Automatic fruit picking device

Abstract

The utility model discloses an automatic fruit picking device which comprises a movable chassis, a cage frame is fixedly arranged at the upper end of the chassis, an inlet is formed in the front end of the cage frame, an outlet is formed in the rear end of the cage frame, an outlet cover covers the outlet, and a plurality of front partition plates and rear partition plates with the same number are arranged in the cage frame to form a bow-shaped rolling slide way. A slope-shaped elastic soft cushion is arranged on the partition plate under a falling opening of each sliding way, a vertical guide rail mechanism is further fixedly arranged at the front end of the cage frame, a melon transporting cage is further arranged in the vertical guide rail mechanism in an up-down sliding mode, openings are formed in the front cage wall and the rear cage wall of the melon transporting cage, and a lifting mechanism used for controlling the melon transporting cage to ascend and descend is further arranged on the base plate. When the melon transporting cage ascends to the top of the vertical guide rail mechanism, the opening of the rear cage wall of the melon transporting cage is aligned with the inlet, and when the melon transporting cage descends to the lowest position, the bottom of the melon transporting cage makes contact with the ground. The watermelon picking and loading device can be combined with mechanical automation, single-person easy operation is achieved, and picking and loading work of watermelons can be efficiently completed without assistance of other people.

Description

Technical Field

[0001] The utility model relates to the field of fruit picking equipment, in particular to an automatic fruit picking device. Background Art

[0002] In traditional watermelon picking operations, pickers need to frequently bend over, lift heavy objects, and carefully carry the watermelons to the transport vehicle. This process is not only time-consuming and labor-intensive, but also often requires two or three workers to work closely together to complete. Such high-intensity physical labor for a long time is not only inefficient, but also causes considerable damage to the pickers' waists, increasing their work risks and health hazards.

[0003] Therefore, it is necessary to design a picking device for watermelons that can be combined with mechanical automation to achieve easy operation by one person and efficiently complete the picking and loading of watermelons without the assistance of others. Utility Model Content

[0004] The utility model aims to provide an automatic fruit picking device to solve the problems described in the background technology.

[0005] The technical solution of the utility model is achieved in this way:

[0006] An automatic fruit picking device comprises a movable chassis, a rectangular parallelepiped cage frame is fixedly arranged on the upper end of the chassis, an entrance is opened on the top of the cage wall at the front end of the cage frame, an exit is opened on the bottom of the cage wall at the rear end of the cage frame, a detachable cover at the exit is provided with an exit cover, a plurality of front baffles spaced up and down are fixedly arranged on the front inner cage wall below the entrance of the cage frame, a plurality of rear baffles spaced up and down are fixedly arranged on the rear inner cage wall above the exit of the cage frame, the number of the front baffles is the same as that of the rear baffles, the rear end of the front baffle is lower than the front end and a certain distance is left between the rear inner cage wall of the cage frame to form a drop opening, the front end of the rear baffle is lower than the rear end and a certain distance is left between the front inner cage wall of the cage frame A drop opening is formed by a distance between the cage frame and the melon transport cage. A front partition is first arranged in the cage frame from top to bottom, and then a rear partition is arranged. The front partition and the rear partition are arranged alternately from top to bottom. A sloped elastic cushion is also provided on the partition just below the drop opening. A vertical guide rail mechanism is also fixed to the front end of the cage frame. A melon transport cage is also provided in the vertical guide rail mechanism for sliding up and down. The front and rear cage walls of the melon transport cage are both provided with openings. A lifting mechanism for controlling the lifting of the melon transport cage is also provided on the chassis. When the melon transport cage rises to the top of the vertical guide rail mechanism, the opening of the rear cage wall of the melon transport cage is aligned with the entrance. When the melon transport cage drops to the lowest point, the bottom of the melon transport cage contacts the ground.

[0007] A further technical solution is that the chassis includes a bottom plate, front wheels are fixedly provided on the left and right sides of the bottom of the front end of the bottom plate, mounting seats are fixedly provided on the left and right sides of the rear end of the bottom plate, axles are passed through the two mounting seats for common rotation, rear wheels are fixedly provided at both ends of the axles, one of the rear wheels is a wheel with a motor hub, a battery and a controller are also provided at the upper end of the chassis, the rear wheel with the motor hub is electrically connected to the controller, the battery is electrically connected to the controller, the lifting mechanism is electrically connected to the controller, and four support rods are also provided at the upper end of the chassis, and the bottom of the cage frame is fixed on the four support rods.

