A self-propelled palm-picking and transporting vehicle

Abstract

A self-propelled palm fruit picking and transporting vehicle includes a main frame, a cab, an X-shaped support, a cargo box, tracks, wheelsets, a lifting cylinder, a tilting cylinder, hydraulic lines, an engine, a gearbox, a driving control mechanism, and a picking mechanism. The cargo box has a hinged seat at the bottom center, hinged to the telescopic end of the tilting cylinder. The telescopic end and cylinder body of the lifting cylinder, as well as the cylinder body of the tilting cylinder, are all hinged to the X-shaped support. The driving control mechanism controls the wheel assembly's movement via the engine and gearbox, and controls the picking mechanism's movement via the laid hydraulic lines. This invention uses a hydraulically driven grab cylinder to open and close the grab to pick up palm fruits. When rotating and transferring the palm fruits from the picking area to the cargo box, the stable hydraulic control prevents the palm fruits from falling during the entire process. Similarly, the lifting, tilting, and tilting of the cargo box, as well as the 360-degree rotation of the picking mechanism, are all designed with full hydraulics, making transportation more convenient.

Description

Technical Field

[0001] This utility model relates to the field of palm leaf pickup and transport vehicle technology, specifically to a self-propelled palm leaf pickup and transport vehicle. Background Technology

[0002] With the development of modern agriculture, the level of agricultural mechanization is increasing, and some physically demanding farm work is gradually being replaced by agricultural machinery. Due to the large size and weight of palm fruits, manual picking and carrying of palm fruits for extended periods is inefficient and physically demanding. Existing palm fruit trucks often only have the function of transporting palm fruits and cannot complete the picking and carrying of palm fruits in one trip. Even if the operations can be combined, the picking and carrying process is not stable enough, and palm fruits are prone to falling, affecting the operation.

[0003] After thorough market research on palm fruit picking and transportation technology, and in order to adapt to current agricultural development trends, a palm fruit picking vehicle, which is in high demand both domestically and internationally, was designed and manufactured to improve the efficiency of palm fruit picking and transportation. Therefore, this utility model designs and manufactures a self-propelled palm fruit picking and transportation vehicle. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the purpose of this invention is to provide a self-propelled palm fruit picking and transporting vehicle to solve the problems of low efficiency in manual palm fruit picking and transporting and the unstable operation of existing palm fruit picking and transporting vehicles.

[0005] This utility model is achieved through the following technical solution:

[0006] A self-propelled palm leaf picking and transport vehicle includes a main frame, a cab, an X-shaped support frame, a cargo box, tracks, wheel sets, lifting cylinders, tilting cylinders, hydraulic lines, an engine, a gearbox, a driving control mechanism, and a picking mechanism. The main frame includes an upper frame and a lower frame. The lower frame is fitted with wheel sets, and tracks are threaded onto the wheel sets. The upper frame has a cab and an X-shaped support frame mounted at both ends. The engine and gearbox are fixed to the upper frame. The driving control mechanism is located in the cab. The top and bottom surfaces of the X-shaped support frame are equipped with support beams. The bottom of the cargo box can be attached to the top surface of the X-shaped support frame. On the support beam, one end of the X-shaped bracket and one end of the bottom of the carriage are both hinged to one end of the support beam. The other end of the support beam is provided with a guide rail. The other end of the X-shaped bracket is equipped with a pulley and is fitted inside the guide rail. The bottom of the carriage is provided with a hinge seat in the middle position and is hinged to the telescopic end of the tilting cylinder. The telescopic end and cylinder body of the lifting cylinder, as well as the cylinder body of the tilting cylinder, are all hinged to the X-shaped bracket. A part of the picking mechanism is fitted around the cab on the upper frame. The driving control mechanism controls the wheel assembly movement through the engine and gearbox, and controls the picking mechanism movement through the laid hydraulic pipelines.

