Pepper picking device

Abstract

The utility model discloses a pepper picking device which comprises a machine frame set, a moving set, a picking set, a conveying set, a collecting set and a control unit, the automatic advancing function of the whole picking device is achieved through the arrangement of a first moving assembly, and the automatic advancing function of the whole picking device is achieved through the arrangement of a second moving assembly. Height adjustment of the movable frame relative to the chassis frame in the vertical direction is achieved, namely, the harvesting requirements of different pepper crops are met, further, the third moving assembly can drive the first picking assembly and the second picking assembly to move in the face-to-face or back-to-back mode, the harvesting requirements of the pepper crops with different line spacing are met, and the harvesting efficiency is improved. According to the technical scheme, the machine frame set is divided into the chassis frame and the movable frame, the picking device can achieve automatic adjustment of different heights and different line spacings, can move autonomously, achieves full-automatic harvesting of hot peppers, improves harvesting efficiency and reduces labor cost.

Description

Technical Field

[0001] The utility model relates to the field of pepper picking, in particular to a pepper picking device. Background Art

[0002] At present, except for some areas in my country where mechanized harvesting of peppers has been achieved, peppers in other areas are mainly harvested manually. In addition, due to the slight differences in the row spacing of peppers in different regions, when two or more rows of peppers are harvested in pairs, the change in row spacing will lead to a lower pepper picking rate, and the harvest of peppers planted in small plots faces the dilemma of "no organic use". Manual pepper picking is costly and inefficient, and it is easy to delay the best picking period of peppers and affect the quality of peppers.

[0003] The existing publication number CN 116420506 A, "A pepper picking mechanism with adjustable row spacing and a small hand-held pepper harvester", provides a pepper picking mechanism with adjustable row spacing and uses a hand-held method to achieve a semi-automatic pepper harvesting function. However, this technical solution has the following problems: the row spacing needs to be manually disassembled and adjusted, which is inconvenient to use. Utility Model Content

[0004] In view of this, the purpose of the utility model is to provide a pepper picking device.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the utility model is:

[0006] A pepper picking device comprises a frame group, a moving group, a picking group, a conveying group, a collecting group and a control unit, wherein the frame group comprises a chassis frame and a movable frame, the movable frame is arranged on the chassis frame and can move up and down relative to the chassis frame; the movable group comprises a first moving assembly, a second moving assembly and a third moving assembly, the first moving assembly comprises a first driving unit and a plurality of rollers, the first driving unit is arranged on the chassis frame, the rollers are arranged at the bottom of the chassis frame and can rotate relative to the chassis frame, the first driving unit is connected in a transmission manner with the plurality of rollers to drive the majority of rollers to drive the picking device to move, the second moving assembly comprises a second driving unit and a first slide rail assembly, the first slide rail assembly is laid on the chassis frame in a vertical direction, the output end of the second driving unit is connected with the movable frame to drive the movable frame to move up and down relative to the chassis frame, the third moving assembly comprises a third driving unit, a second slide rail assembly and a third slide rail assembly, the output end of the third driving unit is connected in a transmission manner with the second slide rail assembly and the third slide rail assembly to drive the second slide rail assembly and the third slide rail assembly to move toward or away from each other in the left and right directions;

[0007] The picking group includes a first receiving frame, a first picking component, a second receiving frame and a second picking component, the first picking component is arranged on the first receiving frame, the second picking component is arranged on the second receiving frame, the first picking component and the second picking component are arranged opposite to each other, the first receiving frame is connected to the movable frame through the second slide rail group, the second receiving frame is connected to the movable frame through the third slide rail group, and the first picking component and the second picking component are used for picking peppers; the conveying group includes a first conveying component and a second conveying component arranged on the movable frame, the first conveying component includes a first conveyor belt, the first conveyor belt extends from the front of the rack group to the rear of the rack group, and a part of the first conveyor belt is placed within the projection range of the first picking component in the vertical direction, the second conveying component includes a second conveyor belt, the second conveyor belt extends from the front of the rack group to the rear of the rack group, and a part of the second conveyor belt is placed within the projection range of the second picking component in the vertical direction;

[0008] The collecting group includes a first collecting component and a second collecting component which are arranged on the movable frame, the first collecting component includes a first collecting frame and a fourth slide rail group, the first collecting frame is movably connected to the movable frame through the fourth slide rail group, and the first collecting frame is placed at the end of the first conveyor belt facing the rear of the rack group, the second collecting component includes a second collecting frame and a fifth slide rail group, the second collecting frame is movably connected to the movable frame through the fifth slide rail group, and the second collecting frame is placed at the end of the second conveyor belt facing the rear of the rack group; the control unit is electrically connected to the first driving unit, the second driving unit, the third driving unit, the first picking component, the second picking component, the first conveying component, and the second conveying component.

[0009] In some embodiments, the first picking assembly includes a fourth driving unit, a first roller and a first picking barrel, the fourth driving unit is arranged on the first receiving frame; the first roller is arranged on the first receiving frame in a vertical direction, and the first roller is transmission-connected with the fourth driving unit; the first picking barrel is sleeved on the first roller, the first picking barrel and the first roller are kept relatively fixed, and the first picking barrel is used for picking peppers;

[0010] The second picking component includes a fifth driving unit, a second roller and a second picking barrel. The fifth driving unit is arranged on the second receiving frame. The second roller is arranged on the second receiving frame along the vertical direction. The second roller is transmission-connected to the fifth driving unit. The second picking barrel is sleeved on the second roller. The second picking barrel and the second roller remain relatively fixed. The second picking barrel is used for picking peppers.

[0011] In some embodiments, the first picking assembly further includes a third roller and a third picking barrel. The third roller is arranged on the first receiving frame along the vertical direction and is arranged in sequence with the first roller along the front-rear direction. The first roller is transmission-connected to the third roller. The third picking barrel is sleeved on the third roller. The third picking barrel and the third roller are relatively fixed. The third picking barrel is used to pick peppers.

[0012] The second picking component also includes a fourth roller and a fourth picking barrel. The fourth roller is arranged on the second receiving frame in the vertical direction, and is arranged sequentially with the second roller in the front-to-back direction. The second roller is transmission-connected to the fourth roller. The fourth picking barrel is sleeved on the fourth roller, and the fourth picking barrel and the fourth roller remain relatively fixed. The fourth picking barrel is used for picking peppers.

[0013] In some embodiments, the first picking barrel includes two first fixed frames arranged opposite to each other in the vertical direction, and the first picking barrel also includes a plurality of first cutting strips, each of which is provided with a plurality of first cutting teeth spaced apart in the vertical direction, the plurality of first cutting strips are arranged between the two first fixed frames and along the circumference of the two first fixed frames, and the blades of the first cutting teeth on the plurality of first cutting strips face the same direction and are consistent with the rotation direction of the first roller;

[0014] And / or, the second picking barrel includes two second fixed frames arranged opposite to each other in the vertical direction, and the second picking barrel also includes a plurality of second cutting strips, each of the second cutting strips is provided with a plurality of second cutting teeth spaced apart in the vertical direction, the plurality of second cutting strips are arranged between the two second fixed frames and along the circumference of the two second fixed frames, and the blades of the second cutting teeth on the plurality of second cutting strips face the same direction and are consistent with the rotation direction of the second roller;

[0015] And / or, the third picking barrel includes two third fixed frames arranged opposite to each other in the vertical direction, and the third picking barrel also includes a plurality of third cutting strips, each of the third cutting strips is provided with a plurality of third cutting teeth spaced apart in the vertical direction, the plurality of third cutting strips are arranged between the two third fixed frames and along the circumference of the two third fixed frames, and the blades of the third cutting teeth on the plurality of third cutting strips face the same direction and are consistent with the rotation direction of the third roller;

[0016] And / or, the fourth picking barrel includes two fourth fixed frames arranged opposite to each other in the vertical direction, and the fourth picking barrel also includes a plurality of fourth cutting strips, each fourth cutting strip is provided with a plurality of fourth cutting teeth spaced apart in the vertical direction, the plurality of fourth cutting strips are arranged between the two fourth fixed frames and along the circumference of the two fourth fixed frames, the blades of the fourth cutting teeth on the plurality of fourth cutting strips face the same direction and are consistent with the rotation direction of the fourth roller.

