Full-automatic green prickleyash lower pile type thresher

Abstract

The utility model discloses a full-automatic green prickleyash lower pile type threshing machine, belongs to the technical field of agricultural machinery, and relates to mechanical equipment for picking and threshing green prickleyash. The device mainly comprises a crawler, a mechanical arm, a multi-layer automatic threshing device and a collecting frame. The crawler is arranged below the thresher and is used for moving the whole thresher; the mechanical arm is arranged above the threshing machine and used for shearing pepper branches and conveying the pepper branches into the multi-layer automatic threshing device; the multi-layer automatic threshing device is used for automatically threshing pepper branches; the collecting frame is used for collecting Chinese prickly ash fruits; according to the green prickleyash harvester, full-automatic piling type picking and threshing integration of green prickleyash is achieved, full automation of the green prickleyash harvesting process is achieved, the labor intensity of green prickleyash picking is greatly reduced, and the green prickleyash picking efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and is a mechanical device for the picking and threshing of green prickly ash, specifically a fully automatic "under-stem" threshing machine for green prickly ash. Background Art

[0002] Prickly ash is a unique crop in China, with a very long planting history. Its planting area and output rank first in the world, and it is widely planted in more than 20 provinces and cities in China. It has extremely high edible and medicinal values and brings very considerable economic benefits to farmers every year.

[0003] At present, the picking of green prickly ash is mainly manual. However, the branches of green prickly ash are slender and covered with thorns, the fruits are attached with oil cells and are easily broken. Its unique physiological characteristics cause problems such as difficult picking, low picking efficiency, and low picking quality. At the same time, the picking of green prickly ash is seasonal and has a short cycle. Therefore, although green prickly ash brings high economic benefits to pepper farmers, on the other hand, its high picking and threshing difficulty and cost also make pepper farmers miserable. It can be seen that the picking and threshing of green prickly ash have seriously restricted the further development of China's green prickly ash industry. Developing an efficient, reliable and easy-to-operate integrated device for automatic picking and threshing of green prickly ash is an urgent need for the majority of pepper farmers.

[0004] The utility model is an integrated device for the picking and threshing of green prickly ash developed based on the "under-stem picking method"; the so-called under-stem picking method means that when picking, the branches are cut off together with the fresh fruits. This picking method not only improves the picking efficiency of green prickly ash but also promotes the growth of green prickly ash trees in the second year.

[0005] The existing prickly ash picking machine CN202022024230.5, which is relatively close to the utility model, can complete the threshing of green prickly ash based on under-stem picking, but there are defects in the design. The thickness of green prickly ash branches cannot be fully adapted. The ring cutting edge is of a fixed size and cannot change with the branches. The picking technology is still not mature. At the same time, this picking machine can only complete the threshing process of the pepper branches after under-stem picking, and still requires manual under-stem picking of pepper branches, and the manual labor intensity is still high. Summary of the Invention

[0006] The purpose of the utility model is to provide a fully automatic "under-stem" threshing machine for green prickly ash to solve the above problems.

[0007] The technical solution of the utility model is as follows:

[0008] A fully automatic "under-stem" threshing machine for green prickly ash, characterized in that it mainly includes a crawler vehicle, a robotic arm, a multi-layer automatic threshing device, and a collection box.

[0009] Furthermore, the crawler vehicle is arranged directly below the thresher; the robotic arm is arranged above the front of the thresher; the multi-layer automatic threshing device is arranged behind the robotic arm; the collection box is arranged below the front of the multi-layer automatic threshing device.

[0010] Furthermore, the crawler vehicle includes a crawler vehicle frame, an automatic navigation camera, front crawler vehicle wheels, and rear crawler vehicle wheels; the automatic navigation camera is arranged above the front of the crawler vehicle and is connected to the crawler vehicle frame. The automatic navigation camera faces the front of the vehicle and is used to achieve automatic navigation using machine vision; the front crawler vehicle wheels are arranged on the symmetric two sides in the front of the crawler vehicle and are connected to the crawler vehicle frame, and the movement of the crawler is used to overcome the resistance between the fields; the rear crawler vehicle wheels are arranged on the symmetric two sides in the rear of the crawler vehicle and are connected to the crawler vehicle frame, and the principle of differential drive is used to achieve the turning of the crawler vehicle.