[0008] A further technical solution is that the vertical guide rail mechanism includes four vertically arranged straight rods, and the four straight rods are distributed at the four corners of a virtual rectangle. A vertically arranged wheel rail is fixedly installed on each straight rod. Two pulleys are rotatably installed in each wheel rail. The pulley can only roll up and down in the wheel rail. A wheel axle is rotatably connected at the center of the pulley. The end of the wheel axle is fixedly connected to the melon transport cage. The melon transport cage is slidably installed on the four wheel rails through pulleys. The tops of the four straight rods are also commonly connected to a rope guide frame, the bottoms of the two straight rods on the left are also commonly connected to a first cross bar, and the bottoms of the two straight rods on the right are also commonly connected to another first cross bar.

[0009] A further technical solution is that the lifting mechanism includes a servo motor arranged at the upper end of the chassis, and a rope winding wheel is also provided on the output shaft of the servo motor. The lifting mechanism also includes a first rope guide ring arranged at the top of the cage frame, and a second rope guide ring arranged at the center of the rope guide frame. It also includes a pull rope, one end of the pull rope is connected to the top of the melon transport cage, and the other end of the pull rope passes through the second rope guide ring and the first rope guide ring in sequence and then is wound and connected with the rope winding wheel. The servo motor is electrically connected to the controller.

[0010] A further technical solution is that the melon transport cage includes a rectangular supporting plate arranged at the bottom, and vertical poles are respectively fixed at the four corners of the upper end of the supporting plate. The tops of the four poles are also fixedly connected by a cross top frame, the middle and top parts of the two left poles are also connected by a second cross bar, and the middle and top parts of the two right poles are also connected by a second cross bar. The pull rope is connected at the center of the cross top frame, and the axle of the pulley is fixedly connected to the second cross bar.

[0011] A further technical solution is that the upper end surface of the bearing plate is also provided with a front slope surface and a rear slope surface, the front end of the front slope surface is flush with the front end of the bearing plate, the rear end of the front slope surface is higher than the front end of the front slope surface, the front end of the rear slope surface is flush with the rear end of the front slope surface, and the rear end of the rear slope surface is lower than the front end of the rear slope surface.

[0012] A further technical solution is that the upper end surfaces of the front partition and the rear partition are respectively fixed with a plurality of deceleration bumps, which extend in the left and right directions, and the plurality of deceleration bumps on the same plate are arranged at equal intervals front and back, and the upper end surfaces of the deceleration bumps are arc-shaped surfaces.

[0013] A further technical solution is that the front wheel is a universal wheel.

[0014] A further technical solution is that a front button is also provided on the straight rod, and the front button is electrically connected to the controller for controlling the operation of the servo motor.

[0015] A further technical solution is that a rear button is also provided at the rear end of the cage frame, and the rear button is electrically connected to the controller for controlling the operation of the rear wheel.

[0016] The beneficial effects of the utility model are:

[0017] 1. High efficiency and labor saving: This solution allows pickers to easily push watermelons into the cages by foot or hand, avoiding high-intensity bending and carrying, greatly improving work efficiency and reducing the difficulty of picking.

[0018] 2. Protect the watermelon: By setting up slope-shaped elastic cushions and speed reduction bumps, the impact of the watermelon's landing can be removed to prevent the watermelon from breaking, effectively slowing down the watermelon's rolling speed and protecting the watermelon from damage during the loading process.

[0019] 3. Automatic loading and unloading: The design of the front and rear partitions forms a "bow"-shaped slideway, which can fully utilize the space and automatically stack the watermelons in an orderly manner to achieve automatic loading. At the same time, the design of the rear slope allows the watermelons to automatically roll down to the entrance of the cage frame to achieve automatic unloading and further improve efficiency.

[0020] 4. Precise control: By setting the servo motor, the number of turns and speed of the rope pulley can be effectively controlled, and the rise and fall of the melon transport cage can be accurately controlled to ensure the accuracy of loading and unloading.

[0021] 5. Convenient movement: The chassis design is anti-slip and the weight is increased to lower the center of gravity. The rear wheel is equipped with a motor and the front wheel is a universal wheel, which facilitates the movement and steering of the device and reduces the pushing resistance of the pickers.

