Portable automatic cherry picking device based on flexible grabbing and positioning

Abstract

The utility model relates to the technical field of cherry picking, and discloses a portable automatic cherry picking device based on flexible grabbing and positioning, the portable automatic cherry picking device comprises a moving mechanism, a stretching mechanism, an angle adjusting mechanism, a shock isolation mechanism and a clamping mechanism, the moving mechanism comprises a base plate, and a handle is fixedly connected to the center of the rear end of the base plate; guide wheels are fixedly installed on the front portions of the two sides of the center of the lower end of the base plate. The driving motor is started, the driving motor drives the transmission wheel at the rear position to rotate, the transmission wheel at the front position is driven to rotate through the transmission belt while the transmission wheel at the rear position rotates, and the two sides of the transmission belt are fixedly connected with one position of the fixing plate and one position of the second sliding plate correspondingly; therefore, the first sliding plate and the second sliding plate synchronously stretch out while the transmission belt rotates, the shock isolation mechanism and the clamping mechanism are conveyed to the designated position, rapid adjustment can be conducted according to the height of branches, the time needed during stretching is effectively shortened, and the risk of manual picking is effectively reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of cherry picking, and in particular to a portable automatic cherry picking device based on flexible grasping and positioning. Background Art

[0002] Cherry picking is divided into manual picking and large-scale machine picking. When picking cherries manually, you should carefully hold the fruit stems, gently pick the cherries, and classify and pack them according to quality grades. In order to ensure the freshness and quality of the cherries, they should be immediately sent to the market for sale, storage or processing. Mechanical picking is done by mechanical equipment. First, the trunk of the fruit tree is fixed by clamping mechanical equipment, and then the ripe cherries are shaken to fall off the branches. The fallen cherries will be collected together.

[0003] Although large-scale machinery collects cherries quickly through vibration, the amplitude of the vibration will be greatly lost during the process, resulting in the cherries on the ends of the branches being unable to fall off. If the vibration of the equipment is increased, it will not only damage the trunk and bark of the tree, but also tear the roots of the cherry tree, seriously affecting the later picking of cherries. As a result, it is necessary to manually pick the cherries on the higher branches. Manual picking is not only inefficient but also risky. Therefore, personnel in this technical field provide a portable cherry automatic picking device based on flexible grasping and positioning to solve the problems mentioned in the above background. Utility Model Content

[0004] The utility model aims to provide a portable automatic cherry picking device based on flexible grasping and positioning, so as to solve the problem in the prior art that if the vibration of the equipment is increased, not only the bark of the tree trunk will be damaged, but also the roots of the cherry tree will be torn off, which will seriously affect the picking of cherries in the later stage, so that the cherries on the higher branches need to be picked manually, and the manual picking is not only inefficient but also has high risks.

[0005] The utility model provides the following technical solution: a portable automatic cherry picking device based on flexible grasping and positioning, comprising a moving mechanism, an extension mechanism, an angle adjustment mechanism, a seismic isolation mechanism and a clamping mechanism, wherein the moving mechanism comprises a base plate, a handle is fixedly connected to the center of the rear end of the base plate, guide wheels are fixedly installed at the front of both sides of the center of the lower end of the base plate, and universal wheels are fixedly installed at the rear of both sides of the center of the lower end of the base plate;

[0006] The upper end of the base plate is provided with an extension mechanism for adjusting the contact distance between the clamping mechanism and the branches;

[0007] An angle adjustment mechanism for adjusting the extension angle of the clamping mechanism is arranged between the base plate and the extension mechanism.