[0011] Furthermore, the robotic arm includes a camera, a frame with a chute, a base with a slider, an upper "V" - shaped cutter, an adaptive spring, a pressing piece, and a lower "V" - shaped cutter; the camera is arranged at the end of the robotic arm and faces the end direction of the robotic arm, and is used to identify the green pepper branches; the frame with a chute is arranged at the end of the robotic arm; the base with a slider is connected to the frame with a chute through the slider and is arranged on both sides at the end of the robotic arm. By controlling the movement of the slider, the distance between the two bases with sliders can be adjusted to achieve the clamping and shearing of the pepper branches; the upper "V" - shaped cutter is arranged on the inner upper side of the base with a slider, and the lower "V" - shaped cutter is arranged on the inner lower side of the base with a slider, with the tips facing each other. By the relative sliding of the base with a slider, the distance between the upper "V" - shaped cutter and the lower "V" - shaped cutter is changed, so as to achieve the shearing of the pepper branches; the adaptive spring is arranged on the outer side of the base with a slider, and the self - adaptive fixing of the green pepper branches is achieved through the elastic deformation of the spring; the pressing piece is connected to the adaptive spring and is respectively arranged on the inner sides of the ends of the two bases with sliders on both sides, and cooperates with the adaptive spring to fix the green pepper branches sheared by the upper "V" - shaped cutter and the lower "V" - shaped cutter. Through the movement of the robotic arm, the pepper branches are transported into the multi - layer automatic threshing device to complete the automatic threshing of the pepper branches.

[0012] Furthermore, the multi - layer automatic threshing device includes a frame, a transverse reciprocating cutting device, a longitudinal reciprocating cutting device, and an automatic dragging device; the frame is arranged directly behind the thresher and is connected to the crawler vehicle; the transverse reciprocating cutting device is arranged at the center of the front side inside the frame and is connected to the frame; the longitudinal reciprocating cutting device is arranged directly behind the transverse reciprocating cutting device and is connected to the frame; the automatic dragging device is arranged directly behind the longitudinal reciprocating cutting device and is connected to the frame.

[0013] Further, the horizontal reciprocating cutting device includes a reciprocating cutting actuator, a reciprocating cutting serrated tool, and a Chinese prickly ash branch guide plate; the input end is the position where the robotic arm is located; the reciprocating cutting actuator is arranged on the left and right sides of the horizontal reciprocating cutting device and is connected to the frame; the cutting edge of the reciprocating cutting serrated tool faces the input end of the horizontal reciprocating cutting device, and is vertically arranged upward at a certain interval in an array, and is respectively connected to the reciprocating cutting actuator; the horizontal reciprocating cutting device forms two horizontal threshing gaps. Under the feeding of the robotic arm and the dragging traction of the automatic dragging device, when the Chinese prickly ash branches pass through the horizontal threshing gaps, the Chinese prickly ash fruits on the upper and lower parts of the Chinese prickly ash branches are sawed off by the reciprocating movement of the reciprocating cutting serrated tool; the Chinese prickly ash branch guide plate is arranged on the upper and lower sides of the reciprocating cutting serrated tool and is connected to the reciprocating cutting serrated tool, and axially guides the Chinese prickly ash branches conveyed by the robotic arm into the intervals of the reciprocating cutting serrated tool.

[0014] Further, the vertical reciprocating cutting device includes a vertical reciprocating cutting actuator and a vertical reciprocating cutting serrated tool; the vertical reciprocating cutting device is arranged perpendicular to the horizontal reciprocating cutting device; the vertical reciprocating cutting actuator is arranged on the upper and lower sides of the vertical reciprocating cutting device and is connected to the frame; the cutting edge of the vertical reciprocating cutting serrated tool faces the input end of the horizontal reciprocating cutting device, and is horizontally arranged to the right at a certain interval in an array, and is respectively connected to the vertical reciprocating cutting actuator; the horizontal reciprocating cutting device forms a plurality of vertical threshing gaps, and the robotic arm can continuously input into each vertical threshing gap in sequence from left to right to improve the automatic threshing efficiency of the whole machine. Under the dragging traction of the automatic dragging device, when the Chinese prickly ash branches pass through the vertical threshing gaps, the Chinese prickly ash fruits on the remaining left and right parts of the Chinese prickly ash branches are sawed off by the reciprocating movement of the vertical reciprocating cutting serrated tool to complete the automatic threshing of the whole Chinese prickly ash branches.