[0007] Preferably, the wheel set includes a drive wheel, several support rollers, carrier rollers, and balance rollers that are threaded through the track. The drive wheel and carrier rollers are located at the top two ends of the lower frame. The drive wheel is a polygonal contour wheel adapted to the track, with an internal spline in its center and keyed to the axle. The several support rollers and balance rollers are located at the bottom of the lower frame, with the balance roller located at the middle of the bottom of the lower frame. The balance roller leaves a gap with the track when the track is in normal operation. After the support rollers, carrier rollers, and balance rollers are installed with axles and bearings, they are further sealed with snap rings, dust covers, and oil seals. The drive wheel movement is controlled by starting the engine and gearbox through the driving control mechanism.

[0008] More preferably, the wheel set also includes a tensioning wheel. After the tensioning wheel is installed at one end of the tensioning frame using a wheel axle and bearing, it is further sealed with a dust cover and an oil seal. The tensioning frame is fitted inside the rectangular tube of the lower frame. An adjusting screw is screwed to the other end of the tensioning frame. A locking nut is placed between the rod of the adjusting screw and the end of the tensioning frame. The head of the adjusting screw is tapered after being equipped with a stop and passes through the inner wall of the rectangular tube. When the head of the adjusting screw is rotated, the tensioning frame moves forward by resisting the limiting effect of the inner wall of the rectangular tube by the stop.

[0009] Preferably, the picking mechanism includes a load-bearing frame, a picking front arm, a picking rear arm, two picking cylinders, a grab cylinder, a grab, a slewing motor, and a slewing bearing. The top of the load-bearing frame is hinged to one end of the picking front arm, and the other end of the picking front arm is hinged to the picking rear arm. One picking cylinder is hinged between the picking front arm and the picking rear arm, and the other picking cylinder is hinged between the picking front arm and the load-bearing frame. A grab cylinder is fixed to the bottom of the picking front arm, and the telescopic end of the grab cylinder is connected to the grab. The bottom of the load-bearing frame is vertically fixed to the slewing bearing. The slewing bearing and the slewing motor are mounted on the upper frame around the cab. The slewing motor controls the rotation of the slewing bearing, and the hydraulic lines are activated by the driving control mechanism to control the movement of the picking cylinder, the grab cylinder, and the slewing motor.

[0010] Preferably, the driving control mechanism includes a handbrake, a combination rocker switch, an instrument panel, a lever, a handguard box, a foot brake, a foot accelerator, a hydraulic start lever, and a start switch, all located in the driver's cab. A portion of the handbrake is connected to the wheel axle clamp. The handbrake is covered by the handguard box, which drives the handbrake to return to the middle position after being released. Lifting the hydraulic start lever and pressing the start switch activates the hydraulic lines. The handbrake includes a left lever and a right lever. The left lever controls the rotation motor and the lifting cylinder, while the right lever controls the pickup cylinder, the tilting cylinder, and the grab cylinder. The combination rocker switch controls the rotation of the drive wheel.

[0011] Preferably, the handbrake includes a push rod, a compression spring, a handle sleeve, a push rod, a handle, a base, a locking plate, and a brake cable. One end of the handle is hinged to the base, with a curved groove and a hinge hole in its middle. The other end is constructed as a round tube to allow the push rod to enter. A sliding shaft is fitted inside the curved groove, and a push rod is fitted on the sliding shaft and hinged to the locking plate. The brake cable is hinged to the hinge hole, and the other end of the brake cable is connected to the wheel axle clamp. The base has a toothed plate for use with the locking plate. The base is fixed in the driver's cab. The other end of the push rod is fixedly connected to the push rod. The compression spring is installed inside the round tube and sleeved on the push rod, with its two ends abutting against the push rod and the handle, respectively. The handle sleeve covers the round tube and part of the push rod. Both ends of the brake cable are provided with adjusting screws.

[0012] Preferably, shock absorbers are mounted on the four bottom corners of the engine using connecting brackets.

[0013] Preferably, the air intake of the engine is connected to the air filter via a rubber hose, and the exhaust pipe of the engine is equipped with a muffler.