[0008] The cam is provided with a first slide rail at the center of the first slide plate, and a second slide rail is provided at the center of the first slide plate, and a first slide rail is provided at the center of the first slide plate. The first slide rails are respectively slidably connected to the two main slide grooves, and the second slide is slidably mounted on the upper end of the first slide plate, and the second slide rails are fixedly connected to the second slide rails on both sides of the second slide plate, and a second ear piece is fixedly connected to the rear side of the center side of the upper end of the second slide plate, and a plurality of first bolts are installed at the front center of an inner side wall of the transmission belt, and the output ends of the plurality of first bolts respectively penetrate through an inner side wall of the transmission belt and the other side wall of the first ear piece in sequence to reach the other side wall of the first ear piece, and the output ends of the plurality of first bolts are threadedly sleeved with the first nut, and a plurality of second bolts are installed on one side of the second ear piece, and the output ends of the plurality of second bolts respectively penetrate through one side wall of the second ear piece and the other inner side wall of the transmission belt in sequence to reach the other side wall of the transmission belt, and the output ends of the plurality of second bolts are threadedly sleeved with the second nuts, and a protective cover is fixedly mounted at the edge of the center of the upper end of the substrate.

[0009] As a preferred embodiment of the above technical solution, the angle adjustment mechanism includes two first hydraulic rods, a frame sleeve, a first guide rail and a second guide rail. The two first hydraulic rod fixing sleeves are arranged at the rear of both sides of the inner center of the base plate. The frame sleeve is fixedly installed at the rear of the lower end center of the fixed plate. The second hydraulic rods are fixedly arranged at both sides of the inner center of the frame sleeve. The first guide rail is fixedly installed at the center of the lower inner wall of the base plate, and the first guide rail upper end sliding sleeve is provided with a first sliding sleeve. The second guide rail is fixedly installed at the rear of the lower end center of the fixed plate, and the second guide rail lower end sliding sleeve is provided with a second sliding sleeve. The upper end of the first sliding sleeve is rotatably connected to a third hydraulic rod, and the output end of the third hydraulic rod is rotatably connected to the lower end of the second sliding sleeve. The two first hydraulic rod output ends are fixedly connected at both sides of the first sliding sleeve, and the two second hydraulic rod output ends are fixedly connected at both sides of the second sliding sleeve.

[0010] As a preferred embodiment of the above technical solution, the seismic isolation mechanism is arranged at the front end of the second skateboard, and the seismic isolation mechanism includes a rotating motor, which is fixedly connected to the front end of the second skateboard, and a chassis is fixedly installed at the output end of the rotating motor. A plurality of seismic isolation springs are fixedly installed at the edge of the center of the front end of the chassis, and a metal connecting plate is fixedly connected to the front ends of the plurality of seismic isolation springs. An electric telescopic rod is fixedly installed at the center of the front end of the chassis, and an electromagnet is fixedly installed at the output end of the electric telescopic rod.

[0011] As a preferred embodiment of the above technical solution, the clamping mechanism is arranged at the front end of the metal connecting disk, and the clamping mechanism includes an outer shell, which is fixedly connected to the center of the front end of the metal connecting disk, and a lifting hydraulic rod is fixedly installed at the rear center of the inner center of the outer shell, and a synchronization rod is fixedly connected to the output end of the lifting hydraulic rod, and mounting rods are fixedly installed at the front of both sides of the inner center of the outer shell, and V-shaped bars are rotatably sleeved at the outer centers of the two mounting rods, and linkage rods are rotatably connected at both ends of the synchronization rod, and the other ends of the two linkage rods are respectively rotatably connected to the other ends of the two V-shaped bars, and clamping plates are clamped at the front center of the two V-shaped bars, and flexible gaskets are fixedly installed inside the two clamping plates, and the two clamping plates are respectively fixedly connected to the two V-shaped bars through fixing mechanisms, and vibration mechanisms are provided at the upper and lower ends of the outer shell.

[0012] As a preferred embodiment of the above technical solution, the fixing mechanism includes a plurality of reinforcing bolts, and spring washers are sleeved on the outside of the plurality of reinforcing bolts. The output ends of the plurality of reinforcing bolts respectively pass through two V-shaped bars and the upper ends of two clamping plates in sequence to the lower ends of the two V-shaped bars, and the output ends of the plurality of reinforcing bolts are threadedly sleeved with reinforcing nuts.