[0022] 6. Humanized design: The control switch position is reasonably designed to facilitate the operation of the pickers. At the same time, the design of the melon transport cage also takes into account the needs of smooth loading of watermelons and preventing them from falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 This is a top view of the structure of the rope guide frame;

[0025] Figure 3 It is a top view schematic diagram of the coordination between the vertical guide rail mechanism and the melon transport cage.

[0026] In the figure, 1, base plate, 2, front wheel, 3, rear wheel, 4, mounting seat, 5, axle, 6, battery, 7, servo motor, 8, rope wheel, 9, support rod, 10, controller, 11, pull rope, 12, first guide rope ring, 13, guide rope frame, 1301, second guide rope ring, 14, cage frame, 15, front partition, 16, rear partition, 17, drop mouth, 18, exit, 19, exit cover, 20, elastic cushion, 21, speed reduction bump, 22, opening, 23, entrance, 24, straight rod, 25, wheel track, 26, pulley, 2601, wheel axle, 27, melon transport cage, 28, load-bearing plate, 29, vertical rod, 30, first cross bar, 31, cross top frame, 32, second cross bar. DETAILED DESCRIPTION

[0027] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0028] See also Figures 1 to 3 The invention discloses an automatic fruit picking device, comprising a movable chassis, a rectangular parallelepiped cage frame 14 is fixedly arranged on the upper end of the chassis, an inlet 23 is provided on the top of the cage wall at the front end of the cage frame 14, an outlet 18 is provided on the bottom of the cage wall at the rear end of the cage frame 14, and a detachable cover 19 is provided at the outlet 18. The cage frame 14 can be a closed frame, or a rectangular parallelepiped frame formed by welding a long straight square tube, and the six faces of the cage frame 14 are all bar grille faces to prevent the watermelon from leaking out, while also reducing the weight. Two front partitions 15 with vertical spacing are fixedly arranged on the front inner wall below the entrance 23 of the cage frame 14, and two rear partitions 16 with vertical spacing are fixedly arranged on the rear inner wall above the exit 18 of the cage frame 14. The number of the front partitions 15 and the rear partitions 16 is the same. The rear end of the front partition 15 is lower than the front end and a certain distance is left between the cage wall at the rear end of the cage frame 14 to form a drop-off opening 17. The front partition 15 is first arranged in the cage frame 14 from top to bottom, and then the rear partition 16 is arranged. The front partition 15 and the rear partition 16 are arranged alternately from top to bottom. A slope-shaped elastic cushion 20 is also arranged on the partition just below the drop-off opening 17. A vertical guide rail mechanism is also fixedly arranged at the front end of the cage frame 14, and a melon transport cage 27 is also slidably arranged in the vertical guide rail mechanism, and the front and rear cage walls of the melon transport cage 27 are both provided with openings 22. The chassis is also provided with a lifting mechanism for controlling the lifting of the melon transport cage 27. When the melon transport cage 27 rises to the top of the vertical guide rail mechanism, the opening 22 of the rear cage wall of the melon transport cage 27 is aligned with the entrance 23. When the melon transport cage 27 drops to the lowest point, the bottom of the melon transport cage 27 contacts the bottom surface.

[0029] When using the above scheme, the device is moved to the side of the watermelon, and the watermelon transport cage 27 is lowered to the ground through the lifting mechanism, and then the watermelon is pushed into the watermelon transport cage 27 from the front opening 22 of the watermelon transport cage 27, and the lifting mechanism is started to raise the watermelon transport cage 27 to the highest point. At this time, the rear cage wall opening 22 of the watermelon transport cage 27 is aligned with the entrance 23, and enters the cage frame 14, and rolls down to the bottom of the cage frame 14 along with the front partition 15 and the rear partition 16, and then the watermelon transport cage 27 is lowered again through the lifting mechanism. Reciprocating in sequence, the pickers can easily transport the watermelons to the cage frame 14 by pushing with their feet or hands, and the watermelons are gradually stacked in the cage frame 14 from bottom to top. When the cage frame 14 is full, the device is moved to the side of the conveyor belt, and the outlet cover 19 is opened, and the watermelons roll down from the outlet 18 to the conveyor belt in sequence, avoiding the high-intensity bending and carrying of the pickers. One person can easily complete the picking and loading of watermelons.

