High-altitude picking apparatus

Abstract

A high-altitude picking apparatus, comprising a traveling vehicle (1), a mechanical arm (2), and a picking and cutting device (3). The lower end of the mechanical arm (2) is connected to the traveling vehicle (1) by means of a first rotary assembly (4), and the picking and cutting device (3) is connected to the upper end of the mechanical arm (2). The picking and cutting device (3) comprises an arc-shaped support body (31), an arc-shaped sliding rail (32), a hooking claw mechanism (33), a sliding-rail driving mechanism (34), a cutting mechanism (35), and a hopper (36). A movable channel is formed in the arc-shaped support body (31); the arc-shaped sliding rail (32) is slidably assembled in the movable channel; the hooking claw mechanism (33) is arranged at one end of the arc-shaped support body (31); the sliding-rail driving mechanism (34) is arranged on the arc-shaped support body (31), and the sliding-rail driving mechanism (34) is in transmission connection with the arc-shaped sliding rail (32); the cutting mechanism (35) is arranged on the arc-shaped sliding rail (32) and is located at the end away from the hooking claw mechanism (33); and the hopper (36) is arranged on the outer side of the arc-shaped sliding rail (32), the hopper and the cutting mechanism are located at the same end of the arc-shaped sliding rail, and the hopper is located below the cutting mechanism. The apparatus can realize the rapid, effective and synchronous cutting of fruit bunch stalks and leaf stalks of oil palms, thereby improving the picking efficiency.

Description

A high-altitude harvesting device Technical Field

[0001] This invention relates to the field of harvesting machine technology, and in particular to a high-altitude harvesting device. Background Technology

[0002] Oil palm fruit, also known as palm fruit, consists of an outer layer of pulp containing 45%–50% oil and an inner hard kernel. The pulp can be used to extract bark oil, while the kernel can be used to extract palm kernel oil. Oil palm fruits grow on oil palm trees, typically at higher elevations and in clusters. Each oil palm tree usually produces about 10–15 clusters, with each cluster weighing between 15–25 kilograms.

[0003] Traditionally, oil palm fruit harvesting relies on manual climbing and cutting. Since oil palm fruits grow at high altitudes, this method is not only inefficient but also dangerous, as workers below are easily injured by falling fruit. With advancements in technology, automated harvesting equipment has emerged. For example, Chinese utility model patent application CN202322583552.7 discloses a novel oil palm fruit harvesting machine, comprising a base, a telescopic support arm, and harvesting and collecting components located at the outer end of the telescopic support arm. An inclined pitch support arm is positioned between the base and the lower part of the telescopic support arm. The harvesting component includes two semi-circular fixed blade holders and a telescopic cutter head located on the axial upper surface of the fixed blade holders. The two fixed blade holders are hinged together by a pivot, and the inner surface of the fixed blade holders is fitted with fasteners. The collecting component includes a collecting bin fixed to the outer surface of the two fixed blade holders and a slide cylinder. The lower end of the collecting bin has a discharge port connected to the slide cylinder. A hydraulic system is also included. However, in actual harvesting, the outer side of the fruit bunch is usually blocked by the petiole and leaf sheath, resulting in the following defects in existing harvesting machines: 1. Because the outer side of the fruit bunch is blocked by the petiole and leaf sheath, the telescopic blade head on the upper end of the fixed blade holder is difficult to effectively cut the fruit bunch of oil palm when it extends upward; 2. The inner side of the fixed blade holder is equipped with nails, which can easily damage the trunk when clamping it; 3. The adjustment function of the support arm is poor. Technical issues

[0004] In view of the above-mentioned problems, the purpose of this invention is to provide a high-altitude harvesting device that can simultaneously and quickly and effectively cut the fruit bunch stalks and petioles of oil palm fruits, improve harvesting efficiency, and at the same time, can precisely adjust the position of the cutting mechanism and avoid damage to the tree trunk during the harvesting process. Technical solutions

[0005] The present invention is implemented as follows: a high-altitude harvesting device includes a traveling vehicle, a robotic arm, and a harvesting and cutting device; the lower end of the robotic arm is connected to the traveling vehicle through a first rotating component, and the harvesting and cutting device is connected to the upper end of the robotic arm.

[0006] The harvesting and cutting device includes an arc-shaped support body, an arc-shaped slide rail, a hook mechanism, a slide rail drive mechanism, a cutting mechanism, and a hopper. The upper end of the robotic arm is connected to the arc-shaped support body. A movable channel is formed along the circumferential direction inside the arc-shaped support body, and the arc-shaped slide rail is slidably assembled in the movable channel. The hook mechanism is located at one end of the arc-shaped support body, and the slide rail drive mechanism is located on the arc-shaped support body and is drively connected to the arc-shaped slide rail. The cutting mechanism is located on the arc-shaped slide rail and at the end away from the hook mechanism. The arc-shaped slide rail is driven by the slide rail drive mechanism to move the cutting mechanism along the circumferential direction. The hopper is located on the outside of the arc-shaped slide rail. The hopper and the cutting mechanism are located at the same end of the arc-shaped slide rail, and the hopper is located below the cutting mechanism.

[0007] Furthermore, it also includes an angle adjustment mechanism located between the upper end of the robotic arm and the picking and cutting device;

[0008] The angle adjustment mechanism includes a first connecting seat, a first drive cylinder, and a second rotating component. The second rotating component is located on one side of the first connecting seat. The picking and cutting device is connected to the output end of the second rotating component, and the picking and cutting device is driven to perform horizontal rotation adjustment through the second rotating component.

