Electric picking machine with rotating continuous picking and intestinal peristalsis-imitating transmission

Abstract

Disclosed in the present invention is an electric picking machine with rotating continuous picking and intestinal peristalsis-imitating transmission. The electric picking machine comprises: a rotary picking head comprising a first driving mechanism, a rotating shaft and at least three groups of rotating blades, wherein each group of rotating blades is formed by axially combining two blades, with a peak-shaped protrusion being provided in the center of the combination of two blades, each blade is of a hemisphere-like structure, an arc-shaped groove is provided in the middle of each blade, a groove knife is provided at the bottom of each arc-shaped groove, all the rotating blades are evenly fixed to the rotating shaft in a circumferential direction, and power is provided for the rotation of the blades by means of the first driving mechanism; a guide device comprising a guide cover and a fan, wherein the fan is mounted on the guide cover; and a conveying device comprising a plurality of annular air bags, silicone columnar protrusion buffer devices, each of which is connected between two adjacent annular air bags, and a second driving mechanism, wherein the annular air bags are sequentially deflated to shrink by means of the second driving mechanism to sequentially transport waxberries downwards by simulating intestinal peristalsis. Damages to fruit during a picking process can be reduced, and the picking efficiency is improved.

Description

An electric picking machine with rotating continuous picking and peristalsis-like transmission Technical Field

[0001] The present application relates to the technical field of agricultural pickers, and in particular to an electric picker that can perform continuous rotary picking and simulates peristalsis transmission. Background Art

[0002] Fruit picking machines are tools that assist manual fruit picking and improve work efficiency. With the rapid development of society and the economy, the mass production and market release of fruit have enriched people's dietary variety and improved their quality of life. However, in most areas of my country, fruit picking still relies primarily on manual labor. Therefore, fruit picking machines with a reasonable structure, improved picking efficiency, and guaranteed fruit quality have become a primary tool. The current bayberry picking machines on the market are mainly grab-type picking machines, as follows:

[0003] The utility model patent with application number 201720142123.8 is a labor-saving electric bayberry picking machine, which includes multiple soft grippers, a gripper body, a gripper bracket and a bayberry picking machine main bracket; the soft gripper is rotatably installed on the gripper body, and the soft gripper is provided with a reset device for opening the soft gripper and a stretching device for closing the soft gripper for picking, the stretching device includes an upper electromagnetic coil, a lower electromagnetic coil and a control switch, the control switch is used to control the current on and off of the upper electromagnetic coil and the lower electromagnetic coil; the upper electromagnetic coil is connected to the soft gripper and can slide up and down relative to the lower electromagnetic coil. When power is on, the upper electromagnetic coil and the lower electromagnetic coil are attracted to each other, and the multiple soft grippers are in a closed state. When power is off, the upper electromagnetic coil and the lower electromagnetic coil are in a separated state under the action of the reset device, and the multiple soft grippers are in an open state.

[0004] However, this picker can only pick one bayberry at a time and cannot operate continuously, resulting in low picking efficiency. The picking head must be precisely aligned with the bayberry to successfully pick it. It lacks image recognition capabilities, resulting in a low level of automation. During the picking process, the bayberries in the transport basket vibrate and rub against each other. Its complex structure and heavy handle make it difficult for the user to operate continuously. Summary of the Invention

[0005] In view of this, an embodiment of the present application provides an electric picking machine with rotary continuous picking and peristalsis-simulating transmission to solve the problems existing in the background technology.

[0006] According to an embodiment of the present application, there is provided an electric picking machine with rotary continuous picking and peristaltic-simulated transmission, comprising:

[0007] The rotary picking head includes a first drive mechanism, a rotating shaft, and at least three groups of rotating blades. Each group of rotating blades is composed of two blades axially combined. The center of the two blades has a peak-shaped protrusion. The blades are hemispherical in shape, with an arc-shaped groove in the middle. A groove knife is provided at the bottom of the arc-shaped groove for cutting the stems of bayberry fruits. All rotating blades are evenly fixed on the rotating shaft along the circumferential direction. The first drive mechanism provides power for the rotation of the blades.

