CN112655377A - Intelligent mechanical device based on Internet of things and used for garden fruit picking - Google Patents

Abstract

The invention belongs to the technical field of fruit picking, in particular to an intelligent mechanical device for garden fruit picking based on the Internet of things, which comprises an electric crawler chassis, wherein the top of the electric crawler chassis is fixedly provided with an installation platform, the inside of the crawler chassis is provided with a power battery bin for a crawler and a driving motor fixedly connected with a crawler driving wheel shaft, the top of the installation platform is provided with a visual picking mechanical system, the top of the installation platform is provided with a weighing and limiting device, a fruit basket is placed on the weighing and limiting device, the left side and the right side of the fruit basket are provided with handle through holes for carrying, the top of the installation platform is fixedly provided with a fruit basket transfer mechanical device, the rear end of the electric crawler chassis is drawn by a drawing device to be provided with a multifunctional loading vehicle, compared with the existing device, the device can automatically transfer the filled fruit basket in a carriage, and carries the filled fruit basket by using, the fruit basket is convenient to be disassembled in a centralized mode or directly transferred to a transport vehicle, manpower is saved, and picking efficiency is effectively improved.

Description

Intelligent mechanical device based on Internet of things and used for garden fruit picking

Technical Field

The invention belongs to the technical field of fruit picking, and particularly relates to an intelligent mechanical device for garden fruit picking based on the Internet of things.

Background

Fruit, referring to juicy plant fruit whose main taste is sweet and sour, is edible. Fruits not only contain rich vitamin nutrition, but also can promote digestion, the fruits are important economic crops in China, the fruits become the third crop following grains and vegetables at present, the fruit industry has an important position in national economy, and in a food consumption structure, the specific gravity of the fruit consumption in the whole food consumption is gradually increased along with the reduction of main consumption food and the increase of the specific gravity of non-staple food. According to data, the apples, the oranges and the pears are main planting varieties of fruits in China, no matter the area and the yield are in the first three of the world, but people are seriously aged after 21 th century, with the development of industry, agricultural labor force is gradually transferred to the industrial aspect, the agricultural labor force is seriously in short supply, the labor cost is gradually increased, and therefore, the development of intelligent machinery capable of automatically picking fruits is needed to replace most of labor, and the production cost is reduced.

Compared with the prior art the problem that exists:

the fruit that gets off is picked to the picking arm to current this kind of device through Guogu frame at the picking in-process is collected, and when the fruit basket fill the back, need the manual work to carry the fruit basket to change new fruit basket behind the ground, along with going on of picking work, the dispersed placing of the fruit basket after filling in a large number in the orchard, follow-up collection is comparatively inconvenient, is difficult to quick transport to transport on the vehicle, need consume a large amount of manpowers and time, seriously influences picking work efficiency.

Disclosure of Invention

To solve the problems set forth in the background art described above. Compared with the prior art, the intelligent mechanical device for picking garden fruits based on the Internet of things can automatically transfer the filled fruit baskets and directly carry the filled fruit baskets by using the loading carriage while transferring the filled fruit baskets, and when the loading carriage is fully loaded, the left baffle is opened, so that the fruit baskets filled with fruits in the loading carriage can be intensively unloaded or directly transferred to a transport vehicle, the labor is greatly saved, and the picking work efficiency is effectively improved.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an intelligent mechanical device for gardens fruit is picked based on thing networking, includes electronic track chassis, the top fixed mounting on electronic track chassis has mounting platform, the internally mounted of track chassis have the track with power battery storehouse and with track driving wheel axle fixed connection's driving motor, vision picking machine system is installed at mounting platform's top, mounting platform's top is equipped with weighs and stop device, weigh and placed the fruit basket on the stop device, the attacker through-hole of carrying the application has all been opened to the left and right sides of fruit basket, mounting platform's top fixed mounting has fruit basket transfer mechanical device, the rear end of electronic track chassis has multi-functional load wagon through draw gear traction.

Preferably, the visual picking machine system comprises a picking machine, a conveying mechanism and a picking control device, the picking machine, the conveying mechanism and the picking control device are both mounted on a rotating platform, a rotating shaft is integrally formed at the bottom of the rotating platform, the rotating shaft penetrates through the mounting platform and is fixedly connected with an output shaft of a reduction gearbox, the reduction gearbox is fixedly mounted at the bottom of the mounting platform, an input shaft of the reduction gearbox is fixedly connected with an output shaft of a first servo motor, and the first servo motor drives the rotating shaft to rotate together with the rotating platform through the reduction gearbox, so that the picking machine, the conveying mechanism and the picking control device face the direction of the fruit tree.

Preferably, the picking machine and the conveying mechanism comprise a picking mechanical arm, a picking mechanical claw and a hydraulic shear are mounted at the tail end of the picking mechanical arm, a camera is mounted at the top of the picking mechanical claw and the hydraulic shear, the shooting direction of the camera faces the picking mechanical claw and the hydraulic shear, a conveying hose clamping seat is fixed below the picking mechanical arm, the top of the conveying hose clamping seat is aligned with the picking mechanical claw, a conveying hose placing seat is mounted on the picking mechanical arm, a conveying hose is lapped on the conveying hose placing seat, the other end of the conveying hose is fixed with a supporting and fixing frame, the bottom of the supporting and fixing frame is fixed with a first sliding block, the first sliding block is in sliding connection with a first sliding rail, a first transmission screw is mounted inside the first sliding rail, and the right end of the first transmission screw is fixedly connected with a second servo motor, the input end of the conveying hose is fixed with the conveying hose placing seat when the picking machine and the conveying mechanism face the front, when picking is carried out, the picking machine and the conveying mechanism are controlled to face a fruit tree, the conveying hose on the conveying hose placing seat is fixed with the conveying hose clamping seat, the second servo motor is controlled to operate to drive the first transmission screw rod to rotate, the first sliding block and the support fixing frame are driven to move to the upper portion of the fruit basket along the first sliding rail through screw transmission, the output end of the conveying hose is aligned with the fruit basket, the first PC automatically controls the picking mechanical arm to drive the picking mechanical claw to move to the fruit position to clamp the fruit, the fruit handle is cut through hydraulic shear, the fruit is prevented from being damaged by pulling hard dragging, then the picking mechanical claw is loosened, the fruit falls into the conveying pipe and falls into the fruit basket through the conveying pipe, and then the next picking action can be carried out, when a fruit basket is full and picking is suspended, the second servo motor drives the first transmission screw to run reversely, so that the support fixing frame is reset, and a space is provided for the work of the fruit basket transfer mechanical device.