[0030] By providing the slope-shaped elastic cushion 20, when the watermelon rolls down along the front partition 15 or the rear partition 16 to the drop opening 17, the impact force of the watermelon falling is relieved, thereby preventing the watermelon from breaking.

[0031] By providing the front partition 15 and the rear partition 16, the interior of the cage frame 14 is divided into a "bow"-shaped slideway, which not only fully utilizes the space, but also enables the watermelons to be automatically stacked in an orderly manner to achieve automatic loading.

[0032] Preferably, the chassis includes a bottom plate 1, front wheels 2 are fixedly arranged on the left and right sides of the bottom of the front end of the bottom plate 1, mounting seats 4 are fixedly arranged on the left and right sides of the rear end of the bottom plate 1, axles 5 are rotatably passed through the two mounting seats 4, and rear wheels 3 are fixedly arranged at both ends of the axles 5, one of the rear wheels 3 is a wheel with a motor hub. A battery 6 and a controller 10 are also arranged at the upper end of the chassis, and the controller 10 adopts an STM32 single-chip microcomputer or a SMART200PLC controller 10, the rear wheel 3 with a motor hub is electrically connected to the controller 10, the battery 6 is electrically connected to the controller 10, and the lifting mechanism is electrically connected to the controller 10. Four support rods 9 are also arranged at the upper end of the chassis, and the bottom of the cage frame 14 is fixedly arranged on the four support rods 9.

[0033] When the above solution is used, the installation of the battery 6, the controller 10, etc. on the chassis can increase the weight of the chassis and reduce the overall center of gravity of the device. When the device needs to be moved, the controller 10 controls the rear wheel 3 with a motor wheel to rotate, which can reduce the pushing resistance of the pickers, improve work efficiency and reduce the difficulty of picking.

[0034] Preferably, the vertical guide rail mechanism includes four vertically arranged straight rods 24, and the four straight rods 24 are distributed at the four corners of a virtual rectangle. A vertically arranged wheel rail 25 is also fixedly installed on each straight rod 24, and two pulleys 26 are rotatably installed in each wheel rail 25. The pulley 26 can only roll up and down in the wheel rail 25. A wheel axle 2601 is rotatably connected at the center of the pulley 26, and the end of the wheel axle 2601 is fixedly connected to the melon transport cage 27. The melon transport cage 27 is slidably installed on the four wheel rails 25 through the pulley 26. The tops of the four straight rods 24 are also commonly connected to the guide rope frame 13, the bottoms of the two left straight rods 24 are also commonly connected to a first cross bar 30, and the bottoms of the two right straight rods 24 are also commonly connected to another first cross bar 30.

[0035] When the above scheme is used, an open rectangular parallelepiped frame is formed by arranging four straight rods 24, two first cross rods 30 and the top rope guide frame 13, and then the wheel rails 25 and the pulleys 26 are arranged on the four straight rods 24 of the rectangular parallelepiped frame, so that the melon transport cage 27 is easily slidably connected inside the rectangular parallelepiped frame by the pulleys 26. When it is necessary to push the watermelon into the melon transport cage 27, the melon transport cage 27 slides along the wheel rails 25 until the bottom of the melon transport cage 27 touches the ground, and there is no obstacle in front of the four straight rods 24, so the watermelon can easily pass through the four straight rods 24 and enter the melon transport cage 27.

[0036] Preferably, the lifting mechanism includes a servo motor 7 arranged at the upper end of the chassis, and a rope winding wheel 8 is also provided on the output shaft of the servo motor 7. The lifting mechanism also includes a first guide rope ring 12 arranged at the top of the cage frame 14, and also includes a second guide rope ring 1301 arranged at the center of the rope guide frame 13, and also includes a pull rope 11, one end of the pull rope 11 is connected to the top of the melon transport cage 27, and the other end of the pull rope 11 passes through the second guide rope ring 1301 and the first guide rope ring 12 in sequence and then is wound and connected with the rope winding wheel 8, and the servo motor 7 is electrically connected to the controller 10.

[0037] When the above solution is used, the controller 10 controls the servo motor 7 to rotate forward, the rope reel 8 collects the rope, and the pull rope 11 and a series of guides pull the melon transport cage 27 upward. The controller 10 controls the servo motor 7 to rotate reversely, the rope reel 8 releases the rope, and the melon transport cage 27 automatically descends under the action of gravity. By setting the servo motor 7, the number of rotations and the rotation speed of the rope reel 8 can be effectively controlled, and the precise control of the rise and fall of the melon transport cage 27 can be achieved.