[0009] The upper end of the robotic arm is provided with a hinge bracket, and the lower part of the other side of the first connecting seat is hinged to the hinge bracket through a hinge shaft; the first drive cylinder is connected between the first connecting seat and the upper end of the robotic arm, and the first drive cylinder is located above the hinge shaft. The picking and cutting device is driven to swing up and down to achieve fine adjustment through the first drive cylinder.

[0010] Furthermore, the robotic arm includes a vertical support outer tube, a vertical support inner tube, a horizontal support outer tube, a horizontal support inner tube, a second drive cylinder, a third drive cylinder, and a fourth drive cylinder;

[0011] The vertical support outer tube is slidably sleeved on the outside of the vertical support inner tube. The lower end of the vertical support outer tube is connected to the output end of the first rotating component through a second connecting seat. The second driving cylinder is located inside the vertical support inner tube and is connected to the lower end of the vertical support outer tube. One end of the horizontal support outer tube is rotatably connected to the upper end of the vertical support inner tube.

[0012] The horizontal support outer tube is slidably sleeved on the outside of the horizontal support inner tube, and the top and bottom of the horizontal support inner tube are slidably engaged with the horizontal support outer tube using V-shaped protrusions and V-shaped concave portions; the third drive cylinder is located inside the horizontal support inner tube and is connected to the end of the horizontal support outer tube near the vertical support inner tube; the end of the horizontal support inner tube away from the vertical support inner tube is connected to the angle adjustment mechanism; the fourth drive cylinder is connected between the vertical support outer tube and the horizontal support outer tube.

[0013] Furthermore, the cutting mechanism includes a support base, an inclined support, a cutting blade, and a fifth drive cylinder; the support base is connected to the outer wall of the arc-shaped slide rail; the inclined support is connected to the upper end of the support base, and the inclined support is inclined from bottom to top toward the inner side of the arc-shaped slide rail; cutting teeth are distributed on both sides of the cutting blade; the cutting blade is movably mounted on the inclined support, and the cutting blade is inclined from bottom to top toward the inner side of the arc-shaped slide rail; the fifth drive cylinder is located on the inclined support, and the movable end of the fifth drive cylinder is connected to the cutting blade, thereby driving the cutting blade to move and achieve cutting.

[0014] Furthermore, both sides of the cutting blade are formed with arc-shaped sides, and the cutting teeth are distributed on the arc-shaped sides;

[0015] The lower end of the cutting blade is rotatably connected to the inclined support via a first limiting pin. A first movable groove is provided through the middle of the cutting blade along the length direction. A second limiting pin is movably provided on the inclined support. The second limiting pin passes through the first movable groove. A limiting block is provided at the free end of the second limiting pin. The movable end of the fifth drive cylinder is connected to the second limiting pin.

[0016] Furthermore, the inclined support includes a lower support plate, a first guide slider, and an upper support plate; the lower support plate is fixedly connected to the upper end of the support base, and a first guide groove is formed on the upper surface of the lower support plate along the horizontal direction, with at least one end of the first guide groove extending to the end of the lower support plate; the first guide slider is slidably assembled in the first guide groove, the fifth drive cylinder is located at the bottom of the lower support plate, and the movable end of the fifth drive cylinder is connected to one end of the first guide slider; the upper support plate is locked above the lower support plate, and a second movable groove is provided through the upper support plate at the position corresponding to the first guide groove, and the second limiting pin passes through the second movable groove and is connected to the free end of the first guide slider.

[0017] Furthermore, the slide rail drive mechanism includes a drive motor, a drive sprocket, and a transmission chain; the drive motor is mounted on the arc-shaped support body, and the drive sprocket is connected to the output end of the drive motor; the transmission chain is located on the outer wall of the arc-shaped slide rail, and the transmission chain meshes with the drive sprocket.

[0018] The top and bottom surfaces of the arc-shaped slide rail are each formed with a second guide groove, and a second guide slider is slidably disposed in each second guide groove. The second guide slider is connected to the arc-shaped support body. The top and bottom of the movable channel are each rotatably provided with a plurality of abutting rollers that abut against the inner and outer side walls of the arc-shaped slide rail.

[0019] Furthermore, the hook mechanism includes an arc-shaped upper hook plate, an arc-shaped lower hook plate, a connector, and a sixth drive cylinder; the inner side of the arc-shaped upper hook plate near the arc-shaped support body is rotatably connected to the top of the arc-shaped support body, and the inner side of the arc-shaped lower hook plate near the arc-shaped support body is rotatably connected to the bottom of the arc-shaped support body; arc-shaped notches are provided at intervals on the inner sides of the arc-shaped upper hook plate and the arc-shaped lower hook plate, so that a locking tooth is formed between two adjacent arc-shaped notches; a gap is left between the free ends of the arc-shaped upper hook plate and the free end of the arc-shaped support body; the arc-shaped upper hook plate and the arc-shaped lower hook plate are connected by connectors on both sides near the arc-shaped support body and on the side away from the arc-shaped support body; the sixth drive cylinder is located on the outer side of the arc-shaped support body, and the movable end of the sixth drive cylinder is rotatably connected to the arc-shaped upper hook plate and the arc-shaped lower hook plate.

[0020] Furthermore, the first rotating component is located in the middle of the rear end of the traveling vehicle, and the traveling vehicle has a driver's cab on one side of the robotic arm; the front end of the traveling vehicle is provided with an auxiliary support for supporting the robotic arm.