[0015] Further, the automatic dragging device includes a bearing seat, a main shaft, a transmission gear, a toothed conveyor belt, a secondary gear, a secondary pulley, a main pulley, and a motor; the motor drives the main pulley to rotate, the main pulley drives the secondary pulley to rotate, thereby driving the main shaft connected to the bearing seat to rotate. On the one hand, it drives the transmission gear to drive the upper-layer toothed conveyor belt to rotate, and on the other hand, it drives the lower-layer toothed conveyor belt to rotate. When the Chinese prickly ash branches pass through the meshing part of the upper and lower layers of the toothed conveyor belt, the Chinese prickly ash branches are pressed and dragged out of the horizontal reciprocating cutting device and the vertical reciprocating cutting device under the rapid rotation of the toothed conveyor belt, so that the Chinese prickly ash branches quickly pass through the threshing gaps to achieve rapid threshing.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model can achieve the full automation of "piling and picking" and automatic threshing, and carry out the integrated mechanical operation of the whole process of green prickly ash from picking to threshing. At the same time, the present utility model is easy to operate. Farmers only need to drive the full-automatic green prickly ash piling type threshing machine beside the prickly ash tree to pick and thresh the green prickly ash branches; the present utility model greatly improves the picking efficiency of green prickly ash, and at the same time can ensure a relatively low fruit injury rate and a good threshing rate, and can greatly reduce the labor intensity of farmers' manual picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the present utility model, and constitute a part of the specification. Together with the embodiments of the present utility model, they are used to explain the present utility model, and do not constitute a limitation to the present utility model. In the drawings:

[0018] Figure 1 is a three-dimensional structure diagram of a full-automatic green prickly ash "piling type" threshing machine;

[0019] Figure 2 is a front view of a full-automatic green prickly ash "piling type" threshing machine;

[0020] Figure 3 is a left view of a full-automatic green prickly ash "piling type" threshing machine;

[0021] Figure 4 is a top view of a full-automatic green prickly ash "piling type" threshing machine;

[0022] Figure 5 is a rear view of a full-automatic green prickly ash "piling type" threshing machine;

[0023] Figure 6 is a schematic structural diagram of the robotic arm of a full-automatic green prickly ash "piling type" threshing machine;

[0024] Figure 7 is a schematic structural diagram of the multi-layer automatic threshing device of a full-automatic green prickly ash "piling type" threshing machine; Figure 8 is a schematic structural diagram of the horizontal reciprocating cutting device of a full-automatic green prickly ash "piling type" threshing machine;

[0025] Figure 8 is a schematic structural diagram of the horizontal reciprocating cutting device of a full-automatic green prickly ash "piling type" threshing machine;

[0026] Figure 9 is a schematic structural diagram of the vertical reciprocating cutting device of a full-automatic green prickly ash "piling type" threshing machine;

[0027] Figure 10Schematic diagram of the automatic dragging device structure of a fully automatic "under-staking" threshing machine for green prickly ash

[0028] Figure 11 Schematic diagram of the overall structure of a fully automatic "under-staking" threshing machine for green prickly ash

[0029] In the figure: 1, crawler vehicle; 2, robotic arm; 3, multi-layer automatic threshing device; 4, collection box; 11, crawler vehicle frame; 12, automatic navigation camera; 13, front crawler vehicle wheel; 14, front crawler vehicle wheel; 21, camera; 22, frame with chute; 23, base with slider; 24, upper "V"-shaped cutter; 25, adaptive spring; 26, pressing plate; 27, lower "V"-shaped cutter; 31, frame; 32, transverse reciprocating cutting device; 33, longitudinal reciprocating cutting device; 34, automatic dragging device; 321, reciprocating cutting actuator; 322, reciprocating cutting serrated cutter; 323, prickly ash branch guide plate; 331, longitudinal reciprocating cutting actuator; 332, longitudinal reciprocating cutting serrated cutter; 341, bearing seat; 342, main shaft; 343, transmission gear; 344, toothed conveyor belt; 345, auxiliary gear; 346, auxiliary pulley; 347, main pulley; 348, motor. Specific implementation mode

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Please refer to Figures 1-10 , a fully automatic "under-staking" threshing machine for green prickly ash, which is characterized in that it mainly includes a crawler vehicle 1, a robotic arm 2, a multi-layer automatic threshing device 3, and a collection box 4.