[0038] Preferably, the melon transport cage 27 includes a rectangular supporting plate 28 arranged at the bottom, and vertical poles 29 are respectively fixed at the four corners of the upper end of the supporting plate 28. The tops of the four vertical poles 29 are also fixedly connected by a cross top frame 31, the middle and top parts of the two vertical poles 29 on the left are also connected by a second cross bar 32, and the middle and top parts of the two vertical poles 29 on the right are also connected by a second cross bar 32. The pull rope 11 is connected at the center of the cross top frame 31, and the axle 2601 of the pulley 26 is fixedly connected to the second cross bar 32.

[0039] When the above solution is used, the watermelon transport cage 27 forms a rectangular frame, and the left and right sides are intercepted by the second cross bar 32 to prevent the watermelon from falling from the left and right sides. At the same time, the second cross bar 32 is also used to connect the pulley 26.

[0040] Preferably, the upper end surface of the bearing plate 28 is also provided with a front slope surface and a rear slope surface, the front end of the front slope surface is flush with the front end of the bearing plate 28, the rear end of the front slope surface is higher than the front end of the front slope surface, the front end of the rear slope surface is flush with the rear end of the front slope surface, and the rear end of the rear slope surface is lower than the front end of the rear slope surface.

[0041] When the above scheme is used, by setting the front slope and the rear slope, after the watermelon is pushed into the watermelon transport cage 27, it can follow the rear slope to press against the front cage wall of the cage frame 14 to prevent the watermelon from sliding from the front end. When the watermelon reaches the highest point, the rear slope also allows the watermelon to automatically roll into the entrance 23 of the cage frame 14, thereby realizing automatic unloading.

[0042] Preferably, the upper end surfaces of the front baffle 15 and the rear baffle 16 are also fixed with a plurality of deceleration bumps 21, respectively. The deceleration bumps 21 extend in the left-right direction. The plurality of deceleration bumps 21 on the same plate are arranged at equal intervals front to back, and the upper end surfaces of the deceleration bumps 21 are arc-shaped surfaces.

[0043] When the above solution is used, by providing the deceleration ridge 21, the rolling speed of the watermelon can be effectively slowed down, thereby reducing the impact force when the watermelon slides down.

[0044] Preferably, the front wheel 2 is a universal wheel.

[0045] When the above solution is used, the front wheel 2 is a universal wheel, which facilitates the steering of the device.

[0046] Preferably, a front button is also provided on the straight rod 24 , and the front button is electrically connected to the controller 10 for controlling the operation of the servo motor 7 .

[0047] When the above solution is used, by arranging the switch for controlling the servo motor 7 on the straight rod 24 at the front end, it is more convenient for the picking personnel to operate.

[0048] Preferably, a rear button is further provided at the rear end of the cage frame 14 , and the rear button is electrically connected to the controller 10 for controlling the operation of the rear wheel 3 .

[0049] When the above solution is used, by arranging the switch for controlling the rear wheel 3 at the rear end of the cage frame 14, it is more convenient for the picking personnel to operate.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic fruit picking device, characterized in that: The invention comprises a movable chassis, a rectangular parallelepiped cage frame is fixedly arranged on the upper end of the chassis, an entrance is opened on the top of the cage wall at the front end of the cage frame, an exit is opened on the bottom of the cage wall at the rear end of the cage frame, and a detachable cover at the exit is provided with an exit cover, a plurality of front partitions spaced up and down are fixedly arranged on the front inner cage wall below the entrance of the cage frame, a plurality of rear partitions spaced up and down are fixedly arranged on the rear inner cage wall above the exit of the cage frame, the number of the front partitions is the same as that of the rear partitions, the rear end of the front partition is lower than the front end and a certain distance is left between the rear inner cage wall of the cage frame to form a drop opening, the front end of the rear partition is lower than the rear end and a certain distance is left between the front inner cage wall of the cage frame to form a drop opening, and the front end of the rear partition is lower than the rear end and a certain distance is left between the front inner cage wall of the cage frame to form a drop opening. A mouth, a front partition is first arranged in the cage frame from top to bottom, and then a rear partition is arranged, the front partition and the rear partition are arranged alternately from top to bottom, a sloped elastic cushion is also provided on the partition just below the drop mouth, a vertical guide rail mechanism is fixed to the front end of the cage frame, a melon transport cage is also slid up and down in the vertical guide rail mechanism, the front and rear cage walls of the melon transport cage are both provided with openings, a lifting mechanism for controlling the lifting of the melon transport cage is also provided on the chassis, when the melon transport cage rises to the top of the vertical guide rail mechanism, the opening of the rear cage wall of the melon transport cage is aligned with the entrance, and when the melon transport cage drops to the lowest point, the bottom of the melon transport cage contacts the ground.