[0021] Furthermore, it also includes a control terminal, which is located in the driver's cab; both the angle adjustment mechanism and the picking and cutting device are equipped with a shooting mechanism, which is connected to the control terminal. Beneficial effects

[0022] By adopting the technical solution of the present invention, at least the following beneficial effects are achieved:

[0023] 1. By designing the entire high-altitude harvesting equipment, including a traveling vehicle, a harvesting and cutting device, a first rotating component mounted on the traveling vehicle, and a robotic arm connecting the harvesting and cutting device and the first rotating component, the equipment enables precise and rapid harvesting of oil palm fruit bunches through the coordinated operation of the traveling vehicle, the first rotating component, the robotic arm, and the harvesting and cutting device. Therefore, compared with traditional manual harvesting methods, it can not only greatly improve harvesting efficiency but also enhance harvesting safety and reduce worker fatigue.

[0024] 2. The harvesting and cutting device is designed to include an arc-shaped support body, an arc-shaped slide rail that slides within the arc-shaped support body and can move along the circumference, a slide rail drive mechanism that drives the arc-shaped slide rail, a hook mechanism located at one end of the arc-shaped support body, a cutting mechanism located on the arc-shaped slide rail at the end away from the hook mechanism, and a hopper located below the cutting mechanism. In practical use, the arc-shaped support body and hook mechanism work together to hold the fruit tree trunk tightly, and the slide rail drive mechanism drives the cutting mechanism to move accurately along the circumference to the location of the fruit bunch. This allows the cutting mechanism to accurately and effectively cut the fruit bunch stems and petioles of the oil palm fruit simultaneously and quickly. The hopper can also be used to collect the cut fruit bunches, making harvesting safer and preventing damage or scattering of the fruit bunches due to falling.

[0025] 3. By adopting the structural design of the angle adjustment mechanism and robotic arm of this invention, during the specific working process, the angle adjustment mechanism, robotic arm, and harvesting and cutting device can be rotated as a whole by the first rotating component. The angle adjustment mechanism and harvesting and cutting device can be raised to a certain height by the cooperation of the vertical support outer tube, the vertical support inner tube, and the second drive cylinder. The angle adjustment mechanism and harvesting and cutting device can be moved horizontally by the cooperation of the horizontal support outer tube, the horizontal support inner tube, and the third drive cylinder. The angle adjustment mechanism and harvesting and cutting device can be further raised to the required height by the fourth drive cylinder. At the same time, the harvesting and cutting device can be adjusted horizontally by the second rotating component, and it can also be finely adjusted by the up-and-down swing of the harvesting and cutting device by the first drive cylinder. Therefore, by adopting the technical solution of this invention, the harvesting and cutting device can be precisely adjusted, so that the harvesting and cutting device can move accurately and quickly to the target harvesting position of the fruit tree for harvesting.

[0026] 4. The lower end of the cutting blade is rotatably connected to the inclined support via a first limiting pin. A first movable groove is formed along the length of the middle of the cutting blade. A first guide groove is formed along the horizontal direction on the lower support plate of the inclined support. A first guide slider is slidably set in the first guide groove. One end of the first guide slider is connected to a fifth drive cylinder. A second limiting pin is set at the other end of the first guide slider, and the second limiting pin passes through the second movable groove and the first movable groove in sequence. In actual operation, the fifth drive cylinder can drive the first guide slider to reciprocate and swing the cutting blade, so that the cutting blade can simultaneously and quickly cut the petiole and the stem of the fruit bunch. At the same time, cutting serrations are distributed on both sides of the cutting blade, so that the cutting blade can achieve the cutting function on both sides, making it more convenient to use.

[0027] 5. The hook mechanism is designed to include an arc-shaped upper hook plate and an arc-shaped lower hook plate. The upper and lower hook plates are connected by connectors on both sides near the arc-shaped support body and on the side furthest from it. This design ensures a reliable integration of the upper and lower hook plates and creates space between them for the arc-shaped slide rail to move. Additionally, a locking tooth is formed between the inner edges of the upper and lower hook plates, with the free end of the locking tooth being an arc shape. This ensures reliable support of the fruit tree trunk while preventing damage. Furthermore, the spacing between the free ends of the upper and lower hook plates and the free end of the arc-shaped support body facilitates better and faster control of the arc-shaped support body around the tree trunk and allows the arc-shaped slide rail to drive the cutting mechanism, reducing interference between the hook mechanism and the cutting mechanism. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Figure 1 is one of the three-dimensional structural diagrams of a high-altitude harvesting device according to the present invention;

[0030] Figure 2 is a second three-dimensional structural diagram of a high-altitude harvesting device according to the present invention;

[0031] Figure 3 is one of the connection structure diagrams of the robotic arm, picking and cutting device and angle adjustment mechanism of the present invention;

[0032] Figure 4 is a diagram of the internal structure of the robotic arm of the present invention;

[0033] Figure 5 is a second connection structure diagram of the robotic arm, harvesting and cutting device and angle adjustment mechanism of the present invention;

[0034] Figure 6 is an enlarged view of part A in Figure 3;

[0035] Figure 7 is a three-dimensional structural diagram of the harvesting and cutting device of the present invention;

[0036] Figure 8 is a structural diagram of the arc-shaped support body of the present invention;

[0037] Figure 9 is a structural diagram of the picking and cutting device of the present invention after the arc-shaped support body is removed;

[0038] Figure 10 is a structural diagram of the hook mechanism of the present invention;

[0039] Figure 11 is an overall structural diagram of the cutting mechanism of the present invention;

[0040] Figure 12 is an exploded view of the cutting mechanism of the present invention.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100 high-altitude harvesting equipment;

[0043] 1. Walking vehicle; 11. Driver's cab; 12. Auxiliary support frame;

[0044] Robotic arm 2, hinge bracket 20, vertical support outer tube 21, vertical support inner tube 22, horizontal support outer tube 23, V-shaped concave part 231, horizontal support inner tube 24, V-shaped convex part 241, second drive cylinder 25, third drive cylinder 26, fourth drive cylinder 27, second connecting seat 28.