[0032] In this embodiment, the crawler vehicle 1 is arranged directly below the threshing machine; the robotic arm 2 is arranged above the front of the threshing machine; the multi-layer automatic threshing device 3 is arranged behind the robotic arm 2; the collection box 4 is arranged below the front of the multi-layer automatic threshing device 3.

[0033] In this embodiment, the tracked vehicle 1 includes a tracked vehicle frame 11, an automatic navigation camera 12, front tracked vehicle wheels 13, and rear tracked vehicle wheels 14; the automatic navigation camera 12 is arranged above the front of the tracked vehicle 1 and is connected to the tracked vehicle frame 11. The automatic navigation camera 12 faces directly forward of the vehicle and is used to achieve automatic navigation using machine vision; the front tracked vehicle wheels 13 are arranged on the symmetric two sides in the front of the tracked vehicle 1 and are connected to the tracked vehicle frame 11, and the movement of the tracks is used to overcome the resistance between the fields; the rear tracked vehicle wheels 14 are arranged on the symmetric two sides in the rear of the tracked vehicle 1 and are connected to the tracked vehicle frame 11, and the principle of differential drive is used to achieve the turning of the tracked vehicle 1.

[0034] In this embodiment, the robotic arm 2 includes a camera 21, a frame with a chute 22, a base with a slider 23, an upper "V" - shaped cutter 24, an adaptive spring 25, a pressing piece 26, and a lower "V" - shaped cutter 27; the camera 21 is arranged at the end of the robotic arm 2 and faces the end direction of the robotic arm 2, and is used to identify the green prickly ash branches; the frame with a chute 22 is arranged at the end of the robotic arm 2; the base with a slider 23 is connected to the frame with a chute 22 through a slider and is arranged on both sides at the end of the robotic arm 2. By controlling the movement of the slider, the distance between the two bases with sliders 23 on both sides can be adjusted to achieve the clamping and shearing of the pepper branches; the upper "V" - shaped cutter 24 is arranged on the inner side above the base with a slider 23, and the lower "V" - shaped cutter 27 is arranged on the inner side below the base with a slider 23, with the tips of the cutters facing each other. By the relative sliding of the base with a slider 23, the distance between the upper "V" - shaped cutter 24 and the lower "V" - shaped cutter 27 is changed, so as to achieve the shearing of the pepper branches; the adaptive spring 25 is arranged on the outside of the base with a slider 23, and the adaptive fixing of the green prickly ash branches is realized through the elastic deformation of the spring; the pressing piece 26 is connected to the adaptive spring 25 and is respectively arranged on the inner sides of the ends of the two bases with sliders 23 on both sides, and cooperates with the adaptive spring 25 to fix the green prickly ash branches cut by the upper "V" - shaped cutter 24. Through the movement of the robotic arm 2, the pepper branches are conveyed into the multi - layer automatic threshing device 3 to complete the automatic picking of the pepper branches.

[0035] In this embodiment, the multi - layer automatic threshing device 3 includes a frame 31, a transverse reciprocating cutting device 32, a longitudinal reciprocating cutting device 33, and an automatic dragging device 34. The frame 31 is arranged directly behind the threshing machine and is connected to the tracked vehicle 1; the transverse reciprocating cutting device 32 is arranged at the center of the front side inside the frame 31 and is connected to the frame 31; the longitudinal reciprocating cutting device 33 is arranged directly behind the transverse reciprocating cutting device 32 and is connected to the frame 31; the automatic dragging device 34 is arranged directly behind the longitudinal reciprocating cutting device 33 and is connected to the frame 31.

[0036] In this embodiment, the horizontal reciprocating cutting device 32 includes a reciprocating cutting actuator 321, a reciprocating cutting serrated tool 322, and a Chinese prickly ash branch guide plate 323. The input end is the orientation where the robotic arm 2 is located. The reciprocating cutting actuator 321 is arranged on the left and right sides of the horizontal reciprocating cutting device 32 and is connected to the frame 31. The cutting edge of the reciprocating cutting serrated tool 322 faces the input end of the horizontal reciprocating cutting device 32, and is vertically arrayed upward at a certain interval and is respectively connected to the reciprocating cutting actuator 321. The horizontal reciprocating cutting device 32 forms two horizontal threshing gaps. Under the feeding of the robotic arm 2 and the dragging traction of the automatic dragging device 34, when the Chinese prickly ash branches pass through the horizontal threshing gaps, the Chinese prickly ash fruits on the upper and lower parts of the Chinese prickly ash branches are sawed off by the reciprocating movement of the reciprocating cutting serrated tool 322. The Chinese prickly ash branch guide plate 323 is arranged on the upper and lower sides of the reciprocating cutting serrated tool 322 and is connected to the reciprocating cutting serrated tool 322, axially guiding the Chinese prickly ash branches conveyed by the robotic arm 2 into the intervals of the reciprocating cutting serrated tool 322. The Chinese prickly ash fruits picked by the horizontal reciprocating cutting device 32 fall into the collection box 4 through a small gap in front of the horizontal reciprocating cutting device 32 for collection.