[0013] As a preferred embodiment of the above technical solution, the vibration mechanism includes two vibration motors, which are arranged at the front center of the upper and lower ends of the shell, and the output ends of the two vibration motors are fixedly connected to vibration wheels, and isolation covers are fixedly installed at the front center of the upper and lower ends of the shell.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model starts a driving motor, and drives the transmission wheel at the rear to rotate through the driving motor. While the transmission wheel at the rear rotates, the transmission wheel at the front is driven to rotate through the transmission belt. Because the two sides of the transmission belt are respectively fixedly connected to a fixed plate and a second slide plate, the first slide plate and the second slide plate are synchronously extended while the transmission belt rotates, and the seismic isolation mechanism and the clamping mechanism are sent to the specified position, which can be quickly adjusted according to the height of the branch and effectively reduces the time required for extension and the risk of manual picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of a portable automatic cherry picking device based on flexible grasping and positioning;

[0017] Figure 2 A schematic diagram of the three-dimensional structure of a portable automatic cherry picking device based on flexible grasping and positioning from another perspective;

[0018] Figure 3 It is a schematic diagram of the three-dimensional split structure of a portable automatic cherry picking device based on flexible grasping and positioning;

[0019] Figure 4 It is a three-dimensional split structure schematic diagram of the extension mechanism of a portable automatic cherry picking device based on flexible grasping and positioning;

[0020] Figure 5 It is a three-dimensional structural schematic diagram of an angle adjustment mechanism of a portable automatic cherry picking device based on flexible grasping and positioning;

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of an angle adjustment mechanism of a portable automatic cherry picking device based on flexible grasping and positioning from another perspective;

[0022] Figure 7 It is a schematic diagram of the three-dimensional split structure of the seismic isolation mechanism of a portable automatic cherry picking device based on flexible grasping and positioning;

[0023] Figure 8 It is a schematic diagram of the three-dimensional split structure of the clamping mechanism of a portable automatic cherry picking device based on flexible grasping and positioning;

[0024] Fig. 9 It is a schematic diagram of the three-dimensional split structure of the vibration mechanism of a portable automatic cherry picking device based on flexible grasping and positioning;

[0025] Fig.10 for Figure 4 A schematic diagram of the enlarged structure at A in the middle;

[0026] Fig.11 for Figure 4 A schematic diagram of the enlarged structure at B in the middle;

[0027] Fig.12 for Fig. 9 Schematic diagram of the enlarged structure at point C in the middle.

[0028] Legend:

[0029] 1. Moving mechanism; 101. Base plate; 102. Handle; 103. Guide wheel; 104. Universal wheel; 2. Extension mechanism; 201. Fixed plate; 202. Main slide; 203. First ear piece; 204. First bolt; 205. First nut; 206. First slide; 207. Frame; 208. Transmission wheel; 209. Driving motor; 2010. Transmission belt; 2011. First slide; 2012. First slide rail; 2013. Second slide; 2014. Second slide rail; 2015. Second ear piece; 2016. Second bolt; 2017. Second nut; 2018. Protective cover; 3. Angle adjustment mechanism; 301. First hydraulic rod; 302. Frame sleeve; 303. First guide rail; 3 04. Second hydraulic rod; 305. Second guide rail; 306. First sleeve; 307. Second sleeve; 308. Third hydraulic rod; 4. Isolation mechanism; 401. Rotating motor; 402. Chassis; 403. Isolation spring; 404. Metal connecting plate; 405. Electric telescopic rod; 406. Electromagnet; 5. Clamping mechanism; 501. Shell; 502. Lifting hydraulic rod; 503. Synchronous rod; 504. Mounting rod; 505. V-shaped bar; 506. Linkage rod; 507. Clamping plate; 508. Flexible washer; 6. Fixing mechanism; 601. Reinforcement bolt; 602. Spring washer; 603. Reinforcement nut; 7. Vibration mechanism; 701. Vibration motor; 702. Vibration wheel; 703. Isolation cover. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] like Figure 1-12 As shown, the utility model provides a technical solution: a portable automatic cherry picking device based on flexible grasping and positioning, comprising a moving mechanism 1, an extension mechanism 2, an angle adjustment mechanism 3, a seismic isolation mechanism 4 and a clamping mechanism 5, wherein the moving mechanism 1 comprises a base plate 101, a handle 102 is fixedly connected to the rear end center of the base plate 101, guide wheels 103 are fixedly installed at the front of both sides of the lower center of the base plate 101, and universal wheels 104 are fixedly installed at both sides of the lower center of the base plate 101. The device is moved to a specified position by cooperating with two universal wheels 104 through two guide wheels 103 on the base plate 101;