[0017] In some embodiments, the first picking barrel includes a first body and a plurality of first comb teeth, the first body is cylindrical, and the plurality of first comb teeth are distributed on the outer surface of the first body in a first preset manner; and / or, the second picking barrel includes a second body and a plurality of second comb teeth, the second body is cylindrical, and the plurality of second comb teeth are distributed on the outer surface of the second body in a second preset manner; and / or, the third picking barrel includes a third body and a plurality of third comb teeth, the third body is cylindrical, and the plurality of third comb teeth are distributed on the outer surface of the third body in a third preset manner; and / or, the fourth picking barrel includes a fourth body and a plurality of fourth comb teeth, the fourth body is cylindrical, and the plurality of fourth comb teeth are distributed on the outer surface of the fourth body in a fourth preset manner.

[0018] In some embodiments, the first collection assembly includes a first guide plate and a first fan, the first guide plate is arranged on the movable frame and is arranged at the end of the first conveyor belt facing the rear of the rack group, the first guide plate has a first side and a second side, the first side is higher in the vertical direction than the second side, the first side is arranged close to the first conveyor belt, and the projection of the second side in the vertical direction is placed in the collection area of ​​the first collection frame; the first fan is arranged at the bottom of the first guide plate, and the air outlet of the first fan is arranged toward the second side, so as to blow away the blades;

[0019] The second collecting assembly also includes a second guide plate and a second fan. The second guide plate is arranged on the movable frame and at the end of the second conveyor belt facing the rear of the rack group. The second guide plate has a third side and a fourth side. The third side is higher in the vertical direction than the fourth side. The third side is arranged close to the second conveyor belt, and the projection of the fourth side in the vertical direction is placed in the collecting area of ​​the second collecting frame. The second fan is arranged at the bottom of the second guide plate, and the air outlet of the second fan is arranged toward the fourth side for blowing away the blades.

[0020] In some embodiments, the first conveyor belt has a first input end and a first output end, the first conveyor belt also includes a first conveying part and a second conveying part, the first conveying part and the second conveying part are arranged adjacent to each other from front to back, the second conveying part is arranged at an angle to the horizontal plane, the first input end is arranged at the suspended end of the first conveying part, the first output end is arranged at the suspended end of the second conveying part, the projection of the first output end in the vertical direction is placed in the collection area of ​​the first collection frame, the first conveying assembly includes a sixth driving unit, a first driving shaft, a first folding shaft and a first driven shaft, the sixth driving unit is arranged on the movable frame; the first driving shaft is arranged on the movable frame, and is transmission-connected with the output end of the sixth driving unit, the first driving shaft is sleeved with two first driving wheels, and the first output end is sleeved on the first driving wheel; the first folding shaft is arranged on the movable frame, the first folding shaft is sleeved with two first folding wheels, and the first folding wheel is arranged at the connection between the first conveying part and the second conveying part; the first driven shaft is arranged on the movable frame, the first driven shaft is sleeved with two first driven wheels, and the first input end is sleeved on the first driven wheel;

[0021] The second conveyor belt has a second input end and a second output end, and the second conveyor belt also includes a third conveying part and a fourth conveying part. The third conveying part and the fourth conveying part are adjacently arranged from front to back, and the fourth conveying part is arranged at an angle to the horizontal plane. The second input end is arranged at the suspended end of the third conveying part, and the second output end is arranged at the suspended end of the fourth conveying part. The projection of the second output end in the vertical direction is placed in the collection area of ​​the second collection frame. The second conveying assembly includes a seventh driving unit, a second driving shaft, a second folding shaft and a second driven shaft. The seventh driving unit is arranged on the movable frame; the second driving shaft is arranged on the movable frame and is transmission-connected with the output end of the seventh driving unit, two second driving wheels are sleeved on the second driving shaft, and the second output end is sleeved on the second driving wheel; the second folding shaft is arranged on the movable frame, two second folding wheels are sleeved on the second folding shaft, and the second folding wheel is arranged at the connection between the third conveying part and the fourth conveying part; the second driven shaft is arranged on the movable frame, two second driven wheels are sleeved on the second driven shaft, and the second input end is sleeved on the second driven wheel.

[0022] In some embodiments, the chassis frame includes a first movable part and a second movable part, the first movable part and the second movable part are arranged opposite to each other, the number of rollers is four, two rollers are arranged on the first movable part, and two rollers are arranged on the second movable part; the number of first drive units is four, and each first drive unit is connected to a roller in a transmission manner.

[0023] In some embodiments, the chassis frame also includes a first support portion and a second support portion, the first support portion is arranged between the first movable portion and the second movable portion, the second support portion is arranged between the first movable portion and the second movable portion, the first support portion and the second support portion are spaced from front to back, and the movable frame is arranged between the first support portion and the second support portion; the number of first slide rail groups is four, two of which are respectively arranged at both ends of the first support portion, and the other two first slide rail groups are respectively arranged at both ends of the second support portion, the number of second drive units is four, and each second drive unit is transmission-connected to a first slide rail group.

[0024] In some embodiments, there are two second slide rail groups, which are arranged at both ends of the first supporting frame along the front-to-back direction; there are two third slide rail groups, which are arranged at both ends of the second supporting frame along the front-to-back direction; there are two third drive units, which are arranged between the second slide rail group and the third slide rail group on the same side.

[0025] By adopting the above technical solution, the utility model has the following beneficial effects compared with the prior art:

[0026] The picking device includes a frame group, a moving group, a picking group, a conveying group, a collecting group and a control unit. By setting the first moving component, the automatic forward function of the entire picking device is realized. By setting the second moving component, the height adjustment of the movable frame relative to the chassis frame in the vertical direction is realized, that is, different harvesting needs of pepper crops are met. Furthermore, the third moving component can drive the first picking component and the second picking component to move toward or away from each other to achieve the harvesting needs of pepper crops with different row spacings. By splitting the frame group into a chassis frame and a movable frame, the picking device shown in the technical solution can realize automatic adjustment of different heights and row spacings, and can move autonomously to achieve fully automatic harvesting of peppers, improve harvesting efficiency, and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a first schematic diagram of the pepper picking device according to a specific embodiment;

[0029] Figure 2 is a partial schematic diagram of the first picking component of a specific implementation method;

[0030] Figure 3 is a schematic diagram of the first picking barrel of a specific embodiment;

[0031] Figure 4 is a partial schematic diagram of the first conveying assembly of a specific implementation mode;

[0032] Figure 5 is a third schematic diagram of the pepper picking device according to the specific implementation mode;

[0033] Figure 6 is a fourth schematic diagram of the pepper picking device according to the specific implementation mode;

[0034] Figure 7 is a fifth schematic diagram of the pepper picking device according to the specific implementation mode;

[0035] Figure 8 It is the fifth schematic diagram of the pepper picking device described in the specific implementation method.