2. The automatic fruit picking device according to claim 1, characterized in that: The chassis includes a bottom plate, front wheels are fixedly arranged on the left and right sides of the bottom of the front end of the bottom plate, mounting seats are fixedly arranged on the left and right sides of the rear end of the bottom plate, axles are passed through the two mounting seats for common rotation, rear wheels are fixedly arranged at both ends of the axles, one of the rear wheels is a wheel with a motor hub, a battery and a controller are also provided at the upper end of the chassis, the rear wheel with the motor hub is electrically connected to the controller, the battery is electrically connected to the controller, the lifting mechanism is electrically connected to the controller, four support rods are also provided at the upper end of the chassis, and the bottom of the cage frame is fixedly arranged on the four support rods.

3. The automatic fruit picking device according to claim 2, characterized in that: The vertical guide rail mechanism includes four vertically arranged straight rods, which are distributed at the four corners of a virtual rectangle. A vertically arranged wheel rail is fixedly installed on each straight rod. Two pulleys are rotatably installed in each wheel rail. The pulley can only roll up and down in the wheel rail. A wheel axle is rotatably connected at the center of the pulley. The end of the wheel axle is fixedly connected to the melon transport cage. The melon transport cage is slidably installed on the four wheel rails through the pulleys. The tops of the four straight rods are also commonly connected to a rope guide frame, the bottoms of the two straight rods on the left are also commonly connected to a first cross bar, and the bottoms of the two straight rods on the right are also commonly connected to another first cross bar.

4. The automatic fruit picking device according to claim 3, characterized in that: The lifting mechanism includes a servo motor arranged at the upper end of the chassis, and a rope winding wheel is also provided on the output shaft of the servo motor. The lifting mechanism also includes a first guide rope ring arranged at the top of the cage frame, a second guide rope ring arranged at the center of the rope guide frame, and a pull rope, one end of the pull rope is connected to the top of the melon transport cage, and the other end of the pull rope passes through the second guide rope ring and the first guide rope ring in sequence and is wound and connected with the rope winding wheel. The servo motor is electrically connected to the controller.

5. The automatic fruit picking device according to claim 4, characterized in that: The melon transport cage includes a rectangular supporting plate arranged at the bottom, and vertical poles are respectively fixed at the four corners of the upper end of the supporting plate. The tops of the four poles are also fixedly connected by a cross top frame, the middle and top parts of the two left poles are also connected by a second cross bar, and the middle and top parts of the two right poles are also connected by a second cross bar. The pull rope is connected at the center of the cross top frame, and the axle of the pulley is fixedly connected to the second cross bar.

6. The automatic fruit picking device according to claim 5, characterized in that: The upper end surface of the bearing plate is also provided with a front slope surface and a rear slope surface, the front end of the front slope surface is flush with the front end of the bearing plate, the rear end of the front slope surface is higher than the front end of the front slope surface, the front end of the rear slope surface is flush with the rear end of the front slope surface, and the rear end of the rear slope surface is lower than the front end of the rear slope surface.

7. The automatic fruit picking device according to claim 6, characterized in that: The upper end surfaces of the front baffle and the rear baffle are respectively fixed with a plurality of deceleration bumps, which extend in the left-right direction. The plurality of deceleration bumps on the same plate are arranged at equal intervals front and back, and the upper end surfaces of the deceleration bumps are arc-shaped surfaces.

8. The automatic fruit picking device according to claim 7, characterized in that: The front wheel is a universal wheel.

9. The automatic fruit picking device according to claim 8, characterized in that: The straight rod is also provided with a front button, which is electrically connected to the controller for controlling the operation of the servo motor.

10. The automatic fruit picking device according to claim 9, characterized in that: A rear button is also provided at the rear end of the cage frame, and the rear button is electrically connected to the controller for controlling the operation of the rear wheel.

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