[0032] The upper end of the base plate 101 is provided with an extension mechanism 2 for adjusting the contact distance between the clamping mechanism 5 and the branches;

[0033] An angle adjustment mechanism 3 for adjusting the extension angle of the clamping mechanism 5 is provided between the base plate 101 and the extension mechanism 2 .

[0034] The stretching mechanism 2 includes a fixed plate 201, one end of which is rotatably connected to the rear center of the upper end of the base plate 101, and main sliding grooves 202 are opened at both sides of the inner center of the fixed plate 201. A first ear piece 203 is fixedly connected to the front of one side of the upper center of the fixed plate 201, and a first slide plate 206 is slidably installed on the upper end of the fixed plate 201. Frames 207 are fixedly installed at both ends of the upper center of the first slide plate 206, and transmission wheels 208 are rotatably installed inside the two frames 207. A driving motor 209 is fixedly installed on the upper end of the frame 207 at the rear, and the output end of the driving motor 209 passes through the upper end of the frame 207 at the rear and passes to the frame at the rear. The first slide 206 is provided with a first slide groove 2011 at both sides of the center of the first slide 206, and the first slide rails 2012 are fixedly connected to the two main slide grooves 202 respectively. The two first slide rails 2012 are slidably connected with the two main slide grooves 202. The second slide 2013 is slidably installed on the upper end of the first slide 206, and the second slide rails 2014 are fixedly connected on both sides of the second slide 2013. A second ear piece 2015 is fixedly connected to the rear of one side of the upper center of the second slide 2013. A plurality of first bolts 204 are installed at the front center of an inner side wall of the transmission belt 2010, and the output ends of the plurality of first bolts 204 respectively penetrate an inner side wall of the transmission belt 2010 and the other side wall of the first ear piece 203 in sequence to reach the other side wall of the first ear piece 203, and the output ends of the plurality of first bolts 204 are all threadedly sleeved with a first nut 205, and a plurality of second bolts 2016 are installed on one side of the second ear piece 2015, and the output ends of the plurality of second bolts 2016 respectively penetrate a side wall of the second ear piece 2015 and the other inner side wall of the transmission belt 2010 in sequence to reach the other side wall of the transmission belt 2010, and the output ends of the plurality of second bolts 2016 are all threadedly sleeved with a second nut 2017, and the base A protective cover 2018 is fixedly installed at the edge of the center of the upper end of the plate 101, and the driving motor 209 is started to drive the transmission wheel 208 at the rear to rotate. While the transmission wheel 208 at the rear rotates, the transmission belt 2010 drives the transmission wheel 208 at the front to rotate. Because the two sides of the transmission belt 2010 are respectively fixedly connected to the fixed plate 201 and a point of the second slide plate 2013, the first slide plate 206 and the second slide plate 2013 are synchronously extended while the transmission belt 2010 rotates, and the seismic isolation mechanism 4 and the clamping mechanism 5 are sent to the specified position, which can be quickly adjusted according to the height of the branch and effectively reduce the time required for extension and the risk of manual picking.