[0036] Reference numerals:

[0037] 1. Rack group;

[0038] 11. Chassis frame;

[0039] 111. first moving part;

[0040] 112. second moving part;

[0041] 113. A first supporting portion;

[0042] 114. A second supporting portion;

[0043] 12. Movable rack;

[0044] 2. Mobile group;

[0045] 21. A first moving component;

[0046] 211. A first driving unit;

[0047] 212, roller;

[0048] 22. A second mobile assembly;

[0049] 221. Second driving unit;

[0050] 222, first slide rail assembly;

[0051] 23. The third mobile component;

[0052] 231, third driving unit;

[0053] 232, second slide rail set;

[0054] 233, third slide rail set;

[0055] 3. Picking group;

[0056] 31. A first picking component;

[0057] 311, fourth driving unit;

[0058] 312, first roller;

[0059] 313, first picking tube;

[0060] 314, the third roller;

[0061] 315, the third picking tube;

[0062] 316, first fixed frame;

[0063] 317, first cutting strip;

[0064] 318, first cutting tooth;

[0065] 32. A second picking component;

[0066] 321, fifth drive unit;

[0067] 322, second roller;

[0068] 323, second picking tube;

[0069] 324, the fourth roller;

[0070] 325, fourth picking tube;

[0071] 33. The first receiving frame;

[0072] 34. The second receiving frame;

[0073] 4. Conveying group;

[0074] 41. A first conveying assembly;

[0075] 411, first conveying unit;

[0076] 412, second conveying unit;

[0077] 413, first driving shaft;

[0078] 414, first folding axis;

[0079] 415, first driven shaft;

[0080] 42. A second conveying assembly;

[0081] 5. Collection team;

[0082] 51. A first collection component;

[0083] 511, first collection frame;

[0084] 512, first guide plate;

[0085] 513, first fan;

[0086] 52. Second collection component. DETAILED DESCRIPTION

[0087] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is particularly noted that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only partial embodiments of the present invention rather than all embodiments. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0088] See also Figures 1 to 8 The present embodiment provides a pepper picking device, including a frame group 1, a moving group 2, a picking group 3, a conveying group 4, a collecting group 5 and a control unit. The frame group 1 includes a chassis frame 11 and a movable frame 12. The movable frame 12 is arranged on the chassis frame 11 and can move up and down relative to the chassis frame 11; the moving group 2 includes a first moving component 21, a second moving component 22 and a third moving component 23. The first moving component 21 includes a first driving unit 211 and a plurality of rollers 212. The first driving unit 211 is arranged on the chassis frame 11, and the rollers 212 are arranged at the bottom of the chassis frame 11 and can rotate relative to the chassis frame 11. The first driving unit 211 and the plurality of rollers 212 The second moving assembly 22 includes a second driving unit 221 and a first slide rail group 222. The first slide rail group 222 is laid on the chassis frame 11 in the vertical direction. The output end of the second driving unit 221 is connected to the movable frame 12 to drive the movable frame 12 to move up and down relative to the chassis frame 11. The third moving assembly 23 includes a third driving unit 231, a second slide rail group 232 and a third slide rail group 233. The output end of the third driving unit 231 is connected to the second slide rail group 232 and the third slide rail group 233 to drive the second slide rail group 232 and the third slide rail group 233 to move toward or away from each other in the left and right directions.

[0089] The picking group 3 includes a first receiving frame 33, a first picking component 31, a second receiving frame 34 and a second picking component 32. The first picking component 31 is arranged on the first receiving frame 33, and the second picking component 32 is arranged on the second receiving frame 34. The first picking component 31 and the second picking component 32 are arranged opposite to each other. The first receiving frame 33 is connected to the movable frame 12 through the second slide rail group 232, and the second receiving frame 34 is connected to the movable frame 12 through the third slide rail group 233. The first picking component 31 and the second picking component 32 are used to pick spicy The conveying group 4 includes a first conveying assembly 41 and a second conveying assembly 42 arranged on the movable frame 12, the first conveying assembly 41 includes a first conveyor belt, the first conveyor belt extends from the front of the rack group 1 to the rear of the rack group 1, and part of the first conveyor belt is placed within the projection range of the first picking assembly 31 in the vertical direction, and the second conveying assembly 42 includes a second conveyor belt, the second conveyor belt extends from the front of the rack group 1 to the rear of the rack group 1, and part of the second conveyor belt is placed within the projection range of the second picking assembly 32 in the vertical direction;

[0090] The collecting group 5 includes a first collecting component 51 and a second collecting component 52 which are arranged on the movable frame 12. The first collecting component 51 includes a first collecting frame 511 and a fourth slide rail group. The first collecting frame 511 is movably connected to the movable frame 12 through the fourth slide rail group. The first collecting frame 511 is placed at the end of the first conveyor belt facing the rear of the rack group 1. The second collecting component 52 includes a second collecting frame and a fifth slide rail group. The second collecting frame is movably connected to the movable frame 12 through the fifth slide rail group. The second collecting frame is placed at the end of the second conveyor belt facing the rear of the rack group 1. The control unit is electrically connected to the first driving unit 211, the second driving unit 221, the third driving unit 231, the first picking component 31, the second picking component 32, the first conveying component 41, and the second conveying component 42.

[0091] In this embodiment, the frame group 1 includes a chassis frame 11 and a movable frame 12. The frame group 1 can be made of aluminum alloy profiles, or can be made of steel, alloy steel, lean pipes, PVC pipes and other materials. Considering the production cost and the strength requirements of the device, the frame group 1 is preferably built with aluminum alloy profiles. Among them, the movable frame 12 can move up and down relative to the chassis frame 11 to achieve height adjustment of the picking group 3 on the movable frame 12 to adapt to pepper crops of different heights. The chassis frame 11 is used to fix the first moving component 21, so that the entire picking device can move forward and backward through the first moving component 21 to meet the picking needs of peppers in different fields.

[0092] For details, please refer to Figure 6In some embodiments, the chassis frame 11 includes a first movable part 111 and a second movable part 112, the first movable part 111 and the second movable part 112 are arranged opposite to each other, the number of rollers 212 is four, two rollers 212 are arranged on the first movable part 111, and two rollers 212 are arranged on the second movable part 112; the number of first driving units 211 is four, and each first driving unit 211 is transmission connected to a roller 212. It can be understood that the forward direction of the picking device is recorded as the front, and the backward direction of the picking device is recorded as the rear. The first moving part 111 and the second moving part 112 are distributed on the left and right sides of the picking device. The first moving part 111 and the second moving part 112 can be integrally formed. The difference between the two is that the first moving part 111 and the second moving part 112 refer to different positions on the chassis frame 11. The first moving part 111 is provided with two rollers 212, and the second moving part 112 is provided with two rollers 212. Preferably, the rollers 212 on both sides correspond to each other, that is, Figure 6 As shown, a roller 212 on the first mobile part 111 and a roller 212 on the second mobile part 112 are placed on the same reference line, and another roller 212 on the first mobile part 111 and another roller 212 on the second mobile part 112 are placed on the same reference line, with reference to the tire distribution of a car. In some embodiments, the number of the first drive unit 211 can be one, and the transmission connection with multiple rollers 212 is realized through a gear set or a synchronous belt. Preferably, in this embodiment, the number of the first drive unit 211 is four, and each first drive unit 211 is connected to the rotating shaft of a roller 212 through a coupling. The roller 212 can use different types of tires according to actual needs.