[0037] In this embodiment, the vertical reciprocating cutting device 33 includes a vertical reciprocating cutting actuator 331 and a vertical reciprocating cutting serrated tool 332. The vertical reciprocating cutting device 33 is arranged perpendicular to the horizontal reciprocating cutting device 32. The vertical reciprocating cutting actuator 331 is arranged on the upper and lower sides of the vertical reciprocating cutting device 33 and is connected to the frame 31. The cutting edge of the vertical reciprocating cutting serrated tool 332 faces the input end of the horizontal reciprocating cutting device 32, and is horizontally arrayed to the right at a certain interval and is respectively connected to the vertical reciprocating cutting actuator 331. The horizontal reciprocating cutting device 32 forms a plurality of vertical picking gaps. The robotic arm 2 can continuously input to each vertical threshing gap in sequence from left to right, improving the automatic threshing efficiency of the whole machine. Under the dragging traction of the automatic dragging device 34, when the Chinese prickly ash branches pass through the vertical threshing gaps, the Chinese prickly ash fruits on the remaining left and right parts of the Chinese prickly ash branches are sawed off by the reciprocating movement of the vertical reciprocating cutting serrated tool 332, completing the automatic threshing of the entire Chinese prickly ash branches. The Chinese prickly ash fruits picked by the vertical reciprocating cutting device 33 fall into the collection box 4 through the gap between the vertical reciprocating cutting device 33 and the horizontal reciprocating cutting device 32 for collection.

[0038] In this embodiment, the automatic dragging device 34 includes a bearing block 341, a main shaft 342, a transmission gear 343, a toothed conveyor belt 344, a secondary gear 345, a secondary pulley 346, a main pulley 347, and a motor 348. The motor 348 drives the main pulley 347 to rotate, and the main pulley 347 drives the secondary pulley 346 to rotate, thereby driving the main shaft 342 connected to the bearing block 341 to rotate. On the one hand, it drives the transmission gear 343 to drive the upper-layer toothed conveyor belt 344 to rotate, and on the other hand, it drives the lower-layer toothed conveyor belt 344 to rotate. When the Chinese prickly ash branches pass through the meshing part of the upper and lower layers of the toothed conveyor belts 344, the Chinese prickly ash branches are pressed and dragged out of the transverse reciprocating cutting device 32 and the longitudinal reciprocating cutting device 33 under the rotation of the two layers of toothed conveyor belts 344, so that the Chinese prickly ash branches can quickly pass through the threshing gap to achieve rapid threshing. The Chinese prickly ash clusters on the Chinese prickly ash branches are cut off by the longitudinal reciprocating cutting serrated tool 332 and the transverse reciprocating cutting serrated tool 322, realizing the threshing of the Chinese prickly ash branches. The Chinese prickly ash branches are respectively subjected to three-dimensional cutting and threshing in four directions through the transverse reciprocating cutting device 32 and the longitudinal reciprocating cutting device 33, greatly improving the threshing rate and reducing the fruit damage rate.

[0039] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model can realize the full automation of "cutting at the base for picking" and automatic threshing, and carry out the integrated mechanical operation of the whole process of green Chinese prickly ash from picking to threshing. At the same time, the present utility model is easy to operate. Farmers only need to drive this full-automatic green Chinese prickly ash cutting-at-the-base threshing machine to the side of the Chinese prickly ash tree to pick and thresh the green Chinese prickly ash branches. The present utility model greatly improves the picking efficiency of green Chinese prickly ash, and at the same time can ensure a relatively small fruit damage rate and a good threshing rate, and can greatly reduce the labor intensity of manual picking by farmers.