[0035] As an implementation method in this embodiment, Figure 5As shown, the angle adjustment mechanism 3 includes two first hydraulic rods 301, a frame sleeve 302, a first guide rail 303 and a second guide rail 305. The two first hydraulic rods 301 are fixedly sleeved at the rear of the inner center of the base plate 101 on both sides. The frame sleeve 302 is fixedly installed at the rear of the lower end center of the fixed plate 201. The inner center of the frame sleeve 302 is fixedly sleeved with a second hydraulic rod 304 on both sides. The first guide rail 303 is fixedly installed at the center of the lower inner wall of the base plate 101, and the upper end of the first guide rail 303 is slidably sleeved with a first sleeve 306. The second guide rail 305 is fixedly installed at the rear of the lower end center of the fixed plate 201, and the lower end of the second guide rail 305 is slidably sleeved with a second sleeve 307. The first sleeve The upper end of 306 is rotatably connected to the third hydraulic rod 308, and the output end of the third hydraulic rod 308 is rotatably connected to the lower end of the second sleeve 307. The output ends of the two first hydraulic rods 301 are fixedly connected at both sides of the first sleeve 306, and the output ends of the two second hydraulic rods 304 are fixedly connected at both sides of the second sleeve 307. The two first hydraulic rods 301, the two second hydraulic rods 304 and the third hydraulic rod 308 are started, and the first sleeve 306 is driven to complete reciprocating movement through the two first hydraulic rods 301, and the second sleeve 307 is driven to complete reciprocating movement through the two second hydraulic rods 304. The extension mechanism 2 is accurately adjusted to the specified angle through the extension and contraction of the third hydraulic rod 308, and the angle adjustment is completed.

[0036] As an implementation method in this embodiment, Figure 4 As shown, the seismic isolation mechanism 4 is arranged at the front end of the second slide plate 2013, and the seismic isolation mechanism 4 includes a rotating motor 401, and the rotating motor 401 is fixedly connected to the front end of the second slide plate 2013, and the output end of the rotating motor 401 is fixedly installed with a chassis 402, and a plurality of seismic isolation springs 403 are fixedly installed at the edge of the front end center of the chassis 402, and a metal connecting plate 404 is fixedly connected to the front end of the plurality of seismic isolation springs 403, and an electric telescopic rod 405 is fixedly installed at the front end center of the chassis 402, and an electromagnet 406 is fixedly installed at the output end of the electric telescopic rod 405. The electromagnet 406 is powered off and retracted through the electric telescopic rod 405, and the rotating motor 401 can make corresponding rotations to the clamping mechanism 5 at different branch angles to complete the angle adjustment. Before vibration, the electric telescopic rod 405 cooperates with the electromagnet 406 and the metal connecting plate 404 to effectively support the seismic isolation mechanism 4 and the clamping mechanism 5.

[0037] As an implementation method in this embodiment, Figure 8As shown, the clamping mechanism 5 is arranged at the front end of the metal connecting plate 404, and the clamping mechanism 5 includes a shell 501, and the shell 501 is fixedly connected to the center of the front end of the metal connecting plate 404. A lifting hydraulic rod 502 is fixedly installed at the rear center of the shell 501, and a synchronization rod 503 is fixedly connected to the output end of the lifting hydraulic rod 502. Mounting rods 504 are fixedly installed at the front of both sides of the center of the shell 501. V-shaped bars 505 are rotatably sleeved at the outer centers of the two mounting rods 504. Linkage rods 506 are rotatably connected at both ends of the synchronization rod 503. The other ends of the two linkage rods 506 are respectively rotatably connected to the other ends of the two V-shaped bars 505. The inside of the two V-shaped bars 505 A clamping plate 507 is clamped at the front of the center, and flexible washers 508 are fixedly installed inside the two clamping plates 507. The two clamping plates 507 are fixedly connected to the two V-shaped bars 505 through a fixing mechanism 6. A vibration mechanism 7 is provided at the upper and lower ends of the shell 501. The jacking hydraulic rod 502 is started, and the synchronization rod 503 is pushed by the jacking hydraulic rod 502. The two linkage rods 506 are driven to move through the synchronization rod 503, so that the two V-shaped bars 505 and the two clamping plates 507 are synchronously driven to rotate through the two linkage rods 506, so as to clamp the outside of the branch. The flexible washers 508 in the two clamping plates 507 can effectively ensure that the bark of the branch will not be scratched by vibration when clamping.

