CN111656989A - A palm orchard fruit tree pruning and fruit harvesting equipment - Google Patents

Abstract

The invention discloses a palm family orchard fruit tree pruning and fruit harvesting equipment, which solves the problems that the palm family fruit is difficult to pick and the fruit tree is difficult to prune in the prior art, and has the beneficial effects of no manual climbing and high safety. The specific scheme is as follows: a palm fruit orchard fruit tree pruning and fruit harvesting equipment, including a lifting arm, the top of the lifting arm is fixed with a shearing mechanism for pruning fruit trees or harvesting fruits, and a bottom end of the lifting arm is installed through the chassis. The cargo box, the lifting arm can be rotatably installed on the frame, the chassis can be connected with the tractor, and the frame is connected with the chassis.

Description

A palm orchard fruit tree pruning and fruit harvesting equipment

technical field

The invention relates to the field of agricultural machinery, in particular to a palm-family orchard fruit tree pruning and fruit harvesting equipment.

Background technique

The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

Palm fruit trees are important economic crops in the tropics, such as dates, coconuts, palm fruits, etc. The fruits of these fruit trees grow on the top of the trunk and the tillers of the branches and leaves. These fruit trees have tall trunks and special fruit positions. In the prior art, fruit tree pruning and Harvesting operations rely on manpower. It is often seen that harvesting and maintenance personnel climb up and down trees with a height of ten to twenty meters. There are certain safety risks, and human resources are occupied.

The inventor found that there are also lifting platforms using cranes in the prior art. People stand on the platform and are sent to the air for pruning, pollination and picking operations. However, there are still certain safety risks for staff standing at high places. Relying on manual maintenance and harvesting, there are problems of high labor intensity and high risk of high-altitude work; for the management and harvesting of tropical and subtropical high-trunk fruits, there is no professional machinery with strong targeting to overcome the problem of high-altitude work. With the gradual increase in labor costs, it is difficult to meet the needs of existing high-trunk fruit tree management and fruit picking, and it is impossible to effectively expand the scope of planting and improve economic benefits.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a device for pruning and harvesting fruit trees in palm orchards, which can send the pruning mechanism to the top of the high fruit trees through the lifting arm, and carry out pruning of fruit branches and leaves and fruit picking. It eliminates the need for staff to work at high altitudes, overcomes the safety problems caused by staff working at high altitudes, and improves the efficiency of fruit tree pruning or fruit harvesting.

In order to achieve the above object, the present invention is realized by the following technical solutions:

A palm-family orchard fruit tree pruning and fruit harvesting equipment, comprising a lifting arm, the top of the lifting arm is fixed with a shearing mechanism for pruning fruit trees or picking fruits, a cargo box is installed at the bottom end of the lifting arm through a chassis, and the lifting arm is It can be rotatably installed on the frame, the chassis can be connected with the tractor, the frame and the chassis can be connected, the lifting arm can be raised and lowered, and can be rotated to drive the shearing mechanism to lift and rotate, and send the shearing mechanism to the position that needs to be trimmed or harvested. .

The above-mentioned equipment for pruning and harvesting fruit trees in palm orchards, the lifting arm includes a multi-section connecting arm, including a starting connecting arm, a middle connecting arm and an end connecting arm in turn, and the starting connecting arm is connected with the slewing mechanism through a slewing mechanism. The frame is connected, and the peripheral side of the initial connecting arm is provided with an outer sleeve, the outer sleeve is connected with the fixed end of the first driving member, and the other end of the first driving member is connected with the middle connecting arm.

The above-mentioned equipment for pruning and harvesting fruit trees in palm family orchards, wherein the initial connecting arm is vertically arranged to support other connecting arms and shearing mechanisms, and the initial connecting arm is relative to the machine. The other end of the frame is movably connected with one side of the L-shaped plate, and the other side of the L-shaped plate is fixedly connected with the middle connecting arm. Realize the connection with the middle connecting arm.

A kind of palm family orchard fruit tree pruning and fruit harvesting equipment as described above, the end of the end connecting arm is provided with a fixing plate connected with the end connecting arm, the fixing plate is connected with the shearing mechanism, and the fixing plate has a fixing groove , and the side of the fixing plate with the fixing groove is connected with one end of the second driving member, and the other end of the second driving member is fixed with the end connecting arm.