[0040] The above embodiments are only used to illustrate the technical concept and characteristics of the present utility model, and their purpose is to enable those who are familiar with this technology to understand the content of the present utility model and implement it accordingly, and should not be used to limit the protection scope of the present utility model; all equivalent changes or modifications made according to the spirit of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A fully automatic green pepper "pile-down" thresher, characterized in that: The invention mainly comprises a crawler vehicle (1), a mechanical arm (2), a multi-layer automatic threshing device (3), and a collecting frame (4); the crawler vehicle (1) is arranged directly below the thresher; the mechanical arm (2) is mainly composed of a camera (21), a frame with a slide groove (22), a base with a slider (23), an upper "V"-shaped cutter (24), an adaptive spring (25), a pressing plate (26), and a lower "V"-shaped cutter (27), and is arranged above the front of the thresher; the multi-layer automatic threshing device (3) is mainly composed of a frame (31), a transverse reciprocating cutting device (32), a longitudinal reciprocating cutting device (33), and an automatic dragging device (34), and is arranged behind the mechanical arm (2); the frame (31) is arranged directly behind the thresher and is connected to the crawler vehicle (1); the transverse reciprocating cutting device (32) is mainly composed of a reciprocating cutting actuator (321), a reciprocating cutting sawtooth The machine frame (31) is composed of a cutter (322) and a Chinese prickly ash branch guide plate (323), which are arranged at the center of the front side of the frame (31); the longitudinal reciprocating cutting device (33) is mainly composed of a longitudinal reciprocating cutting actuator (331) and a longitudinal reciprocating cutting sawtooth cutter (332); the longitudinal reciprocating cutting device (33) and the transverse reciprocating cutting device (32) are arranged perpendicular to each other and are arranged directly behind the transverse reciprocating cutting device (32); the automatic dragging device (34) is mainly composed of a bearing seat (341), a main shaft (342), a transmission gear (343), a toothed conveyor belt (344), a secondary gear (345), a secondary pulley (346), a primary pulley (347), and a motor (348), and is arranged directly behind the longitudinal reciprocating cutting device (33); and the collecting frame (4) is arranged at the front and lower part of the multi-layer automatic threshing device (3).

2. A fully automatic green pepper "pile-down" thresher according to claim 1, characterized in that: The crawler vehicle (1) comprises a crawler vehicle frame (11), an automatic navigation camera (12), front crawler vehicle wheels (13), and rear crawler vehicle wheels (14); the automatic navigation camera (12) is arranged at the upper front of the crawler vehicle (1) and connected to the crawler vehicle frame (11); the automatic navigation camera (12) faces the front of the vehicle and is used to use machine vision to achieve automatic navigation; the front crawler vehicle wheels (13) are arranged at both symmetrical sides of the front of the crawler vehicle (1) and connected to the crawler vehicle frame (11); the movement of the crawler tracks is used to overcome the resistance between the fields; the rear crawler vehicle wheels (14) are arranged at both symmetrical sides of the rear of the crawler vehicle (1) and connected to the crawler vehicle frame (11); the turning of the crawler vehicle (1) is achieved by using the principle of differential drive.

3. A fully automatic green pepper "pile-down" thresher according to claim 1, characterized in that: The mechanical arm (2) comprises a camera (21), a frame with a slide groove (22), a base with a slider (23), an upper "V"-shaped tool (24), an adaptive spring (25), a pressing sheet (26), and a lower "V"-shaped tool (27); the camera (21) is arranged at the end of the mechanical arm (2), facing the end direction of the mechanical arm (2), and is used to identify green pepper branches; the frame with a slide groove (22) is arranged at the end of the mechanical arm (2); the base with a slider (23) is connected to the frame with a slide groove (22) through a slider, and is arranged on both sides of the end of the mechanical arm (2); the distance between the base with a slider (23) on both sides can be adjusted by controlling the movement of the slider, so as to achieve clamping and shearing of pepper branches; the upper "V"-shaped tool (24) is arranged on the upper inner side of the base with a slider (23); the lower "V"-shaped tool (24) is arranged on the inner side of the base with a slider (23); The "V"-shaped cutter (27) is arranged on the lower inner side of the base with a slider (23), and the knife tips are placed opposite to each other. The base with a slider (23) slides relative to each other to change the distance between the upper "V"-shaped cutter (24) and the lower "V"-shaped cutter (27), thereby achieving the shearing of the pepper branches. The adaptive spring (25) is arranged on the outer side of the base with a slider (23), and achieves adaptive fixing of the green pepper branches through elastic deformation of the spring. The pressing sheet (26) is connected to the adaptive spring (25), and is respectively arranged on the inner side of the ends of the base with a slider (23) on both sides, and cooperates with the adaptive spring (25) to fix the green pepper branches sheared by the upper "V"-shaped cutter (24). The pepper branches are transported into the multi-layer automatic threshing device through the movement of the mechanical arm (2), thereby completing the automatic picking of the pepper branches.