[0093] Furthermore, the movable connection between the movable frame 12 and the chassis frame 11 is realized by the second movable assembly 22, and the second movable assembly 22 includes a second driving unit 221 and a first slide rail group 222. The first slide rail group 222 specifically includes a first guide rail and a first slider. The first guide rail and the first slider are connected to the chassis frame 11 and the movable frame 12 respectively. That is to say, the first guide rail is connected to the chassis frame 11, and the first slider is connected to the movable frame 12, and the first slider is sleeved on the first guide rail; or, the first guide rail is connected to the movable frame 12, and the first slider is connected to the chassis frame 11, which can be adjusted according to actual needs. The laying direction of the first guide rail is consistent with the moving direction of the movable frame 12. In this embodiment, the movable frame 12 moves up and down relative to the chassis frame 11, and the first guide rail is laid along the vertical direction.

[0094] For details, please refer to Figures 6 to 8In some embodiments, the chassis frame 11 also includes a first support portion 113 and a second support portion 114, the first support portion 113 is arranged between the first movable portion 111 and the second movable portion 112, the second support portion 114 is arranged between the first movable portion 111 and the second movable portion 112, the first support portion 113 and the second support portion 114 are arranged at intervals from front to rear, and the movable frame 12 is arranged between the first support portion 113 and the second support portion 114; the number of first slide rail groups 222 is four, two of which are respectively arranged at both ends of the first support portion 113, and the other two first slide rail groups 222 are respectively arranged at both ends of the second support portion 114, the number of second drive units 221 is four, and each second drive unit 221 is transmission-connected to a first slide rail group 222.

[0095] The first supporting portion 113 and the second supporting portion 114 are both disposed between the first moving portion 111 and the second moving portion 112, wherein the first supporting portion 113 is the portion in front of the chassis frame 11, and the second supporting portion 114 is the portion in the rear of the chassis frame 11. The layout between the first supporting portion 113 and the second supporting portion 114, the first moving portion 111, and the second moving portion 112 can be as follows: Figure 1 As shown, the first support part 113 and the second support part 114 are arranged in an inverted U shape between the first moving part 111 and the second moving part 112, and the space reserved between the first support part 113 and the second support part 114 is used to place the movable frame 12 and the components on the movable frame 12, and the two extending ends of the first support part 113 are used to lay the first slide rail group 222, and the two extending ends of the second support part 114 are used to lay the first slide rail group 222. Preferably, the number of the first slide rail groups 222 is four, wherein two first slide rail groups 222 are respectively arranged at the two ends of the first support part 113, and the other two first slide rail groups 222 are respectively arranged at the two ends of the second support part 114, and the number of the second driving units 221 is four, corresponding to the four first slide rail groups 222. Optionally, two first guide rails can be provided in the first slide rail group 222, and each first guide rail is provided with at least one first slider, which can fully increase the stability of the movable connection between the movable frame 12 and the chassis frame 11.

[0096] In this embodiment, a picking group 3, a conveying group 4 and a collecting group 5 are provided on the movable frame 12. Specifically, a first picking assembly 31 and a second picking assembly 32 are provided on the movable frame 12, and a space for the pepper crop to pass through is reserved in the middle of the movable frame 12 and the chassis frame 11. Driven by the first moving assembly 21, the first picking assembly 31 and the second picking assembly 32 on the movable frame 12 are close to both sides of the pepper crop to pick the peppers on both sides. In order to facilitate the adaptation of different pepper crops, a third moving assembly 23 is added in this embodiment. The third moving assembly 23 includes a third driving unit 231, a second slide rail group 232 and a third slide rail group 233. The third driving unit 231 can be a servo motor or a servo motor with dual-axis output. The first picking component 31 is arranged on the first supporting frame 33, and the first supporting frame 33 is movably connected to the movable frame 12 through the second slide rail group 232. The second slide rail group 232 includes a second guide rail and a second slider, or the second slide rail group 232 can also be a screw rod and a screw rod nut, a round rod guide rail and a slider, etc. As long as the components that can realize the active connection between the first supporting frame 33 and the movable frame 12 can be used as the second slide rail group 232; similarly, the third slide rail group 233 can also be understood with reference to the second slide rail group 232, and the second picking component 32 is arranged on the second supporting frame 34, and the second supporting frame 34 is movably connected to the movable frame 12 through the second slide rail group 232.

[0097] For details, please refer to Figures 6 to 8 In some embodiments, the number of the second rail groups 232 is two, and the second rail groups 232 are arranged at both ends of the first receiving frame 33 along the front-to-back direction; the number of the third rail groups 233 is two, and the third rail groups 233 are arranged at both ends of the second receiving frame 34 along the front-to-back direction; the number of the third drive units 231 is two, and each third drive unit 231 is arranged between the second rail group 232 and the third rail group 233 on the same side. The third drive unit 231 is connected to the second rail group 232 and the third rail group 233 in a transmission manner. When the second rail group 232 and the third rail group 233 are a screw rod and a screw rod nut, the output end of the third drive unit 231 can be connected to the screw rod in a transmission manner to achieve the adjustment of the left-right spacing between the first picking assembly 31 and the second picking assembly 32, so as to meet the picking requirements of different pepper crops.

[0098] In this embodiment, the conveying group 4 includes a first conveying component 41 and a second conveying component 42. The first conveying component 41 corresponds to the first picking component 31, and the second conveying component 42 corresponds to the second picking component 32. Figure 1As shown, the first conveying assembly 41 is arranged at the output end of the first picking assembly 31. When the first picking assembly 31 harvests peppers in the form of a vertical drum, the peppers will fall under the action of their own weight. Then, the first conveying assembly 41 is arranged below the first picking assembly 31, and the first conveyor belt automatically receives the falling peppers and conveys them to the first collecting assembly 51. Similarly, the second conveying assembly 42 is arranged at the output end of the second picking assembly 32. The positional relationship between the second conveying assembly 42 and the second picking assembly 32 can refer to the first conveying assembly 41 and the first picking assembly 31. Optionally, the outer surfaces of the first conveyor belt and the second conveyor belt can be provided with an anti-slip coating to reduce the probability of peppers falling during transportation.

[0099] The collection group 5 includes a first collection component 51 and a second collection component 52. The first collection component 51 includes a first collection frame 511 and a fourth slide rail group. Specifically, the first collection frame 511 is as follows: Figure 4 and Figure 6 As shown, the first collection frame 511 adopts a drawer structure with an opening at the top, and the first output end of the first conveyor belt is arranged above the top opening of the first collection frame 511. The peppers will fall into the first collection frame 511 under the action of the first conveyor belt. After the collection is completed, a handle is provided on the outer wall of the first collection frame 511. The first collection frame 511 can be removed from the movable frame 12 by pulling the handle, so that the user can collect the peppers in the first collection frame 511. Further, a weight sensor can also be provided in the first collection frame 511. The weight sensor will timely collect the current load data of the first collection frame 511. When the first collection frame 511 is fully loaded, the control unit will control the entire picking device to stop, so that the user can collect the peppers in the first collection frame 511 in time. The second collection component 52 includes a second collection frame and a fifth slide rail group. The specific understanding can be made by referring to the first collection frame 511 and the fourth slide rail group of the first collection component 51. The difference is that the second collection frame corresponds to the second conveyor belt.