In the above-mentioned equipment for pruning and harvesting fruit trees in palm orchards, the L-shaped plates include two, and the two L-shaped plates are respectively arranged on both sides of the middle connecting arm.

The above-mentioned equipment for pruning and harvesting fruit trees in palm orchards, the chassis is provided with wheels, one side of the cargo box can be lifted and lowered relative to the chassis, and one side of the cargo box can be opened, and the frame is connected to the tractor. After hooking up, the equipment is driven forward, backward or steered through the tractor and wheels.

As mentioned above, a palm family orchard fruit tree pruning and fruit harvesting equipment, the frame is provided with a seat on one side relative to the cargo box, the seat is arranged facing the frame, and the frame is provided with a control box, which controls the A controller is arranged in the box, and the controller is separately connected with the cutting mechanism and the driving part of the lifting arm. The control box is provided with a control switch connected with the controller. The control box is arranged on the front side of the seat, which is convenient for the staff to sit on. On the seat, the movements of the various mechanisms are controlled.

The above-mentioned palm fruit orchard fruit tree pruning and fruit harvesting equipment, both sides of the frame and the two sides of the chassis away from one end of the frame are provided with legs, the legs are movably connected to the chassis, and the legs are flexibly connected to the chassis. A third driving member is arranged between the legs and the chassis, and the third driving member is a telescopic oil cylinder.

The above-mentioned equipment for fruit tree pruning and fruit harvesting in palm family orchards. .

The above-mentioned equipment for pruning and harvesting fruit trees in palm orchards, the shearing mechanism includes a mechanical arm, the mechanical arm is connected with the lifting arm, the mechanical arm supports a shearing unit, and the shearing unit includes a connection with the mechanical arm. The fixed knife is provided with a moving knife on the inner side of the fixed knife, and the moving knife is connected with the fourth driving member. The fourth driving member drives the moving knife to move towards the fixed knife to realize pruning of fruit trees or fruit harvesting. for the drive cylinder.

The above-mentioned beneficial effects of the present invention are as follows:

1) In the present invention, through the setting of the harvesting equipment, the lifting arm can be raised or lowered, and can be rotated, which broadens the working range of the harvesting equipment, and at the same time, the lifting arm sends the shearing mechanism to the position that needs to be trimmed or harvested. , without the need for staff to climb directly, to ensure the safety of the operation, and a cargo box is provided through the chassis, which can temporarily store the harvested fruits or pruned branches and leaves.

2) In the present invention, through the setting of multi-section connecting arms in the lifting arm, the initial connecting arm plays a supporting role for the connection between the frame and other connecting arms, and it is suggested that the connecting arm can drive the entire lifting arm to rotate through the cooperation with the slewing mechanism. , and the middle connecting arm can be telescopically arranged, which further widens the movement range of the lifting arm.

3) The present invention can realize the connection between the initial connecting arm and the middle connecting arm through the arrangement of the L-shaped plate or the similar L-shaped plate, and also facilitates the setting of the piston end of the first driving member.

4) In the present invention, through the arrangement of the outriggers, during the working process of the lifting arm and the shearing mechanism, the outriggers can reliably support the chassis and the frame through the third driving member, and ensure the stability of the equipment operation.

Description of drawings

The accompanying drawings forming a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention.

FIG. 1 is a front view of a palm orchard fruit tree pruning and fruit harvesting equipment according to one or more embodiments of the present invention.

Figure 2 is an axonometric view of a palm orchard fruit tree pruning and fruit harvesting equipment according to one or more embodiments of the present invention.

Figure 3 is a front view of the initiating link arm deployed according to one or more embodiments of the present invention.

Figure 4 is a side view of the initiating link arm deployed according to one or more embodiments of the present invention.

5 is a schematic diagram of retraction of the origin link arm according to one or more embodiments of the present invention.

6 is a front view of a shearing mechanism according to one or more embodiments of the present invention.

7 is a perspective view of a shearing mechanism according to one or more embodiments of the present invention.

8 is a top view of a shearing mechanism according to one or more embodiments of the present invention.

In the figure: The distance or size between each other is exaggerated to show the position of each part, and the schematic diagram is only for illustration.