[0008] A guide device for guiding the picked bayberries to the transport device, comprising a guide cover and a fan, wherein the fan is mounted on the guide cover and is used to blow away leaves in front to prevent the passage from being blocked and the bayberries from being exposed;

[0009] The transport device is used to safely transport the picked bayberries to a collection device, comprising a plurality of annular airbags, a buffer device with silicone columnar protrusions connected between two adjacent annular airbags, and a second drive mechanism. The annular airbags are deflated and shrunk in turn by the second drive mechanism, and the bayberries are transported down in turn like intestinal peristalsis.

[0010] Optionally, the first driving mechanism includes a brushless motor and a coupling, and the brushless motor is transmission-connected to the rotating shaft through the coupling.

[0011] Optionally, the second driving mechanism includes an electromagnetic control valve and an air pump, and each annular airbag is equipped with an electromagnetic control valve. One end of the electromagnetic control valve is connected to the air pump through a pipeline, and the other end is connected to the annular airbag.

[0012] Optionally, a photoelectric sensor is also included to detect whether bayberries come out of the outlet of the guide device.

[0013] Optionally, an image recognition device is also included, which includes a camera. The camera uses the collected pictures to locate the bayberry, identify its maturity, and transmit the image in real time.

[0014] Optionally, a display device is further included, and the image recognition device transmits the real-time image to the display device for display.

[0015] Optionally, the buffer device with silicone columnar protrusions is a thin-walled cylindrical long tube, and the interior of the thin-walled cylindrical long tube is integrated with evenly distributed cylindrical guide columns, one end of the cylindrical guide column is connected to the inner wall of the thin-walled cylindrical long tube, and the other end points to the central axis of the thin-walled cylindrical long tube. Beneficial effects

[0016] Existing bayberry picking machines cannot guarantee the quality of the fruit when assisting manual picking, are prone to damage, and have a single picking method, which cannot effectively improve picking efficiency. The present invention uses rotating blades to wrap around the bayberry fruit. The rotating blades drive the blades to cut the fruit stems and remove the bayberries, rather than pulling them off by brute force. This allows the bayberries to retain their stems, making them easier to preserve. Furthermore, multiple annular airbags are sequentially deflated and contracted, mimicking intestinal peristalsis to transport the fruit. A silicone cylindrical protrusion buffer integrated within the machine body provides cushioning and guidance. This effectively reduces impact and vibration during transport, thereby improving the quality of the harvested fruit. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic diagram 1 of an electric harvester for rotary continuous harvesting and peristalsis-simulated transmission according to an exemplary embodiment.

[0018] FIG2 is a schematic diagram 2 of an electric harvester with rotary continuous harvesting and peristalsis-simulated transmission according to an exemplary embodiment.

[0019] Fig. 3 is a schematic diagram of a picking head according to an exemplary embodiment.

[0020] FIG4 is a schematic diagram of a second driving mechanism according to an exemplary embodiment.

[0021] Fig. 5 is a schematic cross-sectional view of a fuselage according to an exemplary embodiment.

[0022] FIG6 is a schematic diagram of a buffer device with silicone columnar protrusions according to an exemplary embodiment.

[0023] Fig. 7 is a schematic diagram of picking leaves according to an exemplary embodiment.

[0024] FIG8 is a simplified circuit connection diagram according to an exemplary embodiment.

[0025] FIG9 is a control logic diagram according to an exemplary embodiment.

[0026] FIG. 10 is a simplified diagram of gas circuit connections according to an exemplary embodiment.

[0027] The reference numerals in the figures are:

[0028] 1. Rotating picking head; 11. First driving mechanism; 111. Brushless motor; 112. Coupling; 12. Rotating shaft; 13. Rotating blade; 131. Peak-shaped raised arc groove; 132. Arc groove; 133. Grooving knife;

[0029] 2. Guide device; 21. Guide cover; 22. Fan;

[0030] 3. Transport device; 31. Annular airbag; 32. Buffer device with silicone columnar protrusion; 321. Thin-walled cylindrical tube; 322. Cylindrical guide column; 33. Second drive mechanism; 331. Solenoid control valve; 332. Air pump; 333. Joint valve seat; 3331. Joint valve seat air outlet; 3332. Joint valve seat air inlet; 334. Pressure sensor;

[0031] 4. Photoelectric sensor;

[0032] 5. Image recognition device; 51. Camera;

[0033] 6. Body. DETAILED DESCRIPTION

[0034] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings.