[0014] Preferably, a cooling water tank fixed to the engine body is provided around the engine, the water inlet of the engine is connected to the bottom of the cooling water tank through a rubber hose, and the water outlet of the engine is connected to the top of the cooling water tank through a rubber hose.

[0015] Compared with the prior art, the beneficial effects of this utility model are:

[0016] 1. This utility model controls the picking, harvesting and transfer of palm fruits by setting up an X-shaped bracket, lifting cylinder, tilting cylinder, picking cylinder, grab cylinder, grab bucket, rotary motor, rotary bearing and hydraulic pipeline. The whole process is mechanical to replace manual picking and handling, thereby improving the work efficiency of picking and handling palm fruits.

[0017] 2. This utility model adopts a tracked design, which is suitable for palm fruit growing areas and hilly and complex areas, and is conducive to vehicle transportation;

[0018] 3. This utility model uses a hydraulically driven grab cylinder to pull the grab open and close to pick up palm fruits. When rotating and transferring the palm fruits from the picking area to the truck bed, the stable hydraulic control prevents the palm fruits from falling off during the entire process. Similarly, the lifting, tilting, and tilting of the truck bed, as well as the 360-degree rotation of the picking mechanism, are all designed with full hydraulics, making transportation more convenient. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the self-propelled palm leaf picking and transporting vehicle of this utility model;

[0021] Figure 2 This is a schematic diagram of the wheel assembly of this utility model;

[0022] Figure 3 This is a schematic diagram of the main frame of this utility model;

[0023] Figure 4 This is a schematic diagram of the structure of the tensioning wheel of this utility model installed on the tensioning frame;

[0024] Figure 5 This is a side sectional view of the tensioning wheel of this utility model;

[0025] Figure 6 This is a schematic diagram of the handbrake of this utility model;

[0026] Figure 7 This is a schematic diagram of the brake cable of this utility model;

[0027] Figure 8 This is a schematic diagram of the handle of this utility model;

[0028] Figure 9 This is a schematic diagram of the drive wheel of this utility model;

[0029] Figure 10 This is a schematic diagram of the structure of the support roller of this utility model;

[0030] Figure 11 This is a schematic diagram of the structure of the balance wheel of this utility model;

[0031] Figure 12 This is a schematic diagram of the structure of the support roller of this utility model;

[0032] Figure 13 This is a schematic diagram of the structure of the shock absorber, air filter, muffler, and coolant tank installed around the engine according to this utility model;

[0033] Figure 14 This is a schematic diagram of the structure of the shock absorber of this utility model;

[0034] Figure 15 This is a schematic diagram of the picking mechanism of this utility model;

[0035] Figure 16 This is a schematic diagram of the structure of the carriage of this utility model mounted on the X-shaped bracket;

[0036] Figure 17 This is a schematic diagram of the driving control mechanism of this utility model.

[0037] The components include: main frame 1, upper frame 101, lower frame 102, rectangular tube 1021, cab 2, X-shaped bracket 3, support beam 301, guide rail 3011, carriage 4, articulated seat 401, track 5, wheel set 6, drive wheel 601, track roller 602, carrier roller 603, balance wheel 604, tensioning wheel 605, lifting cylinder 7, tilting cylinder 8, hydraulic pipeline 9, pulley 10, snap ring 11, dust cover 12, oil seal 13, tensioning frame 14, adjusting screw 15, stop block 1501, locking nut 16, load-bearing frame 17, picking arm 18, picking arm 19, picking cylinder 20, grab cylinder 21, grab bucket 22, slewing motor 23, slewing bearing 24, handbrake 25. 2501 Top rod, 2502 Compression spring, 2503 Handle sleeve, 2504 Push rod, 2505 Handle, 25051 Curved groove, 25052 Hinge hole, 25053 Round tube, 2506 Base, 25061 Tooth plate, 2507 Locking plate, 2508 Brake cable, 26 Combined rocker switch, 27 Instrument panel, 28 Hand lever, 29 Left hand lever a, 30 Right hand lever b, Hand guard box, 31 Foot brake, 32 Foot accelerator, 33 Hydraulic start lever, 34 Starter switch, 35 Sliding shaft, 36 Adjusting screw, 37 Shock absorber, 38 Rubber hose, 39 Air filter, 40 Exhaust pipe, 41 Muffler, 42 Cooling water tank, 43 Inlet pipe, 44 Outlet pipe, 45 Dustproof cap. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0039] The technical solution of this utility model will be further described below with reference to the accompanying drawings:

[0040] Figure 1-17 A self-propelled palm fruit picking and transporting vehicle is shown, including a main frame 1, a cab 2, an X-shaped support 3, a cargo box 4, tracks 5, wheel sets 6, lifting cylinders 7, tilting cylinders 8, hydraulic lines 9, an engine, a gearbox, a driving control mechanism, and a picking mechanism. The above components are assembled into a complete device that can complete the picking and transporting of palm fruits.

[0041] As the power components of a Palm vehicle, the engine and transmission typically employ diesel engines and continuously variable transmissions (CVTs), which are existing and mature technologies. For example... Figure 13The engine's air intake is connected to the air filter 39 via a hose 38, supplying clean air to the engine. A muffler 41 is installed on the engine's exhaust pipe 40 to reduce noise. A coolant tank 42, fixed to the engine block, is located around the engine. The engine's water inlet is connected to the bottom of the coolant tank 42 via an inlet pipe 43, and the engine's water outlet is connected to the top of the coolant tank 42 via an outlet pipe 44, facilitating cooling of the engine's heat source. Figure 14 Shock absorbers 37 are mounted on the four corners of the engine bottom using connecting brackets 36, which effectively prevent and mitigate the vibration generated on the whole machine during engine operation.

[0042] The driving control mechanism, as the control component of the Palm Truck, is mainly located in the cab 2 above the front frame platform of the Palm Truck. This area offers a more reasonable working view and control range, combined with... Figures 1-3 The main frame 1 includes an upper frame 101 and a lower frame 102. The lower frame 102 is mainly used to install the walking components. The lower frame 102 is equipped with wheel sets 6. The top of the upper frame 101 has a cab 2 and an X-shaped bracket 3 installed at both ends. The engine and gearbox are fixed to the upper frame 101.

[0043] Track 5 and wheel set 6 serve as the walking components of the palm vehicle. Track 5 is threaded through wheel set 6 and wheel set 6 is mounted on the main frame 1. The track design is suitable for tropical areas with a lot of rain. Due to the high pressure bearing capacity of the track, it is very suitable for picking operations in this area.

[0044] Reference Appendix Figure 2 Specifically, the wheel assembly 6 includes a drive wheel 601 threaded through the track 5, several support rollers 602, carrier rollers 603, and balance rollers 604. The drive wheel 601 and carrier rollers 603 are respectively located at the top ends of the lower frame 102. Figure 2 Five support rollers 602 were designed. The drive wheel 601 is a polygonal contour wheel adapted to the track 5. Figure 9 The image shows an octagonal contoured drive wheel with an internal spline in the center that is keyed to the axle, facilitating axle insertion and making disassembly, maintenance, and repair easier. Five support rollers 602 and a balance roller 604 are located at the bottom of the lower frame 102, with the balance roller 604 positioned in the center of the bottom of the lower frame 102. During normal operation, the balance roller 604 maintains a gap with the track 5. When encountering brick or stone during normal operation, the track will inevitably bulge upwards, potentially even flipping over and causing it to detach. The distance between the balance roller 604 and the track 5 helps to mitigate this excessive bulging. The balance roller 604 can also be used as a reserve roller. Figures 10-12The demonstration showed that after the support roller 602, carrier roller 603, and balance roller 604 were installed using axles and bearings, they were further sealed with snap rings 11, dust covers 12, and oil seals 13. Finally, the drive wheel 601 was controlled by starting the engine and gearbox through the driving control mechanism.