[0100] The picking device shown in this embodiment includes a frame group 1, a moving group 2, a picking group 3, a conveying group 4, a collecting group 5 and a control unit. By setting the first moving component 21, the automatic forward function of the entire picking device is realized. By setting the second moving component 22, the height adjustment of the movable frame 12 relative to the chassis frame 11 in the vertical direction is realized, that is, different harvesting requirements of pepper crops are met. Furthermore, the third moving component 23 can drive the first picking component 31 and the second picking component 32 to move toward or away from each other to achieve the harvesting requirements of pepper crops with different row spacings. By splitting the frame group 1 into the form of a chassis frame 11 and a movable frame 12, the picking device shown in this technical solution can realize automatic adjustment of different heights and row spacings, and can move autonomously to achieve fully automatic harvesting of peppers, improve harvesting efficiency, and reduce labor costs.

[0101] See also Figure 2 In some embodiments, the first picking assembly 31 includes a fourth driving unit 311, a first roller 312 and a first picking barrel 313, wherein the fourth driving unit 311 is disposed on the first receiving frame 33; the first roller 312 is disposed on the first receiving frame 33 in a vertical direction, and the first roller 312 is transmission-connected with the fourth driving unit 311; the first picking barrel 313 is sleeved on the first roller 312, and the first picking barrel 313 and the first roller 312 are kept relatively fixed, and the first picking barrel 313 is used for picking peppers;

[0102] The second picking component 32 includes a fifth driving unit 321, a second roller 322 and a second picking barrel 323. The fifth driving unit 321 is arranged on the second receiving frame 34; the second roller 322 is arranged on the second receiving frame 34 along the vertical direction, and the second roller 322 is transmission-connected with the fifth driving unit 321; the second picking barrel 323 is sleeved on the second roller 322, and the second picking barrel 323 and the second roller 322 remain relatively fixed, and the second picking barrel 323 is used for picking peppers.

[0103] In this embodiment, the first picking component 31 specifically includes a fourth driving unit 311, a first roller 312 and a first picking barrel 313, wherein the first receiving frame 33 is arranged above the movable frame 12, the first roller 312 is arranged on the first receiving frame 33 in a vertical direction, and can rotate relative to the first receiving frame 33, and the first picking barrel 313 is sleeved on the first roller 312 and rotates under the drive of the first roller 312. The fourth driving unit 311 is connected to the first roller 312 by transmission, which can be a synchronous pulley or gear meshing transmission. The first picking barrel 313 has a picking structure, and during the rotation of the first picking barrel 313, the picking structure can pick or cut the peppers in the pepper crop, and the peppers will fall under the action of their own weight after being separated from the crop and fall into the first conveyor belt below.

[0104] See also Figure 2In some embodiments, the first picking component 31 further includes a third roller 314 and a third picking barrel 315. The third roller 314 is arranged on the first receiving frame 33 in the vertical direction and is arranged in sequence with the first roller 312 in the front-to-back direction. The first roller 312 is connected to the third roller 314 in a transmission manner. The third picking barrel 315 is sleeved on the third roller 314. The third picking barrel 315 and the third roller 314 are relatively fixed. The third picking barrel 315 is used to pick peppers. In this embodiment, the first picking component 31 further includes a third roller 314 and a third picking barrel 315. The third roller 314 is connected to the first roller 312 in a transmission manner, which may be a synchronous pulley transmission connection. The third picking barrel 315 is sleeved on the outside of the third roller 314. The third picking barrel 315 and the first picking barrel 313 are arranged at intervals. This method is convenient for improving the harvesting efficiency of peppers. The third picking cylinder 315 can be used to pick the peppers that have not been successfully picked in the first picking cylinder 313 for a second time, thereby reducing the efficiency of missed picking of peppers. Similarly, the fifth picking cylinder, the sixth picking cylinder, etc. can be further set according to actual needs, and the specific number can be set according to actual needs.

[0105] In this embodiment, the structure of the second picking component 32 is the same as that of the first picking component 31, except that the second picking component 32 and the first picking component 31 are arranged at different positions. The second picking component 32 is used to pick peppers on the other side of the pepper crop. Since the pepper crop is easily deformed during the picking process, resulting in low picking efficiency, the second picking cylinder 323 is arranged opposite to the first picking cylinder 313. The first picking cylinder 313 and the second picking cylinder 323 can provide mutual squeezing force to keep the pepper crop in the center area, so that both sides of the pepper crop can be fully picked. Similarly, please refer to Figure 2 In some embodiments, the second picking assembly 32 further includes a fourth roller 324 and a fourth picking barrel 325. The fourth roller 324 is arranged on the second receiving frame 34 in the vertical direction and is arranged in sequence with the second roller 322 in the front-to-back direction. The second roller 322 is connected to the fourth roller 324 in a transmission manner. The fourth picking barrel 325 is sleeved on the fourth roller 324. The fourth picking barrel 325 and the fourth roller 324 remain relatively fixed. The fourth picking barrel 325 is used to pick peppers. This method is convenient for improving the harvesting efficiency of peppers. The setting of the fourth picking barrel 325 can pick the peppers that have not been successfully picked in the second picking barrel 323 for a second time, thereby reducing the efficiency of missed picking of peppers.

[0106] See also Figure 3In some embodiments, the first picking barrel 313 includes two first fixed frames 316 arranged opposite to each other in the vertical direction, and the first picking barrel 313 also includes a plurality of first cutting strips 317, each of the first cutting strips 317 is provided with a plurality of first cutting teeth 318 spaced apart in the vertical direction, the plurality of first cutting strips 317 are arranged between the two first fixed frames 316, and are arranged along the circumference of the two first fixed frames 316, and the blades of the first cutting teeth 318 on the plurality of first cutting strips 317 face the same direction and are consistent with the rotation direction of the first roller 312;

[0107] And / or, the second picking barrel 323 includes two second fixed frames arranged opposite to each other in the vertical direction, and the second picking barrel 323 also includes a plurality of second cutting strips, each of which is provided with a plurality of second cutting teeth spaced apart in the vertical direction, the plurality of second cutting strips are arranged between the two second fixed frames and along the circumference of the two second fixed frames, and the blades of the second cutting teeth on the plurality of second cutting strips face the same direction and are consistent with the rotation direction of the second roller 322;

[0108] And / or, the third picking barrel 315 includes two third fixed frames arranged opposite to each other in the vertical direction, and the third picking barrel 315 also includes a plurality of third cutting strips, each of which is provided with a plurality of third cutting teeth spaced apart in the vertical direction, the plurality of third cutting strips are arranged between the two third fixed frames and along the circumference of the two third fixed frames, and the blades of the third cutting teeth on the plurality of third cutting strips face the same direction and are consistent with the rotation direction of the third roller 314;

[0109] And / or, the fourth picking barrel 325 includes two fourth fixed frames arranged opposite to each other in the vertical direction, and the fourth picking barrel 325 also includes a plurality of fourth cutting strips, each fourth cutting strip is provided with a plurality of fourth cutting teeth spaced apart in the vertical direction, the plurality of fourth cutting strips are arranged between the two fourth fixed frames and along the circumference of the two fourth fixed frames, the blades of the fourth cutting teeth on the plurality of fourth cutting strips face the same direction and are consistent with the rotation direction of the fourth roller 324.