[0035] With reference to Figures 1 to 10, an embodiment of the present invention provides an electric picking machine with rotary continuous picking and peristaltic-simulated transmission, comprising: a rotary picking head 1, a guide device 2 and a transport device 3, wherein the rotary picking head 1 comprises a first driving mechanism 11, a rotating shaft 12 and at least three groups of rotating blades 13, each group of the rotating blades 13 is composed of two blades axially combined, the center position of the two blade combination has a peak-shaped protrusion, the blade is a hemispherical structure with an arc groove 132 in the middle, and a groove knife 133 is provided at the bottom of the arc groove 132 for cutting the fruit stalk of the bayberry fruit; all the rotating blades 13 are evenly fixed on the rotating shaft 12 in the circumferential direction, and are driven by the first driving mechanism 11 provides power for the rotation of the blades; the guide device 2 is used to guide the picked bayberries to the transportation device 3, including a guide cover 21 and a fan 22. The fan 22 is installed on the guide cover 21 to blow away the leaves in front to prevent the channel from being blocked and the bayberries from being exposed, thereby reducing the difficulty of picking; the transportation device 3 is used to safely transport the picked bayberries to the collection device, including a plurality of annular airbags 31, a buffer device 32 with silicone columnar protrusions connected between two adjacent annular airbags 31, and a second driving mechanism 33. The annular airbags 31 are deflated and shrunk in turn by the second driving mechanism 33, and the bayberries are transported down in turn like intestinal peristalsis.

[0036] Existing bayberry picking machines cannot guarantee the quality of the fruit when assisting manual picking, are prone to damage, and have a single picking method, which fails to effectively improve picking efficiency. The present invention utilizes rotating blades 13 to wrap around the bayberry fruit. The rotation of the blades drives the blades to cut the fruit stems and remove the bayberries, rather than pulling them off by brute force. This allows the bayberries to retain their stems, making them easier to preserve. Multiple annular airbags 31 are sequentially deflated and contracted to transport the fruit, mimicking intestinal peristalsis. Assisted by a silicone cylindrical protrusion buffer device integrated within the body 6 for cushioning and guidance, this effectively reduces impact and vibration during transport, thereby improving the quality of the harvested fruit. The picking blades utilize a hemispherical structure that conforms to the contours of the bayberry fruit, thereby increasing the contact area between the blades and the bayberry surface, thereby improving the surface quality of the harvested fruit. The surface of the picking blades on the fruit side is made of silicone, reducing the impact between the blades and the bayberry, thereby reducing the chance of damage to the harvested fruit.

[0037] In one embodiment, the rotary picking head 1 has four groups of rotating blades 13, and the first driving mechanism 11 drives all the picking blades to rotate. When the picking blades perform the picking action, the four groups of evenly distributed rotating blades 13 can perform the picking action efficiently under the control of the first driving mechanism 11, thereby effectively improving the picking efficiency.

[0038] In one embodiment, the first drive mechanism 11 includes a brushless motor 111 and a coupling 112, wherein the brushless motor is in transmission connection with the rotating shaft 12 via the coupling 112. When the picking operation is performed, the brushless motor 111 provides power for the rotating blades 13 to rotate and pick the fruits. The drive mechanism has a simple and reliable structure.

[0039] The coupling 112 is preferably a plum blossom coupling 112, which makes the operating mechanism compact and reliable. The brushless motor 111 is selected to provide reliable torque for the rotation system, thereby ensuring that the blade can smoothly cut the bayberry stem.

[0040] Furthermore, the connection between the rotating shaft 12 and the picking blade connector is a D-shaped shaft. The upper and lower ends of the rotating shaft 12 are respectively connected to rolling bearings, and the terminal end is connected to the brushless motor 111 through a coupling 112. When performing the picking action, the dual-bearing design can effectively improve the operating stability of the first drive mechanism 11.

[0041] In one embodiment, the transport device 3 comprises a plurality of annular airbags 31, a buffer device 32 with silicone cylindrical protrusions connected between two adjacent annular airbags 31, and a second drive mechanism 33. The annular airbags 31 are ring-shaped. When inflated, the inner ring expands inward, reducing the aperture and providing a cushioning effect. When deflated, the inner ring contracts outward, increasing the aperture, allowing the fruit to pass smoothly and guiding the fruit. The buffer device 32 with silicone cylindrical protrusions is a thin-walled cylindrical tube 321. The thin-walled cylindrical tube 321 has uniformly distributed cylindrical guide posts 322 integrated within it. One end of the cylindrical guide posts 322 is connected to the inner wall of the thin-walled cylindrical tube 321, and the other end points toward the central axis of the thin-walled cylindrical tube 321. The outer wall of the thin-walled cylindrical tube can be attached to the fuselage 6. When the fruit passes through the cylindrical protrusion buffer device, the silicone guide posts are subjected to force and deform, preventing the fruit from contacting the fuselage.

