvester approaches the areca nut stalk, controlling the climbing power unit (B) to stop; S3: Controlling the harvesting mechanism (A) to move along the circumference of the tree, while simultaneously controlling the electric saw (20) to operate and cut the areca nut stalk; S4: After the cutting is completed, controlling the electric saw (20) to stop operating; S5: Controlling the climbing power unit (B) to drive the harvester to descend along the trunk, while simultaneously controlling the harvesting mechanism (A) to return to its original position.

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