[0045] Harvesting and cutting device 3, arc-shaped support body 31, movable channel 311, top roller 312, arc-shaped slide rail 32, second guide groove 321, second guide slider 322, hook mechanism 33, arc-shaped upper hook plate 331, arc-shaped lower hook plate 332, connector 333, sixth drive cylinder 334, arc-shaped notch 3351, locking tooth part 3352, slide rail drive mechanism 34, drive motor 341, drive sprocket 342, transmission chain 343, cutting Cutting mechanism 35, support base 351, inclined support 352, lower support plate 3521, first guide slider 3522, upper support plate 3523, first guide groove 352a, second movable groove 352b, cutting blade 353, cutting teeth 3531, arc-shaped side 3532, first movable groove 3533, fifth drive cylinder 354, first limit pin 355, second limit pin 356, limit block 3561, hopper 36;

[0046] First rotating component 4;

[0047] Angle adjustment mechanism 5, first connecting seat 51, hinge shaft 511, first drive cylinder 52, second rotating assembly 53;

[0048] Filming location 6. The best embodiment of the present invention

[0049] To better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing these embodiments and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0051] Please refer to Figures 1 to 12. The present invention discloses a high-altitude harvesting device 100, which includes a traveling vehicle 1, a robotic arm 2, and a harvesting and cutting device 3. The lower end of the robotic arm 2 is connected to the traveling vehicle 1 via a first rotating component 4, and the harvesting and cutting device 3 is connected to the upper end of the robotic arm 2. During operation, the traveling vehicle 1 can drive the entire high-altitude harvesting device 100 to the desired position along the road, and the first rotating component 4 can be used to drive the robotic arm 2 and the harvesting and cutting device 3 to rotate together. The robotic arm 2 can drive the harvesting and cutting device 3 to move to the target harvesting position of the fruit tree, while controlling the harvesting and cutting device 3 to hold the trunk of the fruit tree and simultaneously and quickly cut and harvest the fruit bunch stems and petioles.

[0052] The harvesting and cutting device 3 includes an arc-shaped support body 31, an arc-shaped slide rail 32, a hook mechanism 33, a slide rail drive mechanism 34, a cutting mechanism 35, and a hopper 36. The upper end of the robotic arm 2 is connected to the arc-shaped support body 31. An active channel 311 is formed in the arc-shaped support body 31 along the circumferential direction. The arc-shaped slide rail 32 is slidably assembled in the active channel 311, that is, the arc-shaped slide rail 32 can move relative to the arc-shaped support body 31 along the circumferential direction. The arc-shaped support body 31 is the support structure of the entire harvesting and cutting device 3, and the arc-shaped support body 31, through its arc-shaped structure design, can wrap around the outside of the fruit tree trunk during the harvesting process.

[0053] The hook mechanism 33 is located at one end of the arc-shaped support body 31. When the arc-shaped support body 31 encircles the trunk of the fruit tree, the hook mechanism 33 can be controlled to hook the trunk inward. The slide rail drive mechanism 34 is located on the arc-shaped support body 31 and is connected to the arc-shaped slide rail 32, enabling the slide rail drive mechanism 34 to drive the arc-shaped slide rail 32 to move. The cutting mechanism 35 is located on the arc-shaped slide rail 32 and at the end away from the hook mechanism 33, so that the cutting mechanism 35 and the hook mechanism 33 will not interfere with each other. The mechanism drives the arc-shaped slide rail 32 via the slide rail drive mechanism 34, which in turn drives the cutting mechanism 35 to move along the circumferential direction. This allows the cutting mechanism 35 to move accurately to the position of the fruit bunch, thus facilitating accurate cutting of the fruit bunch. The hopper 36 is located on the outside of the arc-shaped slide rail 32. The hopper 36 and the cutting mechanism 35 are located at the same end of the arc-shaped slide rail 32, and the hopper 36 is located below the cutting mechanism 35. This way, when the cutting mechanism 35 cuts the fruit bunch, the fruit bunch can fall down into the hopper 36.

[0054] In some embodiments of the present invention, the high-altitude harvesting equipment 100 further includes an angle adjustment mechanism 5 disposed between the upper end of the robotic arm 2 and the harvesting and cutting device 3, so as to use the angle adjustment mechanism 5 to more accurately adjust the position of the harvesting and cutting device 3.

[0055] As a specific embodiment of the present invention, please refer to Figure 6 for details. The angle adjustment mechanism 5 includes a first connecting seat 51, a first drive cylinder 52, and a second rotating component 53. The second rotating component 53 is disposed on one side of the first connecting seat 51. The picking and cutting device 3 is connected to the output end of the second rotating component 53. The picking and cutting device 3 is driven by the second rotating component 53 to perform horizontal rotation adjustment. In a specific implementation of the present invention, the second rotating component 53 can be a dual-output shaft motor, which is vertically installed on one side of the first connecting seat 51, and both the upper and lower ends of the dual-output shaft motor are connected to the middle part of the outer side of the picking and cutting device 3.

[0056] The upper end of the robotic arm 2 is provided with a hinge bracket 20. The lower part of the other side of the first connecting seat 51 is hinged to the hinge bracket 20 through a hinge shaft 511, so that the first connecting seat 51 can swing up and down relative to the hinge bracket 20. The first drive cylinder 52 is connected between the first connecting seat 51 and the upper end of the robotic arm 2. The first drive cylinder 52 is located above the hinge shaft 511. The picking and cutting device 3 is driven to swing up and down by the first drive cylinder 52 to achieve fine adjustment. Specifically, the first drive cylinder 52 can be a hydraulic cylinder.