Preferably, the picking control device comprises a device protection box, a camera steering mechanism is installed at the top of the device protection box, a camera and illumination integrated device is installed at the top of the camera steering mechanism, a second camera and an LED illuminating lamp are arranged on the camera and illumination integrated device, a first PC is installed in an inner cavity of the device protection box, a first wireless communication module and an image processing module are installed inside the first PC, the first PC is electrically connected with the picking machine and the conveying mechanism and automatically controls the picking machine and the conveying mechanism, the picking control device is also electrically connected with an auxiliary camera through a connecting wire, the number of the auxiliary cameras is two, the auxiliary cameras are all fixedly installed at the top of the installation platform, the camera steering mechanism is installed at the bottom of each auxiliary camera, and the device shoots the front and the left and right sides in real time through the auxiliary cameras in the moving process, the shot picture is transmitted to a first PC and is processed by an image processing module, the picture is transmitted to a second PC through a first wireless communication module and a second wireless communication module in a matching way and is displayed by a display screen, an operator is assisted to control the device to move, the blind area is reduced, after the device is moved in place, an instruction is given to the second PC in a console and the first PC in a picking control device to carry out picking work, the first PC can automatically control a picking machine and a conveying mechanism, the first PC is in wireless communication connection with the second wireless communication module in the second PC through the first wireless communication module to carry out transmission of image and instruction data, the second camera and the auxiliary camera can both carry out adjustment of horizontal and pitching direction angles through a camera steering mechanism, the camera steering mechanism comprises a steering table, the top of the steering table is a mounting seat, a second camera or an auxiliary camera is installed on the installation seat, and the pitch angle is adjusted through a pitch adjusting motor installed on the installation seat.

Preferably, weigh and stop device includes the electronic scale dish, the top at scale dish installation device is installed to the electronic scale dish, scale dish installation device installs the top at mounting platform, the internally mounted of scale dish installation device has analog-to-digital converter, analog-to-digital converter and electronic scale CPU electric connection, four edges are installed at the top of electronic scale dish and are all equipped with spacing bellied tray that bears, and along with the going on of picking, fruit weight in the fruit basket constantly increases, and weight is converted data transmission to second PC through the electronic scale dish and the analog-to-digital converter who weigh and stop device, and after fruit weight in the fruit basket reached the numerical value that sets up, the second PC was automatic to first PC assigned the instruction, and control vision picking mechanical system stop work, and the second PC carries out the record to the fruit weight in every fruit basket.

Preferably, the fruit basket transferring mechanical device comprises a transferring mechanical arm mounting seat, a first rotary table is mounted at the top of the transferring mechanical arm mounting seat, a transferring mechanical arm is mounted at the top of the first rotary table, a first fruit basket grabbing device is mounted at the tail end of the transferring mechanical arm, the first fruit basket grabbing device comprises a third servo motor mounted on the side face of the last section of the transferring mechanical arm, the tail end of an output shaft of the third servo motor penetrates into the inside of the last section of the transferring mechanical arm and is fixedly connected with a first bevel gear, the first bevel gear is in threaded connection with a second bevel gear, the second bevel gear is mounted at the top of a rotating shaft, the bottom end, penetrating out of the transferring mechanical arm, of the rotating shaft is fixed with a first fruit basket hydraulic grabbing mechanical claw mounting plate, first fruit basket hydraulic grabbing mechanical claws with the same width as the handle through holes on the fruit basket are mounted at the two ends of the first fruit basket hydraulic grabbing mechanical claw mounting, the first hydraulic grabbing mechanical claw mounting plate of the fruit basket is as long as the fruit basket, the basket transferring mechanical device automatically rotates through the first rotary table, the transferring mechanical arm drives the first grabbing device of the fruit basket to move to the upper side of the fruit basket, the first bevel gear and the second bevel gear are driven to rotate through the third servo motor, the rotating shaft is driven to rotate to adjust the direction of the first hydraulic grabbing mechanical claw mounting plate of the fruit basket, the first hydraulic grabbing mechanical claw mounting plate of the fruit basket is aligned with the top of the fruit basket and then descends to the middle position of the top of the attached fruit basket, the first hydraulic grabbing mechanical claw of the fruit basket is driven by hydraulic pressure to be rotatably inserted into a hand buckling through hole in the fruit basket and matched with the hand buckling through hole in the fruit basket, and then the transferring mechanical arm raises the fruit basket and places the fruit basket on the receiving plate.

Preferably, the multifunctional loading vehicle comprises an automatic loading device and a control area platform which are installed on a chassis of the loading vehicle, a control console and an equipment battery bin are installed at the top of the control area platform, a solar cell panel is installed at the top of the equipment battery bin, the solar cell panel is electrically connected with a battery in the equipment battery bin, a control keyboard, a control remote rod and a display screen are installed on the control console, a second PC is installed inside the control console, a second wireless communication module is installed inside the second PC, the second wireless communication module is wirelessly connected with the first wireless communication module, a platform is further installed below the rear side of the multifunctional loading vehicle, and in the using process of the multifunctional loading vehicle, the device is controlled by the control keyboard and the control rocker on the control console to move and issue instructions through an electric crawler chassis powered by a power battery bin for a crawler, the display screen is used for showing the picture that operation interface and each camera shot, and the accessible solar cell panel generates electricity, and solar cell panel turns into the electric energy with light energy and transmits to equipment battery compartment in, can play energy-conserving effect to a certain extent, and the user can stand on the platform controlling this device during operation.

Preferably, the automatic loading device comprises a loading carriage, a fruit basket bearing device and a stacking mechanical device, a fixed rear side baffle and a fixed right side baffle are mounted at the top of the loading carriage, a left side baffle capable of being opened and closed through a hinge piece can be opened, and fruit baskets loaded in the loading carriage can be conveniently and manually transferred in a centralized manner.