[0038] As an implementation method in this embodiment, Fig.12 As shown, the fixing mechanism 6 includes a plurality of reinforcing bolts 601, and spring washers 602 are sleeved on the outer sides of the plurality of reinforcing bolts 601. The output ends of the plurality of reinforcing bolts 601 respectively pass through the two V-shaped bars 505 and the upper ends of the two clamping plates 507 in sequence to the lower ends of the two V-shaped bars 505, and the output ends of the plurality of reinforcing bolts 601 are threadedly sleeved with reinforcing nuts 603. The plurality of reinforcing bolts 601, in combination with the plurality of spring washers 602 and the plurality of reinforcing nuts 603, can effectively prevent the two clamping plates 507 from loosening during vibration.

[0039] As an implementation method in this embodiment, Fig. 9 As shown, the vibration mechanism 7 includes two vibration motors 701, and the two vibration motors 701 are arranged at the front center of the upper end and the lower end of the shell 501. The output ends of the two vibration motors 701 are fixedly connected with vibration wheels 702, and the upper end and the front center of the lower end of the shell 501 are fixedly installed with isolation covers 703. The two vibration motors 701 are started, and the two vibration wheels 702 are driven to rotate by the two vibration motors 701 respectively, and the irregular vibrations generated by the two vibration wheels 702 drive the branches to vibrate and shake off the ripe cherries.

[0040] Working principle: When the portable automatic cherry picking device based on flexible grasping positioning is used, the two guide wheels 103 on the base plate 101 cooperate with the two universal wheels 104 to move the device to a specified position, and then start the two first hydraulic rods 301, the two second hydraulic rods 304 and the third hydraulic rod 308. The two first hydraulic rods 301 drive the first sliding sleeve 306 to complete the reciprocating movement, and the two second hydraulic rods 304 drive the second sliding sleeve 307 to complete the reciprocating movement. The extension and contraction of the third hydraulic rod 308 can accurately adjust the extension mechanism 2 to the specified angle. After the angle adjustment is completed, , start the driving motor 209, and drive the rear transmission wheel 208 to rotate through the driving motor 209. When the rear transmission wheel 208 rotates, the front transmission wheel 208 is driven to rotate through the transmission belt 2010. Because the two sides of the transmission belt 2010 are respectively fixedly connected to a portion of the fixed plate 201 and the second slide plate 2013, the first slide plate 206 and the second slide plate 2013 are synchronously extended while the transmission belt 2010 rotates, and the seismic isolation mechanism 4 and the clamping mechanism 5 are sent to the specified position, which can be quickly adjusted according to the height of the tree branches and effectively reduce the time required for extension. When the transmission of the seismic isolation mechanism 4 and the clamping mechanism 5 is completed, the lifting hydraulic rod 502 is started, and the synchronous rod 503 is pushed by the lifting hydraulic rod 502, and the two linkage rods 506 are driven to move by the synchronous rod 503, so that the two V-shaped bars 505 and the two clamping plates 507 are respectively driven to rotate synchronously by the two linkage rods 506, so as to clamp the outside of the branch. The flexible gaskets 508 in the two clamping plates 507 can effectively ensure that the bark of the branch will not be scratched by vibration during clamping. After the branch is clamped, the electromagnet 406 is powered off and retracted by the electric telescopic rod 405, and the rotation The rotating motor 401 can make corresponding rotations to the clamping mechanism 5 according to different branch angles to complete the angle adjustment. The electric telescopic rod 405, in conjunction with the electromagnet 406 and the metal connecting plate 404, can effectively support the seismic isolation mechanism 4 and the clamping mechanism 5. The two vibration motors 701 are started, and the two vibration motors 701 respectively drive the two vibration wheels 702 to rotate. The irregular vibrations generated by the two vibration wheels 702 drive the branches to vibrate and shake off the ripe cherries. The multiple seismic isolation springs 403 can effectively achieve the effect of seismic isolation, so that the vibration is always concentrated on the clamping mechanism 5.