[0057] In some embodiments of the present invention, please refer to Figures 3-5 for details. The robotic arm 2 includes a vertical support outer tube 21, a vertical support inner tube 22, a horizontal support outer tube 23, a horizontal support inner tube 24, a second drive cylinder 25, a third drive cylinder 26, and a fourth drive cylinder 27. The second drive cylinder 25, the third drive cylinder 26, and the fourth drive cylinder 27 can all be hydraulic cylinders.

[0058] The vertical support outer tube 21 is slidably sleeved on the outside of the vertical support inner tube 22. The lower end of the vertical support outer tube 21 is connected to the output end of the first rotating component 4 through a second connecting seat 28. The first rotating component 4 can be implemented by a rotary motor. The second drive cylinder 25 is located inside the vertical support inner tube 22 and is connected to the lower end of the vertical support outer tube 21, so that the second drive cylinder 25 can drive the vertical support inner tube 22 to move up and down. One end of the horizontal support outer tube 23 is rotatably connected to the upper end of the vertical support inner tube 22, that is, the horizontal support outer tube 23 can rotate relative to the vertical support inner tube 22. In a specific implementation of the present invention, both the vertical support outer tube 21 and the vertical support inner tube 22 can be square tubes.

[0059] The horizontal support outer tube 23 is slidably sleeved on the outside of the horizontal support inner tube 24, and the top and bottom of the horizontal support inner tube 24 are slidably engaged with the horizontal support outer tube 23 using V-shaped protrusions 241 and V-shaped recesses 231. Specifically, V-shaped protrusions 241 are formed at the outer top and bottom of the horizontal support inner tube 24, and correspondingly, V-shaped recesses 231 are formed at the inner top and bottom of the horizontal support outer tube 23. By designing the top and bottom of the horizontal support inner tube 24 to be slidably engaged with the horizontal support outer tube 23 using V-shaped protrusions 241 and V-shaped recesses, the present invention can effectively improve the stability of the horizontal support inner tube 24 during sliding.

[0060] The third drive cylinder 26 is located inside the horizontal support inner tube 24. The third drive cylinder 26 is connected to the end of the horizontal support outer tube 23 near the vertical support inner tube 22, so that the third drive cylinder 26 can drive the horizontal support inner tube 24 to move horizontally. The end of the horizontal support inner tube 24 away from the vertical support inner tube 22 is connected to the angle adjustment mechanism 5, so that the angle adjustment mechanism 5 and the picking and cutting device 3 can move together through the horizontal support inner tube 24. The fourth drive cylinder 27 is connected between the vertical support outer tube 21 and the horizontal support outer tube 23, so that the horizontal support outer tube 23 can be lifted upward by the required angle through the fourth drive cylinder 27.

[0061] By adopting the structural design of the angle adjustment mechanism 5 and the robotic arm 2 of this invention, during the specific working process, the angle adjustment mechanism 5, the robotic arm 2, and the picking and cutting device 3 can be rotated as a whole by the first rotating component 4. The angle adjustment mechanism 5 and the picking and cutting device 3 can be raised to a certain height by the cooperation of the vertical support outer tube 21, the vertical support inner tube 22, and the second drive cylinder 25. The angle adjustment mechanism 5 and the picking and cutting device 3 can be moved horizontally by the cooperation of the horizontal support outer tube 23, the horizontal support inner tube 24, and the third drive cylinder 26. The angle adjustment mechanism 5 and the picking and cutting device 3 can be further raised to the required height by the fourth drive cylinder 27. At the same time, the picking and cutting device 3 can be adjusted horizontally by the second rotating component 53, and it can also be finely adjusted by the up-and-down swing of the picking and cutting device 3 by the first drive cylinder 52. Therefore, by adopting the technical solution of this invention, the picking and cutting device 3 can be precisely adjusted, so that the picking and cutting device 3 can move accurately and quickly to the target picking position of the fruit tree for picking.

[0062] In some embodiments of the present invention, please refer to Figures 11 and 12 for details. The cutting mechanism 35 includes a support base 351, an inclined support 352, a cutting blade 353, and a fifth drive cylinder 354. The support base 351 is connected to the outer wall of the arc-shaped slide rail 32, so that the arc-shaped slide rail 32 can drive the support base 351 to move together. The inclined support 352 is connected to the upper end of the support base 351. The inclined support 352 is inclined from bottom to top toward the inner side of the arc-shaped slide rail 32, so as to facilitate the inclined mounting of the cutting blade 353 onto the inclined support 352. The cutting blade 353 is distributed on both sides. The blade 353 has serrated cutting teeth 3531, enabling both sides of the cutting blade 353 to cut the petiole and fruit cluster. The cutting blade 353 is movably mounted on the inclined support 352, and the cutting blade 353 is inclined from bottom to top toward the inner side of the arc-shaped slide rail 32, so that the cutting blade 353 can cut the petiole and fruit cluster when it moves. The fifth drive cylinder 354 is located on the inclined support 352, and the movable end of the fifth drive cylinder 354 is connected to the cutting blade 353. The cutting blade 353 is driven by the fifth drive cylinder 354 to move and achieve cutting. The fifth drive cylinder 354 can be a hydraulic cylinder.

[0063] Furthermore, in order to better achieve the cutting of petioles and fruit clusters, both sides of the cutting blade 353 are formed with arc-shaped side edges 3532, and the cutting teeth 3531 are distributed on the arc-shaped side edges 3532.