[0045] like Figure 4 and Figure 5 The wheel set 6 also includes a tensioning wheel 605. After the tensioning wheel 605 is installed on one end of the tensioning frame 14 with a wheel axle and bearing, it is further sealed with a dust cover 45 and an oil seal 13. The tensioning frame 14 is fitted inside the rectangular tube 1021 of the lower frame 102. The other end of the tensioning frame 14 is screwed with an adjusting screw 15. A locking nut 16 is placed between the rod of the adjusting screw 15 and the end of the tensioning frame 14. The head of the adjusting screw 15 becomes thinner after the stop block 1501 is constructed and passes through the inner wall of the rectangular tube 1021. When the head of the adjusting screw 15 is rotated, the tensioning frame 14 moves forward by resisting the limiting effect of the inner wall of the rectangular tube 1021 by the stop block 1501.

[0046] To facilitate the lifting of the subsequent carriage 4 to a certain height after it is filled with palm fruits, allowing for the unloading of the palm fruits onto a taller, larger transport vehicle, a lifting platform is provided at the bottom of carriage 4. As an embodiment of this invention, a technologically mature X-shaped bracket is used as the lifting platform. Figure 16 The X-shaped bracket 3 has support beams 301 on both its top and bottom surfaces. The bottom of the carriage 4 can be attached to the support beams 301 on the top surface of the X-shaped bracket 3. One end of the X-shaped bracket 3 and one end of the bottom of the carriage 4 are hinged to one end of the support beams 301. The other end of the support beams 301 is equipped with guide rails 3011. The other end of the X-shaped bracket 3 is equipped with pulleys 10, which are fitted into the guide rails 3011. The bottom of the carriage 4 has a hinge seat 401 in the middle position, which is hinged to the telescopic end of the tilting cylinder 8. Figure 15 The telescopic end and cylinder body of the lifting cylinder 7, as well as the cylinder body of the tilting cylinder 8, are all hinged to the X-shaped bracket 3.

[0047] The picking mechanism, as the most important operating component of the palm fruit picking vehicle, is partially mounted on the upper frame 101 around the cab 2. The aforementioned driving control mechanism controls the movement of the wheel assembly 6 via the engine and gearbox, and controls the movement of the picking mechanism via the laid hydraulic lines 9. Considering the purpose of the picking mechanism for picking palm fruits, it is equipped with a picking arm, a grab bucket, and a component that can control the rotation of the picking arm. The grab bucket and the rotatable component are fully hydraulically operated and controlled via the hydraulic lines 9. The rotatable component is used for 360-degree rotation of the picking arm. A fully hydraulic grab bucket is located at the front end of the picking mechanism, and the grab bucket head can rotate 360 ​​degrees, making it easier to operate the picking operation.

[0048] As one embodiment of this utility model, combined with Figure 1 and Figure 15 The picking mechanism includes a load-bearing frame 17, a picking front arm 18, a picking rear arm 19, two picking cylinders 20, a grab bucket cylinder 21, a grab bucket 22, a rotary motor 23, and a rotary bearing 24. The top of the load-bearing frame 17 is hinged to one end of the picking front arm 18, and the other end of the picking front arm 18 is hinged to the picking rear arm 19. One picking cylinder 20 is hinged between the picking front arm 18 and the picking rear arm 19, and the other picking cylinder 20 is hinged between the picking rear arm 18 and the load-bearing frame 17. Between the load-bearing frames 17, a grab cylinder 21 is fixed at the bottom of the picking forearm 18. The telescopic end of the grab cylinder 21 is connected to the grab bucket 22. The bottom of the load-bearing frame 17 is vertically fixed on the slewing bearing 24. The slewing bearing 24 and the slewing motor 23 are mounted on the upper frame 101 around the cab 2. The slewing motor 23 is used to control the rotation of the slewing bearing 24. The hydraulic line 9 is activated through the driving control mechanism to control the action of the picking cylinder 20, the grab cylinder 21 and the slewing motor 23. The hydraulic pipeline 9 adopts a conventional hydraulic structure design. The transmission route for driving the load-bearing frame 17 to rotate is: engine - coupling - hydraulic pump - multi-way valve - rotary motor - slewing bearing to achieve rotation. The pickup cylinder 20 and grab cylinder 21 are both powered by hydraulic pumps (mechanical energy is converted into hydraulic energy). The transmission route for driving the pickup cylinder 20 and grab cylinder 21 is: engine - hydraulic pump - multi-way valve - grab cylinder / pickup cylinder. The pickup front arm 18 and pickup rear arm 19, the grab and the corresponding cylinders all adopt a pin shaft connection method, which makes installation and disassembly more convenient and quick.