Preferably, the fruit basket bearing device comprises a second slide rail installed at the bottom of the loading compartment, a second slide block is arranged inside the second slide rail, a bearing plate is installed at the top of the second slide block, the bearing plate is flush with the bottom plate of the loading compartment, the second slide block is penetrated by a second transmission lead screw and is in screw transmission connection with the second transmission lead screw, the second transmission lead screw is driven by a fourth servo motor installed at the front end of the second slide rail, the fourth servo motor is used for driving the second transmission lead screw to rotate, further the second slide block and the bearing plate are driven to translate towards the direction of the installation platform, the fruit basket is placed on the bearing plate by the transfer mechanical arm, at the moment, a new fruit basket can be placed on a bearing disc on the weighing and limiting device, then the fourth servo motor drives the bearing plate to retract, and at the moment, the stacking mechanical device starts to work.

Preferably, pile up neatly mechanical device is including installing the pile up neatly arm mount pad on the right side baffle of loading carriage, the second revolving platform is installed at the top of pile up neatly arm mount pad, pile up neatly arm is installed at the top of second revolving platform, fruit basket second grabbing device is installed to the end of pile up neatly arm, fruit basket second grabbing device is including installing the fifth servo motor at the last lesson side of pile up neatly arm, the output shaft end of fifth servo motor runs through into the inside of the last lesson of pile up neatly arm and fixedly connected with third conical gear, third conical gear and fourth conical gear threaded connection, the top at the rotation axis is installed to third conical gear, the bottom that the pile up neatly arm was worn out to the rotation axis is fixed with fruit basket second hydraulic pressure grabbing gripper mounting panel, the fruit basket second hydraulic pressure gripper mounting panel's both ends are installed and are the same with the fruit basket second hydraulic pressure gripper through-hole width on the fruit basket Snatch the gripper, and the fruit basket second hydraulic pressure snatchs the length of gripper mounting panel is the same with the fruit basket, pile up neatly mechanical device drives the pile up neatly machinery arm through the second revolving platform and removes to the top of fruit basket along with fruit basket second grabbing device, and drive third bevel gear and fourth bevel gear through fifth servo motor and rotate, and then drive the rotation axis and rotate the direction that adjusts fruit basket second hydraulic pressure and snatch the gripper mounting panel, make the fruit basket second hydraulic pressure snatch the gripper mounting panel and descend to laminating fruit basket top after the top of fruit basket aligns, fruit basket second hydraulic pressure snatchs the attacker through-hole that the gripper rotated on inserting the fruit basket under hydraulic drive, with the cooperation of the attacker through-hole on the fruit basket, shift the arm afterwards and raise the fruit basket and put things in good order in loading carriage.

Compared with the prior art, the invention has the beneficial effects that: this device still usable electronic scale dish when can making the fruit basket carry out the placing that stabilizes through the spacing arch on bearing the dish through weighing and stop device, analog to digital converter and electronic scale CPU weigh in real time the weight of fruit basket, after the fruit weight in the fruit basket reaches the numerical value of setting, the second PC is automatic assigns the instruction to first PC, control vision picking machine system stop work, make things convenient for the timely change of fruit basket, and take notes through second PC symmetrical weight data, the convenient opening and stopping of still intelligent automatic control vision picking machine system when gathering statistics to the amount of picking in the day.

The device is provided with a fruit basket transfer mechanical device, a fruit basket bearing device, a stacking mechanical device and a multifunctional loading vehicle, wherein the weighing and limiting device transmits weighing data to a second PC (personal computer) season and records the weighing data through the second PC, the second PC controls the fruit basket transfer mechanical device to automatically rotate through a first rotary table, a transfer mechanical arm drives a first fruit basket gripping device to move to the upper part of a fruit basket, a third servo motor drives a first bevel gear and a second bevel gear to rotate, a rotating shaft is further driven to rotate to adjust the direction of a first hydraulic gripping mechanical claw mounting plate of the fruit basket, the first hydraulic gripping mechanical claw mounting plate of the fruit basket is aligned with the top of the fruit basket and then descends to the middle position of the top of the attached fruit basket, the first hydraulic gripping mechanical claw of the fruit basket is driven to be rotatably inserted into a handle through hole on the fruit basket under hydraulic driving and is matched with the handle through hole on the fruit basket, then the transfer mechanical arm lifts the fruit basket, simultaneously the fourth servo motor drives the second transmission lead screw to rotate, and further drives the second sliding block and the bearing plate to translate towards the direction of the mounting platform, the transfer mechanical arm places the fruit basket on the bearing plate, at the moment, a new fruit basket can be placed on the bearing disc on the weighing and limiting device, then the fourth servo motor drives the bearing plate to withdraw, the stacking mechanical device starts to work, the stacking mechanical arm and the second fruit basket grabbing device are driven by the second rotary table to move to the upper part of the fruit basket, the fifth servo motor drives the third conical gear and the fourth conical gear to rotate, further drives the rotating shaft to rotate to adjust the direction of the second hydraulic grabbing mechanical claw mounting plate of the fruit basket, the second hydraulic grabbing mechanical claw mounting plate of the fruit basket is aligned with the top of the fruit basket and then descends to be attached to the top of the fruit basket, and the second hydraulic grabbing mechanical claw of the fruit basket is rotatably inserted into a hand-clasping through hole on the fruit basket under the, the fruit basket transfer device is matched with a handle through hole on a fruit basket, then the fruit basket is lifted and stacked in a loading carriage by a transfer mechanical arm, picking can be continued, when the loading carriage is fully loaded, a left baffle is opened, the fruit basket filled with fruits in the loading carriage can be intensively unloaded or directly transferred to a transport vehicle, and subsequent transfer and loading are facilitated;

in this device use, accessible solar cell panel generates electricity, and solar cell panel turns into the electric energy transmission to equipment battery compartment with light energy, can play energy-conserving effect to a certain extent.

The parts of the device not involved are the same as or can be implemented using prior art.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of an axial structure of the present invention;

FIG. 2 is a schematic diagram of the right-view structure of the present invention;

FIG. 3 is a schematic front view of the electric track chassis and the vision picking machine system of the present invention;

FIG. 4 is a schematic left view of the electric track chassis and the vision picking machine system of the present invention;

FIG. 5 is a schematic right view of the motorized track chassis and vision picking machine system of the present invention without tracks;

FIG. 6 is a schematic axial view of the electric track undercarriage of the present invention;

FIG. 7 is a schematic top view of the multi-function loader of the present invention without the stacking mechanism;

FIG. 8 is a schematic bottom view of the multi-function loader of the present invention without the stacking mechanism;

FIG. 9 is a partial right sectional view of the multi-function loader of the present invention;

FIG. 10 is a right side cross-sectional view of the weighing and spacing device and fruit basket of the present invention;

FIG. 11 is an axial view of the support bracket mounting structure of the present invention;

FIG. 12 is a schematic front view of the supporting and fixing frame mounting structure of the present invention;

FIG. 13 is a schematic view of a first grasping device of the fruit basket according to the present invention;

FIG. 14 is a schematic view of a first grasping device of the fruit basket according to the present invention;

FIG. 15 is an enlarged view of part A of the present invention.