[0064] The lower end of the cutting blade 353 is rotatably connected to the inclined support 352 via a first limiting pin 355, allowing the cutting blade 353 to rotate and swing around the first limiting pin 355 as a fulcrum. A first movable groove 3533 is provided through the middle of the cutting blade 353 along its length. A second limiting pin 356 is movably disposed on the inclined support 352, passing through the first movable groove 3533. A limiting block 3561 is provided at the free end of the second limiting pin 356. The limiting block 3561 can be bolted to the free end of the second limiting pin 356, and the limiting block 3561 serves to prevent the second limiting pin 356 from disengaging from the cutting blade 353. The movable end of the fifth drive cylinder 354 is connected to the second limiting pin 356, so that the fifth drive cylinder 354 drives the second limiting pin 356 to move. In this invention, because the middle part of the cutting blade 353 is provided with a first movable groove 3533 along the length direction, and the second limiting pin 356 passes through the first movable groove 3533, when the fifth drive cylinder 354 drives the second limiting pin 356 to reciprocate, the second limiting pin 356 can drive the cutting blade 353 to reciprocate within the range defined by the first movable groove 3533, so that the cutting blade 353 can cut the petiole and fruit bunch.

[0065] Furthermore, the inclined support 352 includes a lower support plate 3521, a first guide slider 3522, and an upper support plate 3523. The lower support plate 3521 is fixedly connected to the upper end of the support base 351. A first guide groove 352a is formed on the upper surface of the lower support plate 3521 along the horizontal direction, and at least one end of the first guide groove 352a extends to the end of the lower support plate 3521, specifically allowing the first guide groove 352a to traverse the entire upper surface of the lower support plate 3521. The first guide slider 3522 is slidably fitted within the first guide groove 352a. The fifth drive cylinder 354 is located at the bottom of the lower support plate 3521, and the movable end of the fifth drive cylinder 354 is connected to one end of the first guide slider 3522. Because at least one end of the first guide groove 352a extends to the end of the lower support plate 3521, Therefore, at least one end of the first guide slider 3522 can extend to the outside of one end of the lower support plate 3521, thereby facilitating the connection between the fifth drive cylinder 354 and the first guide slider 3522; the upper support plate 3523 is locked above the lower support plate 3521, specifically, the lower surface of the upper support plate 3523 can be attached to the upper surface of the first guide slider 3522, thereby ensuring that the first guide slider 3522 can slide more smoothly along the first guide groove 352a; the upper support plate 3523 is provided with a second movable groove 352b through the corresponding position of the first guide groove 352a, and the second limiting pin 356 passes through the second movable groove 352b and is connected to the free end of the first guide slider 3522, so that the second limiting pin 356 can move along the second movable groove 352b under the drive of the first guide slider 3522.

[0066] This invention employs a method where the lower end of a cutting blade 353 is rotatably connected to an inclined support 352 via a first limiting pin 355. A first movable groove 3533 is formed through the middle of the cutting blade 353 along its length. A first guide groove 352a is formed horizontally on the lower support plate 3521 of the inclined support 352. A first guide slider 3522 is slidably disposed within the first guide groove 352a. One end of the first guide slider 3522 is connected to a fifth drive cylinder 354, and a fifth drive cylinder 354 is disposed at the other end of the first guide slider 3522. Two limiting pins 356 are used to guide the first guide slider 3522 to reciprocate through the second movable slide groove 352b and the first movable slide groove 3533. This allows the fifth drive cylinder 354 to drive the first guide slider 3522 to reciprocate, enabling the cutting blade 353 to simultaneously and quickly cut the petiole and the stem of the fruit bunch. At the same time, cutting serrations 3531 are distributed on both sides of the cutting blade 353, so that both sides of the cutting blade 353 can perform cutting functions, making it more convenient to use.

[0067] In some embodiments of the present invention, the slide rail drive mechanism 34 includes a drive motor 341, a drive sprocket 342, and a transmission chain 343. Specifically, the drive sprocket 342 may be a double-row sprocket, and the transmission chain 343 may be a double-row chain. The drive motor 341 is mounted on an arc-shaped support body 31 to support the drive motor 341. The drive sprocket 342 is connected to the output end of the drive motor 341 to drive the drive sprocket 342 to rotate. The transmission chain 343 is disposed on... On the outer wall of the arc-shaped slide rail 32, the transmission chain 343 meshes with the drive sprocket 342. Because the transmission chain 343 is flexible, it can well adapt to the arc-shaped wall structure of the outer wall of the arc-shaped slide rail 32. When the slide rail drive mechanism 34 is working, it can drive the drive sprocket 342 to rotate by the forward and reverse rotation of the drive motor 341. Because the drive sprocket 342 meshes with the transmission chain 343, and the transmission chain 343 is installed on the outer wall of the arc-shaped slide rail 32, the drive sprocket 342 can slide along the circumferential direction in conjunction with the arc-shaped slide rail 32 during rotation.

[0068] In some embodiments of the present invention, the top and bottom surfaces of the arc-shaped slide rail 32 are each formed with a second guide groove 321, and a second guide slider 322 is slidably disposed in each second guide groove 321. The second guide slider 322 is connected to the arc-shaped support body 31. The top and bottom of the movable channel 311 are each rotatably provided with a plurality of abutting rollers 312 that abut against the inner and outer side walls of the arc-shaped slide rail 32.

[0069] The present invention provides a second guide groove 321 and a second guide slider 322 between the top and bottom surfaces of the arc-shaped slide rail 32 and the arc-shaped support body 31. At the same time, abutting rollers 312 are rotatably provided at the top and bottom of the movable channel 311, abutting against the inner and outer side walls of the arc-shaped slide rail 32. This invention can effectively limit the arc-shaped slide rail 32 and ensure that the arc-shaped slide rail 32 can drive the cutting mechanism 35 to move smoothly along the circumferential direction.