[0110] Taking the first picking cylinder 313 as an example, please refer to Figure 3This embodiment shows the specific structure of the first picking barrel 313. The first picking barrel 313 includes first fixed frames 316 arranged relatively in the vertical direction, wherein the first fixed frame 316 located at the bottom can be provided with a plurality of gaps to facilitate the peppers to fall into the first conveyor belt. A plurality of first cutting strips 317 are arranged at intervals between the two first fixed frames 316, and the first cutting strips 317 are arranged along the circumference of the first fixed frame 316, so that the first fixed frame 316 and the first cutting strips 317 enclose a hollow cylindrical structure. When the first picking barrel 313 is rotated, the leaf deformation of the pepper crop is greater than that of the pepper, and will be blown out of the first picking barrel 313 during the rotation process, and a small amount will fall into the moving path of the first cutting strip 317, and most of the peppers of the pepper crop will fall into the moving path of the first cutting strip 317. By rotating the first picking barrel 313, the plurality of first cutting teeth 318 on the first cutting strip 317 will cut the peppers from the pepper crop, and then fall into the hollow area of ​​the first picking barrel 313, and then pass through the first fixed frame 316 below and fall onto the first conveyor belt. Preferably, a plurality of first cutting teeth 318 are arranged at intervals on the first cutting strip 317 to achieve multi-point cutting of a pepper crop and improve the harvesting efficiency of peppers. The structures of the second picking cylinder 323 , the third picking cylinder 315 and the fourth picking cylinder 325 may be understood with reference to the structure of the first picking cylinder 313 , and will not be described in detail herein.

[0111] In some embodiments, the first picking barrel 313 includes a first body and a plurality of first comb teeth, the first body is cylindrical, and the plurality of first comb teeth are distributed on the outer surface of the first body in a first preset manner; and / or, the second picking barrel 323 includes a second body and a plurality of second comb teeth, the second body is cylindrical, and the plurality of second comb teeth are distributed on the outer surface of the second body in a second preset manner; and / or, the third picking barrel 315 includes a third body and a plurality of third comb teeth, the third body is cylindrical, and the plurality of third comb teeth are distributed on the outer surface of the third body in a third preset manner; and / or, the fourth picking barrel 325 includes a fourth body and a plurality of fourth comb teeth, the fourth body is cylindrical, and the plurality of fourth comb teeth are distributed on the outer surface of the fourth body in a fourth preset manner.

[0112] This embodiment shows another picking structure for picking pepper crops. Taking the first picking barrel 313 as an example, the first body is cylindrical, preferably a cylindrical thin-walled structure, and a plurality of first comb teeth are provided on the first body. The first comb teeth can be made of steel wire. Preferably, the first comb teeth are hook-shaped structures. The first preset mode can be set according to actual needs. By adjusting the interval between two adjacent first comb teeth, the interval between two adjacent first comb teeth is smaller than the size of the pedicle of the pepper to be picked. When rotating, the pepper will be stuck in the two adjacent first comb teeth, and then the pepper will be pulled off the pepper crop under the action of rotation to complete the picking. It should be noted that the structure of the first picking barrel 313 applicable to different types of peppers is different, and can be selected according to actual needs. The structures of the second picking barrel 323, the third picking barrel 315 and the fourth picking barrel 325 can be understood with reference to the structure of the first picking barrel 313, and will not be repeated here.

[0113] See also Figure 4 and Figure 5 In some embodiments, the first collecting assembly 51 includes a first guide plate 512 and a first fan 513. The first guide plate 512 is arranged on the movable frame 12 and is arranged at the end of the first conveyor belt facing the rear of the rack group 1. The first guide plate 512 has a first side and a second side. The height of the first side in the vertical direction is higher than the second side. The first side is arranged close to the first conveyor belt, and the projection of the second side in the vertical direction is placed in the collecting area of ​​the first collecting frame 511. The first fan 513 is arranged at the bottom of the first guide plate 512, and the air outlet of the first fan 513 is arranged toward the second side, so as to blow away the blades.

[0114] The second collecting assembly 52 also includes a second guide plate and a second fan. The second guide plate is arranged on the movable frame 12 and is arranged at the end of the second conveyor belt facing the rear of the frame group 1. The second guide plate has a third side and a fourth side. The height of the third side in the vertical direction is higher than that of the fourth side. The third side is arranged close to the second conveyor belt, and the projection of the fourth side in the vertical direction is placed in the collecting area of ​​the second collecting frame; the second fan is arranged at the bottom of the second guide plate, and the air outlet of the second fan is arranged toward the fourth side for blowing away the blades.

[0115] Taking the first collecting assembly 51 as an example, the second collecting assembly 52 is different from the first collecting assembly 51 only in the position, and the rest of the structure can be understood with reference to the first collecting assembly 51. The first collecting assembly 51 also includes a first guide plate 512 and a first fan 513. The first guide plate 512 is arranged at the first output end of the first conveyor belt. Figure 4As shown. The first guide plate 512 includes a first side and a second side. The first side is arranged near the first output end, and the first side is higher than the second side. That is, the first guide plate 512 is arranged at the first output end in a downwardly inclined manner, so that the harvested peppers can be automatically dropped into the first collection frame 511 under their own weight. A first fan 513 is arranged below the first guide plate 512, and the air outlet of the first fan 513 is arranged toward the second side. When the peppers fall into the first collection frame 511 under their own weight, the wind generated by the first fan 513 can blow away the leaves in the synchronous falling process, reduce the probability of the leaves falling into the first collection frame 511, realize the coarse screening of the pepper harvest, and improve the efficiency of pepper picking.

[0116] See also Figure 4 and Figure 5 In some embodiments, the first conveyor belt has a first input end and a first output end, and the first conveyor belt also includes a first conveying portion 411 and a second conveying portion 412. The first conveying portion 411 and the second conveying portion 412 are adjacently arranged from front to back, and the second conveying portion 412 is arranged at an angle to the horizontal plane. The first input end is arranged at the suspended end of the first conveying portion 411, and the first output end is arranged at the suspended end of the second conveying portion 412. The projection of the first output end in the vertical direction is placed in the collection area of ​​the first collection frame 511. The first conveying assembly 41 includes a sixth driving unit, a first active shaft 413, a first folding shaft 414, and a first from The driving shaft 415 and the sixth driving unit are arranged on the movable frame 12; the first driving shaft 413 is arranged on the movable frame 12 and is drivingly connected with the output end of the sixth driving unit, the first driving shaft 413 is sleeved with two first driving wheels, and the first output end is sleeved on the first driving wheel; the first folding shaft 414 is arranged on the movable frame 12, the first folding shaft 414 is sleeved with two first folding wheels, and the first folding wheels are arranged at the connection between the first conveying part 411 and the second conveying part 412; the first driven shaft 415 is arranged on the movable frame 12, the first driven shaft 415 is sleeved with two first driven wheels, and the first input end is sleeved on the first driven wheel;

[0117] The second conveyor belt has a second input end and a second output end, and the second conveyor belt also includes a third conveying part and a fourth conveying part. The third conveying part and the fourth conveying part are adjacently arranged from front to back, and the fourth conveying part is arranged at an angle to the horizontal plane. The second input end is arranged at the suspended end of the third conveying part, and the second output end is arranged at the suspended end of the fourth conveying part. The projection of the second output end in the vertical direction is placed in the collection area of ​​the second collection frame. The second conveying assembly 42 includes a seventh driving unit, a second driving shaft, a second folding shaft and a second driven shaft. The seventh driving unit is arranged on the movable frame 12; the second driving shaft is arranged on the movable frame 12, and is transmission-connected with the output end of the seventh driving unit, two second driving wheels are sleeved on the second driving shaft, and the second output end is sleeved on the second driving wheel; the second folding shaft is arranged on the movable frame 12, two second folding wheels are sleeved on the second folding shaft, and the second folding wheel is arranged at the connection between the third conveying part and the fourth conveying part; the second driven shaft is arranged on the movable frame 12, two second driven wheels are sleeved on the second driven shaft, and the second input end is sleeved on the second driven wheel.