Among them: 1. Chassis; 2. Wheels; 3. Cargo box; 4. Outriggers; 5. Frame; 6. Starting connecting arm; 7. Outer casing; 8. Slewing mechanism; 9. L-shaped plate; 10. End connecting arm; 11. Shearing mechanism; 12. First driving cylinder; 13. Seat; 14. Middle connecting arm; 15. Seat; 16. Handle; 17. Lifting ear; 18. Gear shaft; 19. Fixed Knife; 20, movable knife; 21, swing arm; 22, driving cylinder; 23, rotary seat; 24, support frame; 25, fruit collecting box; 26, base; 27, rotary seat bracket; 28, knife rest; 29, Fixed plate; 30. Central telescopic oil cylinder.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the invention clearly dictates otherwise, the singular is intended to include the plural as well, and it is also to be understood that when the terms "comprising" and/or "including" are used in this specification, Indicate the presence of features, steps, operations, devices, components and/or combinations thereof;

For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure. It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

Terminology explanation part: the terms "installation", "connection", "connection", "fixation" and other terms in the present invention should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection, it can also be an electrical connection, it can be a direct connection, it can also be indirectly connected through an intermediate medium, it can be an internal connection between two elements, or an interaction relationship between two elements, for those of ordinary skill in the art. , the specific meanings of the above terms in the present invention can be understood according to specific situations.

As described in the background art, there are problems in the prior art that palm fruit trees are difficult to prune and fruit harvesting. In order to solve the above technical problems, the present invention proposes a palm fruit orchard fruit tree pruning and fruit harvesting equipment.

In a typical embodiment of the present invention, as shown in FIG. 1 and FIG. 2 , a palm orchard fruit tree pruning and fruit harvesting equipment includes a lifting arm, a shearing mechanism 11 and a chassis 1, and the shearing mechanism 11 It is fixed on the top of the lifting arm, and the bottom end of the lifting arm is fixed on the frame 5. The device can be detachably connected to the tractor, and is sent to the working part of pruning or picking fruits by means of the lifting arm. The staff only needs to control from a low position to achieve fruit tree pruning or fruit harvesting, which overcomes the safety problems caused by personnel working at high altitudes and improves the efficiency of fruit tree pruning or fruit harvesting.

Among them, the chassis 1 is provided with a drive shaft, and the wheels 2 are set through the drive shaft. During the forward process of the tractor, the equipment is driven forward or backward. The chassis 1 is set on one side of the frame 5, and the end of the chassis 1 close to the frame 5 is connected to the frame 5 through a pin shaft. The tractor is connected by three-point suspension. A cargo box 3 is installed on the chassis 1. After the fruit is harvested by the shearing mechanism, the fruits are put into the cargo box 3 for temporary storage. One side of the cargo box 3 can be lifted and lowered relative to the chassis 1. Specifically, a hydraulic cylinder can be provided. The cylinder body of the hydraulic cylinder is fixed to the chassis, and the piston end is connected to the bottom surface of the cargo box, so that one side of the cargo box can be lifted and lowered, and the other side of the cargo box 3 can be opened. When it is inclined, it is convenient to pour out the goods in the cargo box 3 .

The frame 5 is provided with a seat 15 on the side opposite to the cargo box 3 , the seat 15 is used for the staff to sit on, and it is convenient for the staff to control the movements of the lifting arm and the shearing mechanism 11 at the position of the frame 5 . Armrests are set on both sides of the 15, a control box is set on the frame, and a control switch is provided on the outside of the controller. A controller connected to the control switch is set in the control box, which is convenient for the staff to operate while sitting at the seat. The rack 5 is provided with steps on both sides of the seat, which is convenient for the staff to climb up and climb to the position of the seat 15 .

The rack 5 is fixedly connected to the chassis 1, the chassis 1 reliably supports the rack 5, the cargo box 3, etc., and the two sides of the rack 5 are respectively provided with legs. Similarly, the side of the chassis away from the rack is also provided with legs. 4. A total of 4 outriggers are set. In this embodiment, for the stability of the equipment, during the construction of the equipment or the fruit harvesting process, the equipment is supported by the outriggers 4 to ensure the stability of the equipment and facilitate the operation of the lifting arm and the shearing mechanism 11. Specifically, the outrigger 4 is connected to the chassis through a pin, a telescopic oil cylinder is arranged between the outrigger 4 and the chassis 1, one end of the telescopic oil cylinder is connected to the outrigger, and the other end is connected to the chassis. It can be understood that the telescopic oil cylinder Can be replaced with other power sources.