[0041] The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it.

Claims

1. A portable automatic cherry picking device based on flexible grasping and positioning, comprising a moving mechanism (1), an extension mechanism (2), an angle adjustment mechanism (3), a seismic isolation mechanism (4) and a clamping mechanism (5), characterized in that: The moving mechanism (1) comprises a base plate (101), a handle (102) being fixedly connected to the rear end center of the base plate (101), guide wheels (103) being fixedly mounted at the front of both sides of the lower end center of the base plate (101), and universal wheels (104) being fixedly mounted at the rear of both sides of the lower end center of the base plate (101); An extension mechanism (2) for adjusting the contact distance between the clamping mechanism (5) and the branch is provided at the upper end of the base plate (101); An angle adjustment mechanism (3) for adjusting the extension angle of the clamping mechanism (5) is provided between the base plate (101) and the extension mechanism (2).

2. A portable automatic cherry picking device based on flexible grasping and positioning according to claim 1, characterized in that: The extension mechanism (2) comprises a fixed plate (201), one end of the fixed plate (201) is rotatably connected to the rear center of the upper end of the base plate (101), main sliding grooves (202) are provided at both sides of the inner center of the fixed plate (201), a first ear piece (203) is fixedly connected to the front of one side of the upper center of the fixed plate (201), a first slide plate (206) is slidably mounted on the upper end of the fixed plate (201), frames (207) are fixedly mounted at both front and rear ends of the upper center of the first slide plate (206), and transmission wheels (208) are rotatably mounted inside the two frames (207), A driving motor (209) is fixedly installed on the upper end of the rear frame (207), the output end of the driving motor (209) passes through the upper end of the rear frame (207) and passes into the interior of the rear frame (207), and the output end of the driving motor (209) is fixedly connected to one end of a transmission wheel (208) at the rear, a transmission belt (210) is sleeved on the outer sides of the two transmission wheels (208), a first slide groove (211) is opened at both sides of the center of the first slide plate (206), and first slide rails (212) are fixedly connected to both sides of the first slide plate (206), and the two first slide rails (212) are fixedly connected to the first slide rails (212). ) are respectively slidably connected with the two main slide grooves (202), a second slide plate (2013) is slidably mounted on the upper end of the first slide plate (206), second slide rails (214) are fixedly connected to both sides of the second slide plate (2013), a second ear piece (2015) is fixedly connected to the rear of one side of the center of the upper end of the second slide plate (2013), a plurality of first bolts (204) are mounted at the front of the center of an inner side wall of the transmission belt (2010), and the output ends of the plurality of first bolts (204) respectively penetrate through an inner side wall of the transmission belt (2010) and the other side wall of the first ear piece (203) in sequence. To the other side wall of the first ear piece (203), and the output ends of the plurality of first bolts (204) are all threadedly sleeved with a first nut (205), one side of the second ear piece (2015) is installed with a plurality of second bolts (2016), the output ends of the plurality of second bolts (2016) respectively and sequentially penetrate through one side wall of the second ear piece (2015) and the other inner side wall of the transmission belt (2010) to the other side wall of the transmission belt (2010), and the output ends of the plurality of second bolts (2016) are all threadedly sleeved with a second nut (2017), and a protective cover (2018) is fixedly installed at the center of the upper end of the base plate (101) close to the edge.