[0118] In this embodiment, the first conveying component 41 and the second conveying component 42 have the same structure. The difference lies in the different positions of the first conveying component 41 and the second conveying component 42 on the picking device. The first conveying component 41 is used for explanation, and the second conveying component 42 can be understood with reference to the first conveying component 41.

[0119] See also Figure 4 The first conveyor belt includes a first conveyor portion 411 and a second conveyor portion 412. The first conveyor portion 411 and the second conveyor portion 412 are two parts of the first conveyor belt. Figure 4 As shown, the second conveying part 412 is arranged at an angle with the horizontal plane, so as to lift the pepper from the bottom to a certain height and then drop it into the first collection frame 511, thereby making full use of the space behind the movable frame 12. The two ends of the first conveyor belt are divided into a first input end and a first output end according to the direction of conveying the items. The first output end is arranged close to the first collection frame 511, and the first input end is arranged in the area below the projection of the first picking component 31 in the vertical direction, so as to receive and convey the peppers picked by the first picking component 31.

[0120] The first conveying assembly 41 also includes a sixth driving unit, a first driving shaft 413, a first folding shaft 414 and a first driven shaft 415, wherein the first driving shaft 413 is connected to the sixth driving unit, and the first driving shaft 413 is sleeved with a first driving wheel. Preferably, in this embodiment, the first driving wheel is a sprocket. Correspondingly, the first driven wheel is also a sprocket, and the first folding wheel is also a sprocket. Based on the structural requirements of the first conveyor belt, the number of the first folding shaft 414 is two, which are arranged on the upper surface of the folding part of the first conveyor belt in the vertical direction to realize the folding of the first conveyor belt, that is, the connection between the first conveying part 411 and the second conveying part 412.

[0121] In this embodiment, the first conveyor belt is divided into a first conveyor portion 411 and a second conveyor portion 412 , and the peppers are lifted from the bottom to a certain height and then fall into the first collecting frame 511 , thereby fully utilizing the space behind the movable frame 12 .

[0122] The picking device includes a frame group 1, a moving group 2, a picking group 3, a conveying group 4, a collecting group 5 and a control unit. By setting the first moving component 21, the automatic forward function of the entire picking device is realized. By setting the second moving component 22, the height adjustment of the movable frame 12 relative to the chassis frame 11 in the vertical direction is realized, that is, the harvesting needs of different pepper crops are met. Furthermore, the third moving component 23 can drive the first picking component 31 and the second picking component 32 to move toward or away from each other to achieve the harvesting needs of pepper crops with different row spacings. By splitting the frame group 1 into the form of a chassis frame 11 and a movable frame 12, the picking device shown in the technical solution can realize automatic adjustment of different heights and row spacings, and can move autonomously to achieve fully automatic harvesting of peppers, improve harvesting efficiency, and reduce labor costs.

[0123] The above descriptions are only some embodiments of the present invention, and do not limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A pepper picking device, characterized in that: include: A frame group, comprising a chassis frame and a movable frame, wherein the movable frame is arranged on the chassis frame and can move up and down relative to the chassis frame; The mobile group includes a first mobile component, a second mobile component and a third mobile component, the first mobile component includes a first driving unit and a plurality of rollers, the first driving unit is arranged on the chassis frame, the rollers are arranged at the bottom of the chassis frame and can rotate relative to the chassis frame, the first driving unit is connected to the plurality of rollers in a transmission manner to drive the majority of rollers to drive the picking device to move, the second mobile component includes a second driving unit and a first slide rail group, the first slide rail group is laid on the chassis frame in a vertical direction, the output end of the second driving unit is connected to the movable frame to drive the movable frame to move up and down relative to the chassis frame, the third mobile component includes a third driving unit, a second slide rail group and a third slide rail group, the output end of the third driving unit is connected to the second slide rail group and the third slide rail group in a transmission manner to drive the second slide rail group and the third slide rail group to move toward or away from each other in the left and right directions; A picking group, comprising a first receiving frame, a first picking assembly, a second receiving frame and a second picking assembly, wherein the first picking assembly is arranged on the first receiving frame, the second picking assembly is arranged on the second receiving frame, the first picking assembly and the second picking assembly are arranged opposite to each other, the first receiving frame is connected to the movable frame through the second slide rail group, the second receiving frame is connected to the movable frame through the third slide rail group, and the first picking assembly and the second picking assembly are used for picking peppers; The conveying group includes a first conveying assembly and a second conveying assembly arranged on the movable frame, wherein the first conveying assembly includes a first conveying belt, the first conveying belt extends from the front of the rack group to the rear of the rack group, and a portion of the first conveying belt is placed within the projection range of the first picking assembly in the vertical direction, and the second conveying assembly includes a second conveying belt, the second conveying belt extends from the front of the rack group to the rear of the rack group, and a portion of the second conveying belt is placed within the projection range of the second picking assembly in the vertical direction; The collecting group includes a first collecting assembly and a second collecting assembly arranged on the movable frame, the first collecting assembly includes a first collecting frame and a fourth slide rail assembly, the first collecting frame is movably connected to the movable frame through the fourth slide rail assembly, the first collecting frame is placed at the end of the first conveyor belt facing the rear of the rack group, the second collecting assembly includes a second collecting frame and a fifth slide rail assembly, the second collecting frame is movably connected to the movable frame through the fifth slide rail assembly, and the second collecting frame is placed at the end of the second conveyor belt facing the rear of the rack group; The control unit is electrically connected to the first driving unit, the second driving unit, the third driving unit, the first picking component, the second picking component, the first conveying component, and the second conveying component.

2. The pepper picking device according to claim 1, characterized in that: The first picking component comprises: A fourth driving unit is arranged on the first receiving frame; A first roller is arranged on the first receiving frame along a vertical direction, and the first roller is drivingly connected to the fourth driving unit; A first picking cylinder is sleeved on the first roller, the first picking cylinder and the first roller are relatively fixed, and the first picking cylinder is used for picking peppers; The second picking component comprises: A fifth driving unit is arranged on the second supporting frame; A second roller is arranged on the second receiving frame along a vertical direction, and the second roller is drivingly connected to the fifth driving unit; The second picking cylinder is sleeved on the second roller, the second picking cylinder and the second roller are kept relatively fixed, and the second picking cylinder is used for picking peppers.

3. The pepper picking device according to claim 2, characterized in that: The first picking component also includes: A third roller is arranged on the first receiving frame along the vertical direction and is arranged in sequence with the first roller along the front-to-back direction, and the first roller is drivingly connected to the third roller; A third picking cylinder is sleeved on the third roller, the third picking cylinder and the third roller are relatively fixed, and the third picking cylinder is used for picking peppers; The second picking component also includes: a fourth roller, which is arranged on the second receiving frame along the vertical direction and is arranged in sequence with the second roller along the front-to-back direction, and the second roller is drivingly connected to the fourth roller; The fourth picking cylinder is sleeved on the fourth roller, the fourth picking cylinder and the fourth roller are kept relatively fixed, and the fourth picking cylinder is used for picking peppers.