[0070] In some embodiments of the present invention, please refer to Figure 10 for details. The hook mechanism 33 includes an arc-shaped upper hook plate 331, an arc-shaped lower hook plate 332, a connector 333, and a sixth drive cylinder 334. The inner side of the arc-shaped upper hook plate 331 near the arc-shaped support body 31 is rotatably connected to the top of the arc-shaped support body 31, and the inner side of the arc-shaped lower hook plate 332 near the arc-shaped support body 31 is rotatably connected to the bottom of the arc-shaped support body 31, so that both the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can rotate relative to the arc-shaped support body 31. Arc-shaped notches 3351 are evenly spaced on the inner sides of the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332, so that a locking tooth 3352 is formed between two adjacent arc-shaped notches 3351. A gap is left between the free ends of the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 and the free end of the arc-shaped support body 31. The arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are connected by connectors 333 at both ends near the arc-shaped support body 31 and at the end away from the arc-shaped support body 31, so that the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can be reliably connected as one unit. At the same time, a space for the arc-shaped slide rail 32 to move can be formed between the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332. The sixth drive cylinder 334 is located on the outside of the arc-shaped support body 31, so that the sixth drive cylinder 334 will not interfere with the sliding of the arc-shaped slide rail 32. The movable end of the sixth drive cylinder 334 is rotatably connected to the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332. The sixth drive cylinder 334 can be a hydraulic cylinder. During operation, the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 can be driven to open outward or close inward together by the extension and retraction of the sixth drive cylinder 334.

[0071] This invention designs a hook mechanism 33 comprising an arc-shaped upper hook plate 331 and an arc-shaped lower hook plate 332. The arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332 are connected by connectors 333 at both ends near the arc-shaped support body 31 and at the end away from the arc-shaped support body 31. This design reliably integrates the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332, while also creating a space between them for the arc-shaped slide rail 32 to move. Simultaneously, the arc-shaped upper hook plate 331 and the arc-shaped lower hook plate 332... The inner side spacing of the hook plate 332 forms the locking tooth portion 3352, and the free end of the locking tooth portion 3352 is an arc-shaped edge, which can reliably hold the fruit tree trunk during use and avoid damage to the fruit tree trunk. In addition, the free ends of the arc-shaped upper hook plate 331 and arc-shaped lower hook plate 332 are left with the free ends of the arc-shaped support body 31. This is conducive to better and faster control of the arc-shaped support body 31 to hug the fruit tree trunk, and also facilitates the movement of the arc-shaped slide rail 32 to drive the cutting mechanism 35, reducing the interference of the hook claw mechanism 33 on the cutting mechanism 35.

[0072] In some embodiments of the present invention, the first rotating component 4 is located in the middle of the rear end of the traveling vehicle 1, and the traveling vehicle 1 is provided with a driver's cab 11 on one side of the robotic arm 2 for operators to drive the high-altitude harvesting equipment 100 for harvesting operations; the front end of the traveling vehicle 1 is provided with an auxiliary support 12 for supporting the robotic arm 2.

[0073] Because the entire robotic arm 2 of the present invention is relatively long, the present invention adopts the following approach: the first rotating component 4 is set in the middle of the rear end of the walking vehicle 1, the lower end of the robotic arm 2 is connected to the first rotating component 4, and an auxiliary support 12 is set at the front end of the walking vehicle 1, so that when it is not necessary to pick fruit, the entire robotic arm 2 can be well stored on the top of the walking vehicle 1; at the same time, the driver's cab 11 is set on one side of the robotic arm 2, which can avoid the driver's cab 11 affecting the movement of the robotic arm 2.

[0074] In some embodiments of the present invention, the high-altitude harvesting equipment 100 further includes a control terminal (not shown), which is located in the cab 11; both the angle adjustment mechanism 5 and the harvesting and cutting device 3 are equipped with a shooting mechanism 6, which is connected to the control terminal. In specific implementations of the present invention, shooting mechanisms 6 can be set on both sides of the harvesting and cutting device 3 and on the second rotating component 53 of the angle adjustment mechanism 5, and the shooting mechanism 6 can be used to transmit the captured images to the control terminal so that the operator can operate according to the captured images.

[0075] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A high-altitude harvesting device, characterized in that: It includes a traveling vehicle, a robotic arm, and a harvesting and cutting device; the lower end of the robotic arm is connected to the traveling vehicle via a first rotating component, and the harvesting and cutting device is connected to the upper end of the robotic arm. The harvesting and cutting device includes an arc-shaped support body, an arc-shaped slide rail, a hook mechanism, a slide rail drive mechanism, a cutting mechanism, and a hopper. The upper end of the robotic arm is connected to the arc-shaped support body. A movable channel is formed along the circumferential direction inside the arc-shaped support body, and the arc-shaped slide rail is slidably assembled in the movable channel. The hook mechanism is located at one end of the arc-shaped support body, and the slide rail drive mechanism is located on the arc-shaped support body and is drively connected to the arc-shaped slide rail. The cutting mechanism is located on the arc-shaped slide rail and at the end away from the hook mechanism. The slide rail drive mechanism drives the arc-shaped slide rail to move the cutting mechanism along the circumferential direction. The hopper is located on the outside of the arc-shaped slide rail. The hopper and the cutting mechanism are located at the same end of the arc-shaped slide rail, and the hopper is located below the cutting mechanism. The cutting mechanism includes a support base, an inclined support, a cutting blade, and a fifth drive cylinder. The support base is connected to the outer wall of the arc-shaped slide rail. The inclined support is connected to the upper end of the support base and is inclined from bottom to top towards the inner side of the arc-shaped slide rail. Cutting teeth are distributed on both sides of the cutting blade. The cutting blade is movably mounted on the inclined support and is inclined from bottom to top towards the inner side of the arc-shaped slide rail. The fifth drive cylinder is located on the inclined support, and its movable end is connected to the cutting blade. The cutting blade is driven to move by the fifth drive cylinder to achieve cutting. The lower end of the cutting blade is rotatably connected to the inclined support via a first limiting pin. A first movable groove is formed through the middle of the cutting blade along its length. A second limiting pin is movably mounted on the inclined support, passing through the first movable groove. A limiting block is fitted to the free end of the second limiting pin. The movable end of the fifth drive cylinder is connected to the second limiting pin. The inclined support includes a lower support plate, a first guide slider, and an upper support plate. The lower support plate is fixedly connected to the upper end of the support base, and the upper surface of the lower support plate forms a horizontal shape. A first guide groove is provided, and at least one end of the first guide groove extends to the end of the lower support plate; the first guide slider is slidably assembled in the first guide groove; the fifth drive cylinder is located at the bottom of the lower support plate, and the movable end of the fifth drive cylinder is connected to one end of the first guide slider; the upper support plate is locked above the lower support plate, and the lower surface of the upper support plate is attached to the upper surface of the first guide slider; the upper support plate is provided with a second movable groove through the corresponding position of the first guide groove; the second limiting pin passes through the second movable groove and is connected to the free end of the first guide slider.