[0042] The annular airbags 31 are evenly spaced throughout the body 6. The solenoid-controlled valves 331 are installed at the end of the body 6, and the cylindrical silicone bumps are evenly mounted within the body 6. During the picking process, the solenoid-controlled valves 331 control the inflation and deflation of the annular airbags 31, thereby transporting the bayberry fruit. The annular airbags 31 effectively provide cushioning and shock absorption when in contact with the fruit, and their low weight contributes to reducing the overall weight of the machine. The cylindrical silicone bumps are used to cushion and guide the fruit between adjacent annular airbags.

[0043] In one embodiment, the second driving mechanism 33 includes an electromagnetic control valve 331 and an air pump 332. Each annular airbag 31 is equipped with an electromagnetic control valve 331. One end of the electromagnetic control valve 331 is connected to the air pump 332 through a pipeline, and the other end is connected to the annular airbag 31.

[0044] The second driving mechanism 33 also includes a pressure sensor 334. When the picking action is performed, the air pump 332 inflates all the annular airbags 31. The electromagnetic control valve 331 is connected to the annular airbag 31 at one end, and the pressure sensor 334 is also connected to the end for monitoring the pressure inside the annular airbag 31 to prevent damage to the airbag.

[0045] The solenoid control valve 331 is a two-position, three-way solenoid valve, connected in series via a connecting valve seat 333. The connecting valve seat's outlet 3331 is connected in sequence to the annular airbag 31, while the connecting valve seat's inlet 3332 is connected to the air pump 332. The exhaust vent of the connecting valve seat 333 is used to exhaust gas released by the annular airbag 31. Using the connecting valve seat 333 to connect miniature solenoid valves makes the entire system more compact, reduces the number of piping connections, and enhances system stability.

[0046] In one embodiment, a photoelectric sensor 4 is further included to detect whether waxberries come out of the outlet of the guide device 2 .

[0047] In one embodiment, an image recognition device 5 is further included. The image recognition device 5 includes a camera 51. The camera 51 uses the collected pictures to locate the bayberry, identify its maturity, and transmit the image in real time.

[0048] When performing the picking action, the camera 51 captures the image and controls the rotating blades 13, fan 22, etc. to perform the action, thereby realizing semi-automatic picking and reducing complex control steps; the image recognition device 5 can determine the maturity of the fruit, thereby reducing the probability of picking the wrong fruit and alleviating the labor intensity of the picker.

[0049] In one embodiment, a display device is further included, and the image recognition device 5 transmits the real-time image to the display device for display. The captured image is transmitted to the display device in real time via the camera 51, showing the user the scene within the picking range, and drawing a green circle on the display screen around the ripe bayberry fruit to remind the user to pick it.

[0050] In one embodiment, positioning and maturity identification of bayberries include:

[0051] Preprocessing: The collected images are uniformly cropped to 512x512 pixels, and the bilateral filtering algorithm is used to remove image noise;

[0052] Image segmentation and binary image acquisition: Perform color space conversion on the filtered image, select the a component of the Lab color space and the U and V components of the YUV space, and use the histogram global threshold method to obtain binary images. Then perform morphological filtering to obtain binary images of overlapping and occluded fruit targets.

[0053] Extracting single targets from fruit images: Applying Hough transform to segment the binary images of the overlapping and occluded fruit targets, proposing circle center restriction conditions, removing centers that do not meet the requirements, and ultimately identifying the centers, pixel sizes, and number of overlapping and occluded fruits;

[0054] Maturity identification: The maximum inter-class variance method was used for image segmentation. The segmented bayberry image was converted from RGB color space to Lab color space, and the values ​​of the three Lab channels were extracted. Data analysis showed that maturity was only related to the ratio of a value to b value. a / b was set as the maturity classification threshold. When a / b was less than 1, it was classified as immature bayberry. When a / b was greater than 1 and less than 1.2, it was classified as almost mature. When a / b was greater than 1.2, it was classified as mature.