In the figure: 100. an electric crawler chassis; 110. a power battery compartment for the track; 120. a drive motor; 200. mounting a platform; 300. a vision picking machine system; 310. a picking machine and a conveying mechanism; 311. picking mechanical arms; 312. picking mechanical claws; 313. hydraulic shearing; 314. a first camera; 315. a clamping seat of the conveying hose; 316. a delivery hose placing seat; 317. a delivery hose; 318. supporting the fixed frame; 319. a first slider; 3110. a first slide rail; 3111. a first drive screw; 3112. a second servo motor; 320. a picking control device; 321. a device protection box; 322. a camera steering mechanism; 323. a camera and lighting integrated device; 324. a second camera; 325. an LED lighting lamp; 326. a first PC; 327. a first wireless communication module; 328. an image processing module; 329. an auxiliary camera; 330. rotating the platform; 340. a rotating shaft; 350. a reduction gearbox; 360. a first servo motor; 400. a weighing and limiting device; 410. an electronic scale pan; 420. a scale pan mounting device; 421. an analog-to-digital converter; 422. an electronic scale CPU; 430. a carrier tray; 500. a fruit basket; 510. a handle through hole; 600. a fruit basket transfer mechanism; 610. a transfer mechanical arm mounting seat; 620. a first turntable; 630. transferring the mechanical arm; 640. a first fruit basket gripping device; 641. a third servo motor; 642. a first bevel gear; 643. a second bevel gear; 644. a fruit basket first hydraulic grabbing mechanical claw mounting plate; 645. a first hydraulic grabbing mechanical claw for fruit baskets; 700. a multifunctional loading vehicle; 710. an automatic loading device; 711. a loading compartment; 712. a rear side baffle; 713. a right baffle; 714. a left baffle; 720. a control area platform; 730. a console; 731. a control keyboard; 732. controlling the remote lever; 733. a display screen; 734. a second PC; 735. a second wireless communication module; 740. an equipment battery compartment; 741. a solar panel; 750. a station; 760. a fruit basket receiving device; 761. a second slide rail; 762. a second slider; 763. a bearing plate; 764. a second drive screw; 765. a fourth servo motor; 770. a palletizing mechanical device; 771. stacking the mechanical arm mounting seats; 772. a second turntable; 773. a stacking mechanical arm; 774. a second fruit basket grabbing device; 7741. a fifth servo motor; 7742. a third bevel gear; 7743. a fourth bevel gear; 7744. a second hydraulic grabbing mechanical claw mounting plate for the fruit basket; 7745. and the second hydraulic grabbing mechanical claw of the fruit basket.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-15, the present invention provides the following technical solutions: the utility model provides an intelligent mechanical device for gardens fruit is picked based on thing networking, includes electronic track chassis 100, the top fixed mounting of electronic track chassis 100 has mounting platform 200, the internally mounted of track chassis 100 have power battery storehouse 110 for the track and with track driving wheel axle fixed connection's driving motor 120, vision picking machinery system 300 is installed at mounting platform 200's top, mounting platform 200's top is equipped with weighs and stop device 400, weigh and place fruit basket 500 on the stop device 400, the attacker through-hole 510 of carrying is all opened to the left and right sides of fruit basket 500, mounting platform 200's top fixed mounting has fruit basket transfer mechanical device 600, the rear end of electronic track chassis 100 has multi-functional loader 700 through the draw gear traction.

In this embodiment: the utility model provides an intelligent mechanical device for gardens fruit is picked based on thing networking, includes electronic track chassis 100, the top fixed mounting of electronic track chassis 100 has mounting platform 200, the internally mounted of track chassis 100 have power battery storehouse 110 for the track and with track driving wheel axle fixed connection's driving motor 120, vision picking machinery system 300 is installed at mounting platform 200's top, mounting platform 200's top is equipped with weighs and stop device 400, weigh and place fruit basket 500 on the stop device 400, the attacker through-hole 510 of carrying is all opened to the left and right sides of fruit basket 500, mounting platform 200's top fixed mounting has fruit basket transfer mechanical device 600, the rear end of electronic track chassis 100 has multi-functional loader 700 through the draw gear traction.

Specifically, the visual picking machine system 300 includes a picking machine and conveying mechanism 310 and a picking control device 320, the picking machine and conveying mechanism 310 and the picking control device 320 are both mounted on a rotating platform 330, a rotating shaft 340 is integrally formed at the bottom of the rotating platform 330, the rotating shaft 340 penetrates through the mounting platform 200 and is fixedly connected with an output shaft of a reduction gearbox 350, the reduction gearbox 350 is fixedly mounted at the bottom of the mounting platform 200, an input shaft of the reduction gearbox 350 is fixedly connected with an output shaft of a first servo motor 360, and the first servo motor 360 drives the rotating shaft 340 to rotate together with the rotating platform 330 through the reduction gearbox 350, so that the picking machine and conveying mechanism 310 and the picking control device 320 both face the direction of a fruit tree.