[0049] As one embodiment of this utility model, such as Figure 17 The driving control mechanism includes a handbrake 25, a combination rocker switch 26, an instrument panel 27, a lever 28, a handguard box 29, a foot brake 30, a foot accelerator 31, a hydraulic start lever 32, and a start switch 33, all located in the cab 2. A part of the handbrake 25 is connected to the wheel axle clamp. The handbrake 28 is covered by the handguard box 29. The handguard box 29 drives the handbrake 28 to return to the middle position after being released. After lifting the hydraulic start lever 32, the start switch 33 is pressed to start the hydraulic line 9. The handbrake 28 includes a left lever a and a right lever b. The left lever a controls the rotation motor 23 and the lifting cylinder 7. The right lever b controls the picking cylinder 20, the tilting cylinder 8, and the grab cylinder 21. The combination rocker switch 26 is operated to control the rotation of the drive wheel 601.

[0050] like Figure 6 The handbrake 25 includes a push rod 2501, a compression spring 2502, a handle sleeve 2503, a push rod 2504, a handle 2505, a base 2506, a locking plate 2507, and a brake cable 2508. One end of the handle 2505 is hinged to the base 2506, as shown below. Figure 8The middle part has a curved groove 25051 and a hinge hole 25052, and the other end is constructed as a round tube 25053 to allow the push rod 2504 to enter. A sliding shaft 34 is fitted inside the curved groove 25051. A push rod 2504 is fitted on the sliding shaft 34 and a locking plate 2507 is hinged thereon. A brake cable 2508 is hinged to the hinge hole 25052. The other end of the brake cable 2508 is connected to the wheel axle clamp. A toothed plate 25061 is provided on the base 2506 to be used in conjunction with the locking plate 2507. The base 2506 is fixed inside the cab 2. The other end of the push rod 2504 is fixedly connected to the top rod 2501. A compression spring 2502 is installed inside the round tube 25053 and sleeved on the push rod 2504, with its two ends abutting against the top rod 2501 and the handle 2505 respectively. The handle sleeve 2503 covers the round tube 25053 and part of the top rod 2501. Figure 7 The brake cable 2508 is equipped with adjusting screws 35 at both ends to facilitate brake stroke adjustment.

[0051] The working principle of this utility model:

[0052] The power transmission route of the palm fruit truck's walking mechanism is: engine - coupling - gearbox - drive wheel - track, enabling movement. The tracked design fully considers the rainy and humid environment, muddy roads, and high track load-bearing capacity, making it ideal for palm fruit harvesting areas and hilly terrain. The lifting, tilting, and tipping of the truck bed, the 360-degree rotation of the picking mechanism (only the picking arm rotates, a design that rotates along with the cab, reducing manufacturing costs), and the grab's picking, grabbing, and opening / closing are all fully hydraulic, making grabbing and picking more convenient. Considering the higher position of the truck bed in large transport vehicles, an X-shaped support is installed at the bottom of the truck bed, and the palm fruit truck bed is designed to tilt and tip, facilitating the unloading of palm fruit from the truck bed into the larger transport truck bed, meeting the requirements for palm fruit harvesting and transportation. The technology has been verified through multiple trial runs. The palm fruit truck is easy to operate, has low design and manufacturing costs, and its tracked walking system offers high safety and stability, making it safer than wheeled walking systems. It is now in mass production and is worthy of promotion and use within the industry.