Under normal conditions, the outriggers 4 are set up to avoid the influence on the walking process of the equipment. When the equipment needs to work, the retractable oil cylinder is opened. During the opening process, the outriggers 4 are set downwards, so that One end of the outrigger 4 is in contact with the ground, and supports the chassis, the frame and the cargo box through the outrigger; in order to reliably support the equipment during the working process of the outrigger, the other end of the outrigger away from the chassis is provided with a foot, and the area of the foot is larger than that of the outrigger. area.

It should be noted that the lifting arm includes a multi-section connecting arm, including an initial connecting arm 6, a middle connecting arm 14 and an end connecting arm 10 that are connected in sequence, and the length of the initial connecting arm 6 is shorter than that of the middle connecting arm 14, so that In the support of the initial connecting arm 6 to other connecting arms and the shearing mechanism; wherein, one end of the initial connecting arm 6 is connected with the frame 5, the initial connecting arm 6 is vertically arranged, and the other end of the initial connecting arm 6 is movable The L-shaped plate 9 is provided, and the L-shaped plate 9 is connected to the middle connecting arm 14. Of course, the L-shaped plate 9 can also be replaced with an acute-angled plate or an obtuse-angled plate, and a first driving oil cylinder is arranged between the initial connecting arm 6 and the L-shaped plate. 12. One end of the L-shaped plate 9 is movably connected with the initial connecting arm 6 through a pin shaft, and the other end of the L-shaped plate 9 is fixedly connected with the middle connecting arm.

In this embodiment, according to the height of the palm fruit, three connecting arms are provided. The end of the end connecting arm 10 is provided with a fixing plate 29 connected to the end connecting arm. The fixing plate 29 is connected with the shearing mechanism 11. The side of the plate 29 with the fixing groove is connected with the end connecting arm 10, and the side of the fixing plate with the fixing groove is connected with one end of the second driving member, the other end of the second driving member is fixed with the end connecting arm 10, and the end The side of the connecting arm is provided with a fixing piece, which is connected with the second driving oil cylinder through the fixing piece, and the side of the fixing plate with the fixing groove is fastened with the end connecting arm.

Further, the initial connecting arm 6 is rotatable relative to the frame 5, specifically, the initial connecting arm 6 is connected to the frame 5 through a slewing mechanism, the slewing mechanism is fixed on the top of the frame 5, and the slewing mechanism includes a rack and a pinion shaft 18, The rack is connected with the piston end of the telescopic oil cylinder, the telescopic oil cylinder is arranged in the handle 16, the handle 16 is installed on the frame, and the two sides of the gear shaft are respectively provided with telescopic oil cylinders, so that if one of the telescopic oil cylinders is damaged, it can be Use another telescopic cylinder. A gear shaft 18 is welded under the initial connecting arm 6, and the gear shaft 18 is engaged with the rack to realize 360° rotation of the initial connecting arm.

Referring to Figures 3 to 5, the initial connecting arm 6 is cylindrical, and a lifting lug 17 is provided at the top of the initial connecting arm 6. The lifting lug 17 is provided with a first pin for connection with the L-shaped plate, and a first pin is also provided. Two pin shafts, the second pin shaft is connected with the piston end of the lifting cylinder installed inside the initial connecting arm, and the opposite sides of the initial connecting arm 6 are movably arranged relative to the other two sides, specifically the two sides of the initial connecting arm Set a card slot, the side plates on the other two sides can move along the card slot, and the movable two sides are connected with the second pin. In this way, during the up and down movement of the lifting cylinder, the height of the initial connecting arm 6 changes, and the first adjustment of the height of the lifting arm is realized.

In order to ensure the structural strength of the initial connecting arm, a support arm 7 is installed on one side of the initial connecting arm 6, and the bottom end of the supporting arm 7 is connected with the bottom end of the initial connecting arm 6. A fixed ring 8 is sleeved, and the fixed ring 8 is fixed with the movable two sides of the initial connecting arm 6. During the movement of the initial connecting arm, the fixed ring 8 is driven to move, and the fixed ring 8 is connected to the first driving oil cylinder through the pin shaft. 12. The cylinder body end is connected, and the piston end of the first driving oil cylinder is connected with the inner side of the L-shaped plate through a pin shaft.