Specifically, the picking machine and conveying mechanism 310 includes a picking mechanical arm 311, a picking mechanical claw 312 and a hydraulic shear 313 are installed at the end of the picking mechanical arm 311, the picking mechanical arm 311 is located at the top of the picking mechanical claw 312 and the hydraulic shear 313 and is installed with a camera 314, the shooting direction of the camera 314 faces the picking mechanical claw 312 and the hydraulic shear 313, a conveying hose clamping seat 315 is fixed below the picking mechanical arm 311, the top of the conveying hose clamping seat 315 is aligned with the picking mechanical claw 312, a conveying hose placing seat 316 is installed on the picking mechanical arm 311, a conveying hose 317 is placed on the conveying hose placing seat 316, the other end of the conveying hose 317 is fixed with a support fixing frame 318, the bottom of the support fixing frame 318 is fixed with a first slider 319, and the first slider 319 is slidably connected with a first sliding rail 3110, a first transmission screw 3111 is installed inside the first slide rail 3110, the right end of the first transmission screw 3111 is fixedly connected with a second servo motor 3112, the input end of the conveying hose 317 is fixed with the conveying hose placing seat 316 when the picking machine and conveying mechanism 310 faces forward, when picking is performed, the picking machine and conveying mechanism 310 is controlled to face towards a fruit tree, the conveying hose 317 on the conveying hose placing seat 316 and the conveying hose clamping seat 315 are fixed, the second servo motor 3112 is controlled to operate to drive the first transmission screw 3111 to rotate, the first sliding block 319 and the supporting and fixing frame 318 are driven to move to the upper side of the fruit basket 500 along the first slide rail 3110 through screw transmission, the output end of the conveying hose 317 is aligned with the fruit basket 500, the first PC 326 automatically controls the picking mechanical arm 311 to drive the picking mechanical claw 312 to move to the fruit to clamp the fruit, the fruit handle is cut through the hydraulic shears 313, avoid pulling hard to drag and cause the damage to the fruit, picking gripper 312 loosens afterwards, and the fruit falls into during the conveyer pipe 317 promptly, falls into fruit basket 500 through conveyer pipe 317, can carry out the action of picking next time afterwards, fills up the pause when a fruit basket 500 and picks the back, and second servo motor 3112 drives first transmission lead screw 3111 reverse operation for support mount 318 resets, provides the space for fruit basket transfer machine 600's work.

Specifically, the picking control device 320 comprises a device protection box 321, a camera steering mechanism 322 is installed at the top of the device protection box 321, a camera and illumination integrated device 323 is installed at the top of the camera steering mechanism 322, a second camera 324 and an LED illuminating lamp 325 are arranged on the camera and illumination integrated device 323, a first PC 326 is installed in an inner cavity of the device protection box 321, a first wireless communication module 327 and an image processing module 328 are installed inside the first PC 326, the first PC 326 is electrically connected with the picking machine and the conveying mechanism 310 and automatically controls the picking machine and the conveying mechanism, the picking control device 320 is further electrically connected with an auxiliary camera 329 through a connecting wire, the number of the auxiliary cameras 329 is 4, the auxiliary cameras are all fixedly installed at the top of the installation platform 200, and the camera steering mechanism 322 is installed at the bottom of the auxiliary camera 329, in the moving process of the device, the front, the left side and the right side are shot in real time through the auxiliary camera 329, the shot pictures are transmitted to the first PC 326 and processed through the image processing module 328, the pictures are transmitted to the second PC 734 through the first wireless communication module 327 and the second wireless communication module 735 in a matching way and displayed through the display screen 733, an auxiliary operator controls the device to move, the blind area is reduced, after the pictures are moved in place, the second PC 734 in the control console 730 and the first PC 326 in the picking control device 320 are given instructions to carry out picking work, the first PC 326 can automatically control the picking machine and the conveying mechanism 310, the first PC 326 is in wireless communication connection with the second wireless communication module 735 in the second PC 734 through the first wireless communication module 327 to carry out the transmission of image and instruction data, the second camera 324 and the auxiliary camera 329 can both carry out the adjustment of the horizontal and pitching direction angles through the camera steering mechanism 322, the camera steering mechanism comprises a steering table, the top of the steering table is provided with a mounting seat, a second camera 324 or an auxiliary camera 329 is mounted on the mounting seat, and the pitch angle is adjusted through a pitch adjusting motor mounted on the mounting seat.

Specifically, the weighing and limiting device 400 includes an electronic scale 410, the electronic scale 410 is mounted on the top of a scale mounting device 420, the scale mounting device 420 is installed on the top of the mounting platform 200, an analog-to-digital converter 421 is installed inside the scale mounting device 420, the analog-to-digital converter 421 is electrically connected to the electronic scale CPU422, the top of the electronic scale pan 410 is provided with a bearing pan 430 with four edges provided with limiting protrusions, the weight of the fruit in the fruit basket 500 is continuously increased along with the picking, the weight is converted into data by the electronic scale pan 410 and the analog-to-digital converter 421 in the weighing and limiting device 400 and transmitted to the second PC 734, when the weight of the fruit in the fruit basket 500 reaches the set value, the second PC 734 automatically issues an instruction to the first PC 326 to control the visual picking machine system 300 to stop working, and the second PC 734 records the weight of the fruit in each fruit basket 500.

Specifically, the fruit basket transferring mechanical device 600 comprises a transferring mechanical arm mounting seat 610, a first rotary table 620 is mounted at the top of the transferring mechanical arm mounting seat 610, a transferring mechanical arm 630 is mounted at the top of the first rotary table 620, a first fruit basket grabbing device 640 is mounted at the tail end of the transferring mechanical arm 630, the first fruit basket grabbing device 640 comprises a third servo motor 641 mounted on the side surface of the last section of the transferring mechanical arm 630, the tail end of an output shaft of the third servo motor 641 penetrates into the inside of the last section of the transferring mechanical arm 630 and is fixedly connected with a first bevel gear 642, the first bevel gear 642 is in threaded connection with a second bevel gear 643, the second bevel gear 643 is mounted at the top of a rotating shaft, the rotating shaft penetrates through the bottom end of the transferring mechanical arm 630 and is fixed with a first fruit basket hydraulic grabbing mechanical claw mounting plate 644, and two ends of the first fruit basket hydraulic grabbing mechanical claw mounting plate 644 are mounted with handle through holes 510 on the fruit basket 500 The fruit basket first hydraulic grabbing mechanical claw 645 with the same degree, the length of the fruit basket first hydraulic grabbing mechanical claw mounting plate 644 is the same as that of the fruit basket 500, the basket transfer mechanical device 600 automatically rotates through the first rotary table 620, the transfer mechanical arm 630 drives the fruit basket first grabbing device 640 to move to the upper part of the fruit basket 500, and the third servo motor 641 drives the first bevel gear 642 and the second bevel gear 643 to rotate, and then the rotating shaft is driven to rotate to adjust the direction of the first hydraulic grabbing mechanical claw mounting plate 644 of the fruit basket, so that the first hydraulic grabbing mechanical claw mounting plate 644 of the fruit basket is aligned with the top of the fruit basket 500 and then descends to the middle position of the top of the fruit basket 500, the first hydraulic grabbing mechanical claw 645 of the fruit basket is driven by hydraulic pressure to rotate and be inserted into the handle through hole 510 on the fruit basket 500, in cooperation with the gripper through-hole 510 on the fruit basket 500, the transfer robot 630 then raises the fruit basket 500 and places the fruit basket 500 on the receiving plate 763.