2. The high-altitude harvesting equipment as described in claim 1, characterized in that: It also includes an angle adjustment mechanism located between the upper end of the robotic arm and the picking and cutting device; The angle adjustment mechanism includes a first connecting seat, a first drive cylinder, and a second rotating component. The second rotating component is located on one side of the first connecting seat. The picking and cutting device is connected to the output end of the second rotating component, and the picking and cutting device is driven to perform horizontal rotation adjustment through the second rotating component. The upper end of the robotic arm is provided with a hinge bracket, and the lower part of the other side of the first connecting seat is hinged to the hinge bracket through a hinge shaft; the first drive cylinder is connected between the first connecting seat and the upper end of the robotic arm, and the first drive cylinder is located above the hinge shaft. The picking and cutting device is driven to swing up and down to achieve fine adjustment through the first drive cylinder.

3. The high-altitude harvesting equipment as described in claim 2, characterized in that: The robotic arm includes a vertical support outer tube, a vertical support inner tube, a horizontal support outer tube, a horizontal support inner tube, a second drive cylinder, a third drive cylinder, and a fourth drive cylinder. The vertical support outer tube is slidably sleeved on the outside of the vertical support inner tube. The lower end of the vertical support outer tube is connected to the output end of the first rotating component through a second connecting seat. The second driving cylinder is located inside the vertical support inner tube and is connected to the lower end of the vertical support outer tube. One end of the horizontal support outer tube is rotatably connected to the upper end of the vertical support inner tube. The horizontal support outer tube is slidably sleeved on the outside of the horizontal support inner tube, and the top and bottom of the horizontal support inner tube are slidably engaged with the horizontal support outer tube using V-shaped protrusions and V-shaped concave portions; the third drive cylinder is located inside the horizontal support inner tube and is connected to the end of the horizontal support outer tube near the vertical support inner tube; the end of the horizontal support inner tube away from the vertical support inner tube is connected to the angle adjustment mechanism; the fourth drive cylinder is connected between the vertical support outer tube and the horizontal support outer tube.

4. The high-altitude harvesting equipment as described in claim 1, characterized in that: Both sides of the cutting blade are formed with arc-shaped sides, and the cutting teeth are distributed on the arc-shaped sides.

5. The high-altitude harvesting equipment as described in claim 1, characterized in that: The slide rail drive mechanism includes a drive motor, a drive sprocket, and a transmission chain; the drive motor is mounted on the arc-shaped support body, and the drive sprocket is connected to the output end of the drive motor; the transmission chain is located on the outer wall of the arc-shaped slide rail, and the transmission chain meshes with the drive sprocket. The top and bottom surfaces of the arc-shaped slide rail are each formed with a second guide groove, and a second guide slider is slidably disposed in each second guide groove. The second guide slider is connected to the arc-shaped support body. The top and bottom of the movable channel are each rotatably provided with a plurality of abutting rollers that abut against the inner and outer side walls of the arc-shaped slide rail.

6. The high-altitude harvesting equipment as described in claim 1, characterized in that: The hook mechanism includes an arc-shaped upper hook plate, an arc-shaped lower hook plate, a connector, and a sixth drive cylinder. The inner side of the arc-shaped upper hook plate near the arc-shaped support body is rotatably connected to the top of the arc-shaped support body, and the inner side of the arc-shaped lower hook plate near the arc-shaped support body is rotatably connected to the bottom of the arc-shaped support body. Arc-shaped notches are provided at intervals on the inner sides of the arc-shaped upper and lower hook plates, forming a locking tooth between adjacent arc-shaped notches. A gap is left between the free ends of the arc-shaped upper and lower hook plates and the free ends of the arc-shaped support body. The arc-shaped upper and lower hook plates are connected by connectors on both sides near the arc-shaped support body and on the side away from the arc-shaped support body. The sixth drive cylinder is located on the outer side of the arc-shaped support body, and the movable end of the sixth drive cylinder is rotatably connected to the arc-shaped upper and lower hook plates.

7. The high-altitude harvesting equipment as described in claim 1, characterized in that: The first rotating component is located in the middle of the rear end of the traveling vehicle, and the traveling vehicle has a driver's cab on one side of the robotic arm; the front end of the traveling vehicle is provided with an auxiliary bracket for supporting the robotic arm.

8. The high-altitude harvesting equipment as described in claim 2, characterized in that: It also includes a control terminal, which is located in the driver's cab; both the angle adjustment mechanism and the picking and cutting device are equipped with a shooting mechanism, which is connected to the control terminal.

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