[0055] In one embodiment, a control processing device is further included for controlling the rotation of the picking blades and the operation of the guide device 2 according to the positioning, real-time image transmission and recognition results of the image recognition device 5. After the picking blades wrap the fruit, they are guided and positioned by the arc groove 132, and the fruit stalks are cut off by the groove knife 133. The fruit falls into the transportation device 3 after being guided by the guide device 2. The annular airbags 31 are deflated and shrunk in turn by the second driving mechanism 33, and the bayberries are transported down in turn like intestinal peristalsis, so that the bayberries fall into the collection device at the rear end after being buffered.

[0056] In one embodiment, the control processing device is used to control the rotary picking head 1 to rotate and wrap the bayberry according to the positioning, real-time image transmission and recognition results of the image recognition device 5, and the fruit stalk is cut off by the blade installed on the groove knife 133. The bayberry reaches the upper end of the conveying device under the joint action of the rotational inertia and the guide cover 21; when the photoelectric sensor 4 provided at the upper end of the transport device 3 senses the trace of the bayberry fruit, the annular airbag 31 deflates and contracts from top to bottom in turn, and the fruit passes through the annular airbag 31 in turn, and after being jointly guided and buffered by the silicone columnar protrusion buffer device and the annular airbag 31, the fruit falls into the fruit collection device.

[0057] Specifically, the control device includes an Arduino Mega2560 development board, a brushless motor 111 driver board, a DC speed control driver board, a step-down module, and a battery. The brushless motor 111 driver board is connected to the brushless motor 111, which is connected to the fan 22. The battery, through the step-down module, supplies power to the Arduino Mega2560 development board, the pressure sensor 334, the camera 51, the photoelectric sensor 4, and the solenoid control valve 331. The battery also supplies power to the brushless motor 111 and the fan 22. The control device is integrated onto a single circuit board. The use of a micro brushless motor 111 driver board allows for greater circuit board integration, thereby reducing the size of the control device. The wiring between the control device and the harvester utilizes highly integrated aviation connectors, making assembly more convenient and reliable.

[0058] The electric harvester of the present application further comprises a body 6 for mounting the rotary harvesting head 1 , the guide device 2 and the transport device 3 .

[0059] In order to facilitate holding, a handle is installed at the end of the body 6.

[0060] In order to reduce the weight of the harvester, main components such as the fuselage 6 can be made of carbon fiber, so that the whole machine is light in weight, high in strength, light and durable.

[0061] The handheld part of the picker has a reliable and simple structure, so it is lighter than other electric bayberry pickers, thereby increasing the user's continuous use time and reducing the user's labor burden.

[0062] In one embodiment, the solenoid control valve 331 is a two-position, three-way solenoid valve, with multiple solenoid valves connected in series via a valve seat 333. The two-position, three-way solenoid valve is selected to control the operation of the second drive system. This solenoid valve has a simple structure, is lightweight and compact, and is responsive, meeting operational requirements.

[0063] The method of use of the present invention is as follows:

[0064] Referring to Figure 8, first turn on the power switch located at the handle at the end of the body 6 to power on the picking machine, and use the pressure sensor 334 to detect whether the annular airbag 31 is intact; use the image recognition device 5 to locate and identify the maturity of the bayberry, and after understanding the specific situation of the bayberry within the picking range through the portable screen, operate the picking machine to approach the fruit to be picked. When there are bayberries within the picking range and their maturity reaches the preset standard, the Arduino Mega2560 development board controls the motor to rotate, driving the rotary picking head 1 to work and the fan 22 to rotate. After the groove knife 133 cuts the bayberry stalk, the fruit is guided by the guide cover 21 and enters the transportation device 3. The Arduino Mega2560 development board controls the solenoid valve to inflate all the annular airbags 31. When the photoelectric sensor 4 located at the upper end of the fuselage 6 captures the trace of bayberries, the photoelectric sensor 4 sends a signal to the Arduino Mega2560 development board. The Arduino Mega2560 development board controls the solenoid valve to deflate and contract from top to bottom in sequence, allowing the fruit to pass through after being buffered in sequence. Under the joint action of the annular airbag 31 and the columnar silicone protrusion buffer device, the fruit is transported to the collection device.