Specifically, the multifunctional loading vehicle 700 includes an automatic loading device 710 and a control area platform 720 which are installed on a chassis of the loading vehicle, a control console 730 and an equipment battery bin 740 are installed on the top of the control area platform 720, a solar cell panel 741 is installed on the top of the equipment battery bin 740, the solar cell panel 741 is electrically connected with a battery in the equipment battery bin 740, a control keyboard 731, a control remote rod 732 and a display screen 733 are installed on the control console 730, a second PC 734 is installed inside the control console 730, a second wireless communication module 735 is installed inside the second PC 734, the second wireless communication module 735 is wirelessly connected with the first wireless communication module 327, a platform 750 is further installed below the rear side of the multifunctional loading vehicle 700, and in the use process of the multifunctional loading vehicle, the multifunctional loading vehicle is controlled to move through the electric crawler chassis 100 powered by the crawler power battery bin 110 for a crawler by the control keyboard 731 and the control rocker 732 on the control console 730 to control the device to move so as to enable the crawler chassis 100 to be powered by And issuing an instruction, wherein the display screen 733 is used for displaying an operation interface and pictures shot by each camera, electricity can be generated through the solar cell panel 741, the solar cell panel 741 converts light energy into electric energy to be transmitted to the equipment battery compartment 740, the energy-saving effect can be achieved to a certain extent, and a user can stand on the platform 750 when operating the device.

Specifically, the automatic loading device 710 comprises a loading compartment 711, a basket receiving device 760 and a stacking mechanism 770, wherein a fixed rear side baffle 712, a fixed right side baffle 713, and a fixed left side baffle 714 capable of being opened and closed through a hinge are mounted at the top of the loading compartment 711, and the left side baffle 714 can be opened, so that the baskets 500 loaded in the loading compartment 711 can be conveniently and manually transferred in a centralized manner.

Specifically, the basket receiving device 760 comprises a second sliding rail 761 installed at the bottom of the loading compartment 711, a second slider 762 is arranged inside the second sliding rail 761, a receiving plate 763 is installed at the top of the second slider 762, the receiving plate 763 is flush with the bottom plate of the loading compartment 711, the second slider 762 is penetrated by a second transmission screw 764 and is in screw transmission connection with the second transmission screw 764, the second transmission screw 764 is driven by a fourth servo motor 765 installed at the front end of the second sliding rail 761, the fourth servo motor 765 is used for driving the second transmission screw 764 to rotate, so as to drive the second slider 762 and the receiving plate 763 to translate towards the direction of the mounting platform 200, the transfer mechanical arm 630 places the basket 500 on the receiving plate 763, at this time, a new basket 500 can be placed on the bearing disc 430 on the weighing and limiting device 400, and then the fourth servo motor 765 drives the receiving plate 763 to retract, at this point the palletizing mechanism 770 begins to operate.

Specifically, the stacking mechanical device 770 comprises a stacking mechanical arm installation seat 771 installed on a right baffle 713 of the loading carriage 711, a second rotary table 772 is installed at the top of the stacking mechanical arm installation seat 771, a stacking mechanical arm 773 is installed at the top of the second rotary table 772, a second fruit basket grabbing device 774 is installed at the tail end of the stacking mechanical arm 773, the second fruit basket grabbing device 774 comprises a fifth servo motor 7741 installed on the side face of the last section of the stacking mechanical arm 773, the tail end of an output shaft of the fifth servo motor 7741 penetrates through the inside of the last section of the stacking mechanical arm 773 and is fixedly connected with a third conical gear 7742, the third conical gear 7742 is in threaded connection with a fourth conical gear 7743, the third conical gear 7742 is installed at the top of a rotating shaft, the rotating shaft penetrates through the bottom end of the stacking mechanical arm 773 and is fixed with a second fruit basket hydraulic grabbing mechanical claw installation plate 7743, two ends of the second hydraulic grabbing mechanical claw mounting plate 7743 of the fruit basket are provided with second hydraulic grabbing mechanical claws 7744 which have the same width as the gripper through holes 510 on the fruit basket 500, the length of the second hydraulic grabbing mechanical claw mounting plate 7743 of the fruit basket is the same as that of the fruit basket 500, the stacking mechanical device 770 drives the stacking mechanical arms 773 and the second gripper 774 of the fruit basket to move above the fruit basket 500 through the second rotary table 772, and drives the third bevel gear 7742 and the fourth bevel gear 7743 to rotate through the fifth servo motor 7741, so as to drive the rotating shaft to rotate to adjust the direction of the second hydraulic grabbing mechanical claw mounting plate 7743 of the fruit basket, so that the second hydraulic grabbing mechanical claw mounting plate 7743 of the fruit basket is aligned with the top of the fruit basket 500 and then descends to be attached to the top of the fruit basket 500, the second hydraulic grabbing mechanical claw 7745 of the fruit basket is inserted into the gripper through holes 510 on the fruit basket 500 under the hydraulic driving, and is matched with the gripper through holes 510 on the fruit basket 500, the transfer robot 630 then raises and stacks the fruit basket 500 in the loading compartment 711.