[0053] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A self-propelled pickup hauler for palm fronds, comprising: The system includes a main frame (1), a cab (2), an X-shaped support (3), a cargo box (4), tracks (5), wheel sets (6), lifting cylinders (7), tilting cylinders (8), hydraulic lines (9), an engine, a gearbox, a driving control mechanism, and a picking mechanism. The main frame (1) includes an upper frame (101) and a lower frame (102). The lower frame (102) is fitted with wheel sets (6), and tracks (5) are threaded through the wheel sets (6). The top of the upper frame (101) has a cab (2) and an X-shaped support (3) installed at both ends. The engine and gearbox are fixed to the upper frame (101). The driving control mechanism is installed inside the cab (2). The top and bottom surfaces of the X-shaped support (3) are provided with support beams (301). The bottom of the cargo box (4) can be attached to the top surface of the X-shaped support (3). On the support beam (301), one end of the X-shaped bracket (3) and one end of the bottom of the carriage (4) are both hinged to one end of the support beam (301). The other end of the support beam (301) is provided with a guide rail (3011). The other end of the X-shaped bracket (3) is equipped with a pulley (10) and is fitted in the guide rail (3011). The bottom of the carriage (4) is provided with a hinge seat (401) and is hinged to the telescopic end of the tilting cylinder (8). The telescopic end and cylinder body of the lifting cylinder (7) and the cylinder body of the tilting cylinder (8) are all hinged to the X-shaped bracket (3). A part of the picking mechanism is fitted on the upper frame (101) around the cab (2). The driving control mechanism controls the wheel assembly (6) through the engine and gearbox and controls the picking mechanism through the laid hydraulic pipeline (9).

2. The self-propelled pick-up handler vehicle according to claim 1, characterized in that: The wheel assembly (6) includes a drive wheel (601) threaded through the track (5), several support rollers (602), carrier rollers (603), and balance rollers (604). The drive wheel (601) and carrier rollers (603) are respectively located at the top ends of the lower frame (102). The drive wheel (601) is a polygonal contour wheel adapted to the track (5), with an internal spline in its middle and keyed to the axle. The several support rollers (602) and balance rollers (604) are all located on the lower frame (102). The bottom of the lower frame (102) is located at the bottom of the track (5), and the balance wheel (604) is located in the middle of the bottom of the lower frame (102). The balance wheel (604) leaves a gap with the track (5) when the track (5) is running normally. After the support roller (602), the carrier roller (603) and the balance wheel (604) are installed with wheel axles and bearings, they are further sealed with snap rings (11), dust covers (12) and oil seals (13). The drive wheel (601) is controlled by starting the engine and the gearbox through the driving control mechanism.

3. The self-propelled pick-up handler vehicle according to claim 2, characterized in that: The wheel set (6) also includes a tensioning wheel (605). After the tensioning wheel (605) is installed on one end of the tensioning frame (14) with a wheel axle and bearing, it is further sealed with a dust cover (45) and an oil seal (13). The tensioning frame (14) is fitted into the rectangular tube (1021) of the lower frame (102). The other end of the tensioning frame (14) is screwed with a long adjusting screw (15). A locking nut (16) is placed between the rod of the long adjusting screw (15) and the end of the tensioning frame (14). The head of the long adjusting screw (15) becomes thinner after a stop (1501) is constructed and passes through the inner wall of the rectangular tube (1021). When the head of the long adjusting screw (15) is rotated, the tensioning frame (14) moves forward by relying on the limiting effect of the stop (1501) against the inner wall of the rectangular tube (1021).