4. A fully automatic green pepper "pile-down" thresher according to claim 1, characterized in that: The transverse reciprocating cutting device (32) comprises a reciprocating cutting actuator (321), a reciprocating cutting sawtooth tool (322), and a pepper branch guide plate (323); the input end is the position of the mechanical arm (2); the reciprocating cutting actuator (321) is arranged on the left and right sides of the transverse reciprocating cutting device (32) and is connected to the frame (31); the cutting edges of the reciprocating cutting sawtooth tools (322) face the input end of the transverse reciprocating cutting device (32), and are arranged in an array vertically upward at a certain interval, and are respectively connected to the reciprocating cutting actuator (321); the transverse reciprocating cutting actuator (321) is arranged on the left and right sides of the transverse reciprocating cutting device (32) and is connected to the frame (31); the cutting edges of the reciprocating cutting sawtooth tools (322) are arranged in an array vertically upward at a certain interval, and are respectively connected to the reciprocating cutting actuator (321); The cutting device (32) forms two horizontal threshing gaps. Under the feeding of the mechanical arm (2) and the dragging force of the automatic dragging device (34), when the pepper branches pass through the horizontal threshing gaps, the pepper fruits at the upper and lower parts of the pepper branches are sawed off by the reciprocating motion of the reciprocating cutting sawtooth tool (322); the pepper branch guide plates (323) are arranged on the upper and lower sides of the reciprocating cutting sawtooth tool (322), are connected to the reciprocating cutting sawtooth tool (322), and axially guide the pepper branches conveyed by the mechanical arm (2) into the gap of the reciprocating cutting sawtooth tool (322).

5. A fully automatic green pepper "pile-down" thresher according to claim 1, characterized in that: The longitudinal reciprocating cutting device (33) comprises a longitudinal reciprocating cutting actuator (331) and a longitudinal reciprocating cutting sawtooth tool (332); the longitudinal reciprocating cutting device (33) and the transverse reciprocating cutting device (32) are arranged perpendicular to each other; the longitudinal reciprocating cutting actuator (331) is arranged on the upper and lower sides of the longitudinal reciprocating cutting device (33) and is connected to the frame (31); the cutting edge of the longitudinal reciprocating cutting sawtooth tool (332) faces the input end of the transverse reciprocating cutting device (32) and is arranged horizontally in an array at a certain distance to the right. The horizontal reciprocating cutting device (32) is respectively connected to the longitudinal reciprocating cutting actuator (331); the horizontal reciprocating cutting device (32) forms a plurality of vertical threshing gaps, and the mechanical arm (2) can be sequentially input into each vertical threshing gap from left to right, thereby improving the automatic threshing efficiency of the entire machine; and under the dragging and traction force of the automatic dragging device (34), when the pepper branch passes through the vertical threshing gap, the reciprocating motion of the longitudinal reciprocating cutting sawtooth tool (332) saws off the pepper fruits on the remaining left and right parts of the pepper branch, thereby completing the automatic threshing of the entire pepper branch.

6. A fully automatic green pepper "pile-down" thresher according to claim 1, characterized in that: The automatic dragging device (34) comprises a bearing seat (341), a main shaft (342), a transmission gear (343), a toothed conveyor belt (344), a secondary gear (345), a secondary pulley (346), a primary pulley (347), and a motor (348); the motor (348) drives the primary pulley (347) to rotate, and the primary pulley (347) drives the secondary pulley (346) to rotate, thereby driving the main shaft (342) connected to the bearing seat (341) to rotate. On the one hand, the transmission gear (343) drives the toothed conveyor belt (344) of the upper layer to rotate, and on the other hand, the toothed conveyor belt (344) of the lower layer to rotate. When the pepper branches pass through the meshing position of the toothed conveyor belts (344) of the upper and lower layers, the toothed conveyor belt (344) quickly rotates to press the pepper branches and drag them out of the transverse reciprocating cutting device (32) and the longitudinal reciprocating cutting device (33), so that the pepper branches can quickly pass through the threshing gap to achieve rapid threshing.

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