In addition, in order to facilitate the delivery of the branches and leaves trimmed by the shearing mechanism or the harvested fruits into the cargo box, the middle connecting arm can be telescopically arranged. The central telescopic oil cylinder, the cylinder body of the central telescopic oil cylinder 30 is fixed with the L-shaped plate, and the piston end is connected with the middle connecting arm of the third section. Small.

Referring to Figures 6-8, the shearing mechanism includes a mechanical arm, a shearing unit and a fruit collecting box. The mechanical arm is a multi-degree-of-freedom mechanical arm. The shearing unit is installed at the end of the mechanical arm, and the mechanical arm drives the shearing mechanism to move. , adjust the cutting unit to the position to be cut, so as to cut the target object; the fruit collecting box is installed on the mechanical arm, the opening of the fruit collecting box faces the cutting mechanism, and the fruit is harvested in the cutting unit or the fruit tree is pruned Afterwards, the fruit collecting box receives and collects fruits or branches and leaves for temporary storage; the shearing unit is installed on the swing arm 21 at the end of the robotic arm through the tool holder 28 , and the swing arm 21 drives the shearing unit to adjust the position through the tool holder 28 .

The shearing unit includes a fixed knife 19, a moving knife 20 and a fourth driving member. The fixed knife and the moving knife form a cutting tool. One end of the fixed knife is installed on the tool holder, and the moving knife is installed on the tool holder through the sliding pair. The four driving parts are connected, and the fourth driving part drives the moving knife to reciprocate under the constraint of the sliding pair, so as to change the distance between the moving knife and the fixed knife, so as to realize the shearing action.

The movable knife is arc-shaped, the fixed knife is bent and arranged, the side of the fixed knife facing the movable knife is arc-shaped, the inner concave side of the fixed knife and the outer convex side of the movable knife are oppositely arranged, and the outer convex side of the movable knife is provided with a blade portion , using the arc-shaped shearing structure to adapt to the vertical branches and leaves, drooping fruits, and improve the shearing effect;

One end of the fixed knife is installed on the knife holder, and the other end is the free end; one end of the moving knife is installed on the knife holder through the sliding pair, and the other end is the free end; the fixed knife and the moving knife cooperate with the knife holder to form an F-shaped scissors with one side opening. Cutting structure, the moving knife is used for reciprocating motion under the action of the drive mechanism and the sliding pair; from one side as the entrance of the shearing space, it is convenient to correspond to the vertical distribution of branches and fruits, and reduce the sliding of the objects to be sheared during the shearing process. , thereby improving the shearing efficiency.

The fourth driving part selects the driving oil cylinder 22, which is connected with the mechanical arm. The end of the piston rod of the driving oil cylinder 22 is hinged with the movable knife 20 to drive the reciprocating action of the movable knife 20; The structure can not only realize the running along the extending direction of the guide groove, but also avoid the protrusion from being separated from the guide groove. At this time, the movable knife is connected with the protrusion, and the protrusion and the movable knife move together.

The manipulator is a multi-degree-of-freedom manipulator, including multiple segments hinged in sequence. One end of the manipulator is connected to the shearing mechanism, and the other end is connected to the base 1, which can easily drive the shearing mechanism to adjust its position;

In this embodiment, the manipulator includes a slewing seat bracket 23 and a slewing seat 27; the slewing seat bracket 27 is fixed on the upper plane of the base 26, the slewing seat 27 is supported by the slewing seat bracket 27, and the slewing motor is installed on the motor fixing plate of the slewing seat bracket , There is a bearing seat in the center of the motor fixing plate, the rotary shaft of the rotary seat is installed in the bearing seat of the motor fixing plate through two bearings; the rotary motor drives the inner gear ring on the rotary seat to rotate left and right in the horizontal plane through the gear; the swing arm swings in the fan shape The gear is installed on the front end of the rotary shaft of the rotary seat, the swing arm motor is installed on the mounting seat plate in the rotary seat, and the swing arm motor drives the swing arm 21 to move through the gear transmission mechanism. Specifically, the swing arm swing sector internal gear is driven by the gear Turn left and right in the vertical plane.

A slewing motor is installed in the slewing seat bracket, and the inner gear on the slewing seat is driven by gears to rotate left and right, thereby driving the slewing seat to rotate in the horizontal plane; the swing arm motor is installed in the slewing seat, which is driven by gears and installed in the sector at the front end of the swing arm shaft. The gear rotates forward and reverse, thereby driving the swing arm to swing left and right in the vertical plane.