Claims

1. An electric picking machine with rotary continuous picking and peristaltic transmission, characterized in that: include: The rotary picking head comprises a first driving mechanism, a rotating shaft and at least three groups of rotating blades, each group of the rotating blades is composed of two blades axially combined, the center position of the two blade combination has a peak-shaped protrusion, the blade is a hemispherical structure, an arc groove is opened in the middle, and a groove knife is arranged at the bottom of the arc groove for cutting the fruit stalk of bayberry fruit; all the rotating blades are evenly fixed on the rotating shaft along the circumferential direction, and the first driving mechanism provides power for the rotation of the blades; A guide device, used for guiding the picked bayberries to the transport device, comprising a guide cover and a fan, wherein the fan is mounted on the guide cover and used for blowing away leaves in front to prevent the passage from being blocked and the bayberries from being exposed; The transport device is used to safely transport the picked bayberries to a collection device, comprising a plurality of annular airbags, a buffer device with silicone columnar protrusions connected between two adjacent annular airbags, and a second driving mechanism. The annular airbags are deflated and shrunk in turn by the second driving mechanism, and the bayberries are transported down in turn like intestinal peristalsis.

2. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 2, characterized in that: The first driving mechanism comprises a brushless motor and a coupling, and the brushless motor is drivingly connected to the rotating shaft through the coupling.

3. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 1 is characterized in that: The second driving mechanism includes an electromagnetic control valve and an air pump. Each annular airbag is equipped with an electromagnetic control valve. One end of the electromagnetic control valve is connected to the air pump through a pipeline, and the other end is connected to the annular airbag.

4. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 1 is characterized in that: It also includes a photoelectric sensor for detecting whether waxberries come out of the outlet of the guide device.

5. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 1 is characterized in that: It also includes an image recognition device, which includes a camera. The camera uses the collected pictures to locate the bayberry, identify its maturity, and transmit the image in real time.

6. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 5, characterized in that: A display device is also included, and the image recognition device transmits the real-time image to the display device for display.

7. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 5, characterized in that: Locate and identify the maturity of bayberry, including: Preprocessing: The collected images are uniformly cropped into a size of 512x512 pixels, and the bilateral filtering algorithm is used to remove image noise; Image segmentation and binary image acquisition: Perform color space conversion on the filtered image, select the a component of the lab color space, the U and V components of the YUV space, and use the histogram global threshold method to obtain binary images, and then perform morphological filtering operations to obtain binary images of overlapping and occluded fruit targets; Extracting a single target from the fruit image: applying Hough transform to segment the binary image of the overlapping and occluded fruit targets, proposing circle center restriction conditions, removing the circle centers that do not meet the requirements, and finally identifying the circle centers, pixel sizes and numbers of the overlapping and occluded fruits; Maturity identification: The maximum inter-class variance method is used for image segmentation. The segmented bayberry image is converted from RGB color space to Lab color space, and the values ​​of the three Lab channels are extracted. Data analysis shows that maturity is only related to the ratio of a value to b value. a / b is set as the maturity threshold. When a / b is less than 1, it is classified as immature bayberry. When a / b is greater than 1 and less than 1.2, it is classified as almost mature. When a / b is greater than 1.2, it is classified as mature.

8. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 5, characterized in that: It also includes a control processing device, which is used to control the rotation of the picking blades and the operation of the guide device according to the positioning, real-time image transmission and recognition results of the image recognition device. After the picking blades wrap the fruit, they are guided and positioned by the arc grooves, and the fruit stalks are cut off by the groove knife. The fruit falls into the transportation device after being guided by the guide device. The annular airbags are deflated and shrunk in turn through the second driving mechanism, and the bayberries are transported down in turn like intestinal peristalsis, so that the bayberries fall into the collection device at the rear end after being buffered.

9. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 3, characterized in that: The electromagnetic control valve is a two-position three-way electromagnetic valve, and a plurality of electromagnetic valves are connected in series via a connecting valve seat.

10. The electric picking machine with rotary continuous picking and peristaltic transmission according to claim 1, characterized in that: The buffer device with silicone columnar protrusions is a thin-walled cylindrical long tube, and evenly distributed cylindrical guide columns are integrated inside the thin-walled cylindrical long tube. One end of the cylindrical guide column is connected to the inner wall of the thin-walled cylindrical long tube, and the other end points to the central axis of the thin-walled cylindrical long tube.

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