The working principle and the using process of the invention are as follows: when the device is used, an operator can stand on a platform 750 to operate, the fruit basket 500 is placed on the bearing disc 430 on the weighing and limiting device 400, the control keyboard 731 and the control rocker 732 on the control console 730 control the device to move through the electric crawler chassis 100 powered by the power battery bin 110 for the crawler, during the moving process, the front side and the left side and the right side are shot in real time through the auxiliary camera 329, the shot pictures are transmitted to the first PC 326 and processed through the image processing module 328, the pictures are transmitted to the second PC 734 through the first wireless communication module 327 and the second wireless communication module 735 in a matching way and displayed through the display screen 733, the operator is assisted to control the device to move, the blind area is reduced, and after the device is moved in place, the device gives instructions to the second PC 734 in the control console 730 and the first PC 326 in the picking control device 320, picking is carried out, the first servo motor 360 is controlled to drive the rotating shaft 340 to rotate together with the rotating platform 330 through the reduction gearbox 350, so that the picking machine and the conveying mechanism 310 and the picking control device 320 face the direction of the fruit tree, the second camera 324 on the picking control device 320 is controlled to adjust the direction through the camera steering mechanism 322, meanwhile, the two auxiliary cameras 329 on the same side with the fruit tree are controlled to steer and adjust the pitch angle to enable the auxiliary cameras to face the fruit tree, the conveying hose 317 on the conveying hose placing seat 316 and the conveying hose clamping seat 315 are fixed, the second servo motor 3112 is controlled to operate to drive the first transmission screw 3111 to rotate, the first sliding block 319 and the supporting and fixing frame 318 are driven to move to the upper part of the fruit basket 500 along the first sliding rail 3110 through screw transmission, the output end of the conveying hose 317 is aligned to the fruit basket 500, and the first camera 314, the second camera 324 and the auxiliary cameras 329 are matched with each, the picked images are transmitted to an image processing module 328, the image processing module 328 transmits image information to a first PC 326, so that the positions of fruits are intelligently identified, the picking mechanical arm 311 is automatically controlled to drive the picking mechanical claw 312 to move to the position of the fruits to clamp the fruits, the fruit handles are cut off through a hydraulic shear 313, the fruits are prevented from being damaged by being pulled and pulled hard, then the picking mechanical claw 312 is loosened, the fruits fall into the conveying pipe 317 and fall into the fruit basket 500 through the conveying pipe 317, then the next picking action can be carried out, along with the picking, the weight of the fruits in the fruit basket 500 is continuously increased, the weight is converted into data through an electronic scale 410 and an analog-to-digital converter 421 in the weighing and limiting device 400 and is transmitted to a second PC 734, and when the weight of the fruits in the fruit basket 500 reaches a set value, the second PC 734 automatically issues an instruction to the first PC 326, the visual picking mechanical system 300 is controlled to stop working, meanwhile, the second servo motor 3112 drives the first transmission screw 3111 to rotate reversely, so that the supporting and fixing frame 318 is reset, the second PC 734 records the weight data, the second PC 734 controls the fruit basket transferring mechanical device 600 to rotate automatically through the first rotary table 620, the transferring mechanical arm 630 drives the first fruit basket grabbing device 640 to move to the upper part of the fruit basket 500, the third servo motor 641 drives the first bevel gear 642 and the second bevel gear to rotate, the rotating shaft is driven to rotate to adjust the direction of the first fruit basket grabbing mechanical claw mounting plate 644, the first fruit basket grabbing mechanical claw mounting plate 644 is aligned with the top of the fruit basket 500 and then descends to the middle position of the top of the fruit basket 500, the first fruit basket hydraulic grabbing mechanical claw 645 is inserted into the handle through hole 510 on the fruit basket 500 under the hydraulic driving, matching with the handle through hole 510 on the fruit basket 500, then the transfer mechanical arm 630 raises the fruit basket 500, meanwhile, the fourth servo motor 765 drives the second transmission lead screw 764 to rotate, further driving the second slider 762 and the receiving plate 763 to translate towards the direction of the mounting platform 200, the transfer mechanical arm 630 places the fruit basket 500 on the receiving plate 763, at this time, a new fruit basket 500 can be placed on the bearing disc 430 on the weighing and limiting device 400, then, the fourth servo motor 765 drives the receiving plate 763 to retract, the stacking mechanical device 770 starts to work, the second revolving platform 772 drives the stacking mechanical arm 773 and the second fruit basket grabbing device 774 to move above the fruit basket 500, and the fifth servo motor 7741 drives the third conical gear 7742 and the fourth conical gear 7743 to rotate, further drives the rotating shaft to rotate to adjust the direction of the second hydraulic fruit basket grabbing mechanical claw mounting plate 7743, so that the second hydraulic fruit basket grabbing mechanical claw mounting plate 7743 aligns with the top of the fruit basket 500 and then descends to the top of the fruit basket 500, the fruit basket second hydraulic grabbing mechanical claw 7745 is driven by hydraulic pressure to rotate and be inserted into the handle through hole 510 on the fruit basket 500 and is matched with the handle through hole 510 on the fruit basket 500, then the fruit basket 500 is lifted and stacked in the loading compartment 711 by the transfer mechanical arm 630, picking can be continued, after the loading compartment 711 is fully loaded, the left baffle 714 is opened, the fruit basket 500 filled with fruits in the loading compartment 711 can be intensively unloaded or directly transferred to a transport vehicle, in the using process of the device, electricity can be generated through the solar cell panel 741, the solar cell panel 741 converts light energy into electric energy to be transmitted to the equipment battery compartment 740, and an energy-saving effect can be achieved to a certain extent.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an intelligent mechanical device that is used for gardens fruit to pick based on thing networking which characterized in that: including electronic crawler chassis (100), the top fixed mounting of electronic crawler chassis (100) has mounting platform (200), the internally mounted of crawler chassis (100) have power battery storehouse (110) for the track and with track driving wheel axle fixed connection's driving motor (120), visual picking machinery system (300) is installed at the top of mounting platform (200), the top of mounting platform (200) is equipped with weighs and stop device (400), it has fruit basket (500) to weigh and placed on stop device (400), the attacker through-hole (510) of carrying have all been opened to the left and right sides of fruit basket (500), the top fixed mounting of mounting platform (200) has fruit basket transfer mechanical device (600), the rear end of electronic crawler chassis (100) has multi-functional load wagon (700) through the draw gear traction.

2. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the vision picking machine system (300) comprises picking machines, a conveying mechanism (310) and a picking control device (320), wherein the picking machines, the conveying mechanism (310) and the picking control device (320) are installed on a rotating platform (330), a rotating shaft (340) is integrally formed at the bottom of the rotating platform (330), the rotating shaft (340) penetrates through an installation platform (200) and is fixedly connected with an output shaft of a reduction gearbox (350), the reduction gearbox (350) is fixedly installed at the bottom of the installation platform (200), and the input shaft of the reduction gearbox (350) is fixedly connected with the output shaft of a first servo motor (360).

3. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: picking machinery and conveying mechanism (310) is including picking arm (311), picking gripper (312) and hydraulic shear (313) are installed to the end of picking arm (311), picking arm (311) is located the top of picking gripper (312) and hydraulic shear (313) and installs camera (314), the shooting direction of camera (314) is towards picking gripper (312) and hydraulic shear (313), the below of picking arm (311) is fixed with and carries hose joint seat (315), the top of carrying hose joint seat (315) aligns with picking gripper (312), it places seat (316) to install the delivery hose on picking arm (311), carry hose place and have carried delivery hose (317) on seat (316), the other end of delivery hose (317) is fixed with supporting mount (318), the bottom and first slider (319) of support mount (318) are fixed, first slider (319) and first slide rail (3110) sliding connection, the internally mounted of first slide rail (3110) has first drive screw (3111), the right-hand member and second servo motor (3112) fixed connection of first drive screw (3111).

4. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the picking control device (320) comprises a device protection box (321), a camera steering mechanism (322) is installed at the top of the device protection box (321), a camera shooting and illuminating integrated device (323) is installed at the top of the camera steering mechanism (322), a second camera (324) and an LED illuminating lamp (325) are arranged on the camera shooting and illuminating integrated device (323), a first PC (326) is installed in an inner cavity of the device protection box (321), a first wireless communication module (327) and an image processing module (328) are installed inside the first PC (326), the first PC (326) is electrically connected with the picking machine and the conveying mechanism (310) and automatically controls the picking machine and the conveying mechanism, the picking control device (320) is also electrically connected with an auxiliary camera (329) through a connecting wire, and the number of the auxiliary cameras (329) is 4, are all fixedly installed at the top of the installation platform (200), and the bottom of the auxiliary camera (329) is all provided with a camera steering mechanism (322).

5. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: weighing and stop device (400) include electronic scale dish (410), the top at scale dish installation device (420) is installed in electronic scale dish (410), the top at installation platform (200) is installed in scale dish installation device (420), the internally mounted of scale dish installation device (420) has analog to digital converter (421), analog to digital converter (421) and electronic scale CPU (422) electric connection, four edges are installed on the top of electronic scale dish (410) and are all equipped with spacing bellied bearing dish (430).

6. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the fruit basket transferring mechanical device (600) comprises a transferring mechanical arm mounting seat (610), a first rotary table (620) is mounted at the top of the transferring mechanical arm mounting seat (610), a transferring mechanical arm (630) is mounted at the top of the first rotary table (620), a first fruit basket grabbing device (640) is mounted at the tail end of the transferring mechanical arm (630), the first fruit basket grabbing device (640) comprises a third servo motor (641) mounted on the side surface of the last section of the transferring mechanical arm (630), the tail end of an output shaft of the third servo motor (641) penetrates through the inside of the last section of the transferring mechanical arm (630) and is fixedly connected with a first bevel gear (642), the first bevel gear (642) is in threaded connection with a second bevel gear (643), the second bevel gear (643) is mounted at the top of a rotating shaft, the rotating shaft penetrates through the bottom end of the transferring mechanical arm (630) and is fixed with a first hydraulic fruit basket grabbing mechanical mounting plate (644), two ends of the fruit basket first hydraulic grabbing mechanical claw mounting plate (644) are provided with first hydraulic grabbing mechanical claws (645) which are as wide as the handle through holes (510) in the fruit basket (500), and the length of the fruit basket first hydraulic grabbing mechanical claw mounting plate (644) is as long as the fruit basket (500).

7. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the multifunctional loading vehicle (700) comprises an automatic loading device (710) and a control area platform (720) which are arranged on the chassis of the loading vehicle, the top of the control area platform (720) is provided with a control console (730) and an equipment battery bin (740), a solar panel (741) is installed on the top of the equipment battery compartment (740), the solar panel (741) is electrically connected with a battery in the equipment battery compartment (740), the console (730) is provided with a control keyboard (731), a control remote rod (732) and a display screen (733), a second PC (734) is arranged inside the console (730), a second wireless communication module (735) is arranged inside the second PC (734), the second wireless communication module (735) is wirelessly connected with the first wireless communication module (327), and a platform (750) is further installed below the rear side of the multifunctional loading vehicle (700).

8. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the automatic loading device (710) comprises a loading compartment (711), a fruit basket bearing device (760) and a stacking mechanical device (770), wherein a fixed rear side baffle (712), a fixed right side baffle (713) and a fixed left side baffle (714) which can be opened and closed through a hinge are arranged at the top of the loading compartment (711).

9. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the fruit basket bearing device (760) comprises a second sliding rail (761) installed at the bottom of a loading compartment (711), a second sliding block (762) is arranged inside the second sliding rail (761), a bearing plate (763) is installed at the top of the second sliding block (762), the bearing plate (763) is flush with the bottom plate of the loading compartment (711), the second sliding block (762) is penetrated through by a second transmission lead screw (764) and is in screw transmission connection with the second transmission lead screw, and the second transmission lead screw (764) is driven by a fourth servo motor (765) installed at the front end of the second sliding rail (761).

10. The intelligent mechanical device for garden fruit picking based on the Internet of things is characterized in that: the stacking mechanical device (770) comprises a stacking mechanical arm mounting seat (771) arranged on a right baffle (713) of a loading carriage (711), a second rotary table (772) is arranged at the top of the stacking mechanical arm mounting seat (771), a stacking mechanical arm (773) is arranged at the top of the second rotary table (772), a fruit basket second grabbing device (774) is arranged at the tail end of the stacking mechanical arm (773), the fruit basket second grabbing device (774) comprises a fifth servo motor (7741) arranged on the side face of the last section of the stacking mechanical arm (773), the tail end of an output shaft of the fifth servo motor (7741) penetrates through the inside of the last section of the stacking mechanical arm (773) and is fixedly connected with a third bevel gear (7742), the third bevel gear (7742) is in threaded connection with a fourth bevel gear (7743), and the third bevel gear (7742) is arranged at the top of a rotating shaft, the bottom that the rotation axis was worn out pile up neatly arm (773) and fruit basket second hydraulic pressure snatchs gripper mounting panel (7744) and fixes, fruit basket second hydraulic pressure snatchs gripper mounting panel (7744) both ends install with the same fruit basket second hydraulic pressure of attacker through-hole (510) width on fruit basket (500) snatch gripper (7745), and the length that fruit basket second hydraulic pressure snatched gripper mounting panel (7744) is the same with fruit basket (500).

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