4. The self-propelled pick-up handler vehicle according to claim 1 or 2, characterized in that: The picking mechanism includes a load-bearing frame (17), a picking front arm (18), a picking rear arm (19), two picking cylinders (20), a grab bucket cylinder (21), a grab bucket (22), a rotary motor (23), and a slewing bearing (24). The top of the load-bearing frame (17) is hinged to one end of the picking front arm (18), and the other end of the picking front arm (18) is hinged to the picking rear arm (19). One picking cylinder (20) is hinged between the picking front arm (18) and the picking rear arm (19), and the other picking cylinder (20) is hinged between the picking rear arm (18) and the load-bearing frame (17). Between 17), the bottom of the picking forearm (18) is fixed with a grab cylinder (21), the telescopic end of the grab cylinder (21) is connected to the grab (22), the bottom of the load-bearing frame (17) is vertically fixed on the slewing bearing (24), the slewing bearing (24) and the slewing motor (23) are fitted on the upper frame (101) around the cab (2), the slewing motor (23) is used to control the rotation of the slewing bearing (24), and the hydraulic pipeline (9) is activated by the driving control mechanism to control the action of the picking cylinder (20), the grab cylinder (21) and the slewing motor (23).

5. The self-propelled palm leaf picking and transport vehicle according to claim 4, characterized in that: The driving control mechanism includes a handbrake (25), a combination rocker switch (26), an instrument panel (27), a lever (28), a handguard box (29), a foot brake (30), a foot accelerator (31), a hydraulic start lever (32), and a start switch (33), all located in the driver's cab (2). A portion of the handbrake (25) is connected to the wheel axle clamp. The lever (28) is covered by the handguard box (29), which drives the lever (28) to... After releasing, return to the middle position, lift the hydraulic start lever (32) and press the start switch (33) to start the hydraulic line (9). The lever (28) includes a left lever a and a right lever b. The left lever a controls the rotation motor (23) and the lifting cylinder (7) to move. The right lever b controls the picking cylinder (20), the tilting cylinder (8) and the grab cylinder (21) to move. The combination rocker switch (26) controls the drive wheel (601) to rotate.

6. The self-propelled palm leaf picking and transport vehicle according to claim 5, characterized in that: The handbrake (25) includes a push rod (2501), a compression spring (2502), a handle sleeve (2503), a push rod (2504), a handle (2505), a base (2506), a locking plate (2507), and a brake cable (2508). One end of the handle (2505) is hinged to the base (2506), and a curved groove (25051) and a hinge hole (25052) are provided in the middle. The other end is constructed as a round tube (25053) to allow the push rod (2504) to enter. A sliding shaft (34) is fitted inside the curved groove (25051), and a push rod (2504) is fitted on the sliding shaft (34) and a locking plate (2507) is hinged thereon. The hinge hole (25052) is hinged thereon. There is a brake cable (2508), the other end of which is connected to the wheel axle clamp. The base (2506) is provided with a toothed plate (25061) and a locking plate (2507) for use. The base (2506) is fixed in the cab (2). The other end of the push rod (2504) is fixedly connected to the top rod (2501). The compression spring (2502) is installed in the round tube (25053) and sleeved on the push rod (2504). Its two ends abut against the top rod (2501) and the handle (2505) respectively. The handle sleeve (2503) covers the round tube (25053) and part of the top rod (2501). The brake cable (2508) is provided with adjusting screws (35) at both ends.

7. The self-propelled palm leaf picking and transport vehicle according to claim 1, characterized in that: Shock absorbers (37) are mounted on the four bottom corners of the engine using connecting brackets (36).

8. The self-propelled palm leaf picking and transport vehicle according to claim 1, characterized in that: The air intake of the engine is connected to the air filter (39) via a rubber hose (38), and the exhaust pipe (40) of the engine is equipped with a muffler (41).

9. The self-propelled palm leaf picking and transport vehicle according to claim 1, characterized in that: The engine is surrounded by a cooling water tank (42) fixed to the engine body. The water inlet of the engine is connected to the bottom of the cooling water tank (42) through a water inlet pipe (43), and the water outlet of the engine is connected to the top of the cooling water tank (42) through a water outlet pipe (44).

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