4. The pepper picking device according to claim 3, characterized in that: The first picking barrel includes two first fixed frames arranged opposite to each other in the vertical direction, and the first picking barrel also includes a plurality of first cutting strips, each of the first cutting strips is provided with a plurality of first cutting teeth spaced apart in the vertical direction, the plurality of first cutting strips are arranged between the two first fixed frames and along the circumference of the two first fixed frames, and the blades of the first cutting teeth on the plurality of first cutting strips face the same direction and are consistent with the rotation direction of the first roller; And / or, the second picking barrel includes two second fixed frames arranged opposite to each other in the vertical direction, and the second picking barrel also includes a plurality of second cutting strips, each of the second cutting strips is provided with a plurality of second cutting teeth spaced apart in the vertical direction, the plurality of second cutting strips are arranged between the two second fixed frames and along the circumference of the two second fixed frames, and the blades of the second cutting teeth on the plurality of second cutting strips face the same direction and are consistent with the rotation direction of the second roller; And / or, the third picking barrel includes two third fixed frames arranged opposite to each other in the vertical direction, and the third picking barrel also includes a plurality of third cutting strips, each of the third cutting strips is provided with a plurality of third cutting teeth spaced apart in the vertical direction, the plurality of third cutting strips are arranged between the two third fixed frames and along the circumference of the two third fixed frames, and the blades of the third cutting teeth on the plurality of third cutting strips face the same direction and are consistent with the rotation direction of the third roller; And / or, the fourth picking barrel includes two fourth fixed frames arranged opposite to each other in the vertical direction, and the fourth picking barrel also includes a plurality of fourth cutting strips, each of the fourth cutting strips is provided with a plurality of fourth cutting teeth spaced apart in the vertical direction, the plurality of fourth cutting strips are arranged between the two fourth fixed frames and along the circumference of the two fourth fixed frames, the blades of the fourth cutting teeth on the plurality of fourth cutting strips face the same direction and are consistent with the rotation direction of the fourth roller.

5. The pepper picking device according to claim 3, characterized in that: The first picking tube includes a first body and a plurality of first comb teeth, the first body is cylindrical, and the plurality of first comb teeth are distributed on the outer surface of the first body in a first preset manner; And / or, the second picking cylinder includes a second body and a plurality of second comb teeth, the second body is cylindrical, and the plurality of second comb teeth are distributed on the outer surface of the second body in a second preset manner; And / or, the third picking cylinder comprises a third body and a plurality of third comb teeth, the third body is cylindrical, and the plurality of third comb teeth are distributed on the outer surface of the third body in a third preset manner; And / or, the fourth picking tube includes a fourth body and a plurality of fourth comb teeth, the fourth body is cylindrical, and the plurality of fourth comb teeth are distributed on the outer surface of the fourth body in a fourth preset manner.

6. The pepper picking device according to claim 1, characterized in that: The first collecting component comprises: A first guide plate is arranged on the movable frame and at the end of the first conveyor belt facing the rear of the rack assembly, the first guide plate has a first side and a second side, the first side is higher in the vertical direction than the second side, the first side is arranged close to the first conveyor belt, and the projection of the second side in the vertical direction is placed in the collection area of ​​the first collection frame; A first fan, disposed at the bottom of the first guide plate, with an air outlet of the first fan disposed toward the second side edge for blowing away blades; The second collection component also includes: A second guide plate is arranged on the movable frame and at the end of the second conveyor belt facing the rear of the rack group, the second guide plate has a third side and a fourth side, the third side is higher in the vertical direction than the fourth side, the third side is arranged close to the second conveyor belt, and the projection of the fourth side in the vertical direction is placed in the collection area of ​​the second collection frame; The second fan is arranged at the bottom of the second guide plate, and the air outlet of the second fan is arranged toward the fourth side edge for blowing away the blades.

7. The pepper picking device according to claim 1, characterized in that: The first conveyor belt has a first input end and a first output end, and the first conveyor belt also includes a first conveying part and a second conveying part, the first conveying part and the second conveying part are arranged adjacent to each other from front to back, the second conveying part is arranged at an angle with a horizontal plane, the first input end is arranged at a suspended end of the first conveying part, the first output end is arranged at a suspended end of the second conveying part, and the projection of the first output end in the vertical direction is placed in the collection area of ​​the first collection frame, and the first conveying assembly includes: a sixth driving unit, arranged on the movable frame; A first driving shaft is arranged on the movable frame and is drivingly connected to the output end of the sixth driving unit, two first driving wheels are sleeved on the first driving shaft, and the first output end is sleeved on the first driving wheel; A first folding shaft, arranged on the movable frame, wherein two first folding wheels are sleeved on the first folding shaft, and the first folding wheels are arranged at the connection between the first conveying part and the second conveying part; A first driven shaft, arranged on the movable frame, wherein two first driven wheels are sleeved on the first driven shaft, and the first input end is sleeved on the first driven wheel; The second conveyor belt has a second input end and a second output end, the second conveyor belt also includes a third conveying part and a fourth conveying part, the third conveying part and the fourth conveying part are arranged adjacent to each other from front to back, the fourth conveying part is arranged at an angle with the horizontal plane, the second input end is arranged at the suspended end of the third conveying part, the second output end is arranged at the suspended end of the fourth conveying part, the projection of the second output end in the vertical direction is placed in the collection area of ​​the second collection frame, and the second conveying assembly includes: a seventh driving unit, arranged on the movable frame; A second driving shaft is arranged on the movable frame and is drivingly connected to the output end of the seventh driving unit, two second driving wheels are sleeved on the second driving shaft, and the second output end is sleeved on the second driving wheel; A second folding shaft is arranged on the movable frame, two second folding wheels are sleeved on the second folding shaft, and the second folding wheels are arranged at the connection between the third conveying part and the fourth conveying part; The second driven shaft is arranged on the movable frame, two second driven wheels are sleeved on the second driven shaft, and the second input end is sleeved on the second driven wheels.

8. The pepper picking device according to claim 1, characterized in that: The chassis frame comprises a first moving part and a second moving part, wherein the first moving part and the second moving part are arranged opposite to each other; The number of the rollers is four, two of which are arranged on the first moving part, and two of which are arranged on the second moving part; the number of the first driving units is four, and each of the first driving units is drivingly connected to one of the rollers.

9. The pepper picking device according to claim 8, characterized in that: The chassis frame further includes a first supporting portion and a second supporting portion, the first supporting portion is arranged between the first moving portion and the second moving portion, the second supporting portion is arranged between the first moving portion and the second moving portion, the first supporting portion and the second supporting portion are arranged spaced from front to back, and the movable frame is arranged between the first supporting portion and the second supporting portion; There are four first slide rail groups, two of which are respectively arranged at two ends of the first support portion, and the other two are respectively arranged at two ends of the second support portion. There are four second drive units, and each second drive unit is transmission-connected to one first slide rail group.

10. The pepper picking device according to claim 1, characterized in that: The number of the second slide rail groups is two, and the second slide rail groups are arranged at two ends of the first receiving frame along the front-back direction; The number of the third slide rail groups is two, and the third slide rail groups are arranged at both ends of the second receiving frame along the front-to-back direction; The number of the third driving units is two, and each of the third driving units is arranged between the second slide rail set and the third slide rail set on the same side.

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