3. The portable automatic cherry picking device based on flexible grasping and positioning according to claim 2 is characterized in that: The angle adjustment mechanism (3) comprises two first hydraulic rods (301), a frame sleeve (302), a first guide rail (303) and a second guide rail (305); the two first hydraulic rods (301) are fixedly sleeved at the rear of both sides of the center of the base plate (101); the frame sleeve (302) is fixedly installed at the rear of the lower center of the fixed plate (201); the second hydraulic rods (304) are fixedly sleeved at both sides of the center of the frame sleeve (302); the first guide rail (303) is fixedly installed at the center of the lower inner wall of the base plate (101); and the upper end of the first guide rail (303) is provided with a sliding sleeve A first sliding sleeve (306), the second guide rail (305) is fixedly mounted at the rear center of the lower end of the fixed plate (201), and the sliding sleeve at the lower end of the second guide rail (305) is provided with a second sliding sleeve (307), the upper end of the first sliding sleeve (306) is rotatably connected to a third hydraulic rod (308), the output end of the third hydraulic rod (308) is rotatably connected to the lower end of the second sliding sleeve (307), the two output ends of the first hydraulic rod (301) are fixedly connected to both sides of the first sliding sleeve (306), and the two output ends of the second hydraulic rod (304) are fixedly connected to both sides of the second sliding sleeve (307).

4. The portable automatic cherry picking device based on flexible grasping and positioning according to claim 3 is characterized in that: The seismic isolation mechanism (4) is arranged at the front end of the second slide plate (2013), and the seismic isolation mechanism (4) comprises a rotating motor (401), the rotating motor (401) is fixedly connected to the front end of the second slide plate (2013), a chassis (402) is fixedly installed at the output end of the rotating motor (401), a plurality of seismic isolation springs (403) are fixedly installed at the center of the front end of the chassis (402) near the edge, a plurality of seismic isolation springs (403) are fixedly connected to the front ends of the plurality of seismic isolation springs (403) with metal connection plates (404), an electric telescopic rod (405) is fixedly installed at the center of the front end of the chassis (402), and an electromagnet (406) is fixedly installed at the output end of the electric telescopic rod (405).

5. The portable automatic cherry picking device based on flexible grasping and positioning according to claim 4 is characterized in that: The clamping mechanism (5) is arranged at the front end of the metal connection plate (404), and the clamping mechanism (5) comprises a shell (501), the shell (501) is fixedly connected to the center of the front end of the metal connection plate (404), a lifting hydraulic rod (502) is fixedly installed at the rear of the center of the shell (501), and a synchronization rod (503) is fixedly connected to the output end of the lifting hydraulic rod (502), and mounting rods (504) are fixedly installed at the front of both sides of the center of the shell (501), and V-shaped screws are rotatably sleeved at the outer centers of the two mounting rods (504). The synchronous rod (503) is rotatably connected to linkage rods (506) at both ends, and the other ends of the two linkage rods (506) are rotatably connected to the other ends of the two V-shaped bars (505). The two V-shaped bars (505) are each clamped with a clamping plate (507) at the front center of each of the two V-shaped bars (505). Flexible washers (508) are fixedly installed inside each of the two clamping plates (507). The two clamping plates (507) are respectively fixedly connected to the two V-shaped bars (505) via a fixing mechanism (6). The upper and lower ends of the housing (501) are provided with a vibration mechanism (7).

6. The portable automatic cherry picking device based on flexible grasping and positioning according to claim 5 is characterized in that: The fixing mechanism (6) comprises a plurality of reinforcing bolts (601), each of which is sleeved with a spring washer (602) on its outer side, and the output ends of the plurality of reinforcing bolts (601) respectively pass through the two V-shaped bars (505) and the upper ends of the two clamping plates (507) in sequence to the lower ends of the two V-shaped bars (505), and the output ends of the plurality of reinforcing bolts (601) are all threadedly sleeved with reinforcing nuts (603).

7. The portable automatic cherry picking device based on flexible grasping and positioning according to claim 6 is characterized in that: The vibration mechanism (7) comprises two vibration motors (701), the two vibration motors (701) being arranged at the front of the center of the upper end and the lower end of the housing (501), the output ends of the two vibration motors (701) being fixedly connected to a vibration wheel (702), and isolation covers (703) being fixedly installed at the front of the center of the upper end and the lower end of the housing (501).

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