There are two fruit collecting boxes 25, and the two fruit collecting boxes 25 are respectively installed on both sides of the base 26. The fruit collecting boxes 25 are supported by the support frame 501, and the support frame 501 is connected with the base 26; Fruit boxes are opened to collect fruit or branches.

All the oil cylinders are hydraulic cylinders, and all the hydraulic cylinders are connected with the controller, which is a PLC controller, and the actions of each mechanism are realized through the operation of the staff.

When the fruit tree needs to be pruned or the fruit is harvested, the chassis is connected to the tractor, and the tractor is used to drive the equipment to the corresponding position. The staff climbs to the seat position through the steps, and the staff passes the control switch of the control box. , the action of operating the lifting arm, including the lifting and lowering of the initial connecting arm and the unfolding of the middle connecting arm; sending the shearing mechanism to a predetermined height, and controlling the shearing mechanism to operate, starting the action of pruning or fruit harvesting, After completion, control the action of the lifting arm, retract the initial connecting arm and the middle connecting arm, and drive the second driving cylinder to push the shearing mechanism out to a certain angle, and the fruit collecting box is inclined. Under the action of gravity, the fruit is sent into the cargo box for temporary storage; until the operation of a tree is completed, or the capacity of the cargo box reaches the maximum, one side of the cargo box is opened and the other side is raised, so that the cargo box is tilted and carried out. discharge.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. a palm family orchard fruit tree pruning, fruit harvesting equipment, is characterized in that, comprise lift arm, the top of lift arm is fixed with the shearing mechanism that is used for pruning fruit trees or harvesting fruit, is installed by chassis at the bottom end of lift arm There is a cargo box, the lifting arm can be rotatably installed on the frame, the chassis can be connected with the tractor, and the frame is connected with the chassis. 2. a kind of palm fruit orchard fruit tree pruning, fruit harvesting equipment according to claim 1, is characterized in that, described lifting arm comprises multi-section connecting arm, comprises in turn starting connecting arm, middle connecting arm and end connecting arm The initial connecting arm is connected with the frame through a slewing mechanism, and an outer sleeve is arranged on the peripheral side of the initial connecting arm, the outer sleeve is connected with the fixed end of the first driving member, and the other end of the first driving member is connected with the middle connecting arm. 3. A kind of palm fruit orchard fruit tree pruning and fruit harvesting equipment according to claim 2, characterized in that, the starting connecting arm is vertically arranged, and the starting connecting arm is opposite to the other end of the frame with respect to the frame. One side of the L-shaped plate is movably connected, and the other side of the L-shaped plate is fixedly connected with the middle connecting arm. 4. a kind of palm family orchard fruit tree pruning, fruit harvesting equipment according to claim 2, is characterized in that, the end of described end connecting arm is provided with the fixed plate that is connected with the end connecting arm, and the fixed plate is connected with the described scissors. The cutting mechanism is connected, the fixing plate has a fixing groove, and one side of the fixing plate with the fixing groove is connected with one end of the second driving piece, and the other end of the second driving piece is fixed with the end connecting arm. 5. The device for pruning and harvesting fruit trees in a palm family orchard according to claim 3, wherein the L-shaped plate comprises two, and the two L-shaped plates are respectively arranged on two parts of the middle connecting arm. side. 6. A kind of palm family orchard fruit tree pruning and fruit harvesting equipment according to claim 1, characterized in that, the chassis is provided with wheels, one side of the cargo box can be lifted and lowered relative to the chassis, and one side of the cargo box is liftable. The sides can be opened. 7. A palm fruit orchard fruit tree pruning and fruit harvesting equipment according to claim 1, wherein a seat is provided on one side of the rack relative to the cargo box, and the seat is arranged facing the rack The frame is provided with a control box, a controller is arranged in the control box, the controller is separately connected with the cutting mechanism and the driving part of the lifting arm, and the control box is provided with a control switch connected with the controller. 8. a kind of palm family orchard fruit tree pruning, fruit harvesting equipment according to claim 1, is characterized in that, both sides of described frame and described chassis are both provided with outriggers away from one end of frame, The outriggers are movably connected with the chassis, and a third driving member is arranged between the outriggers and the chassis. 9 . The device for pruning and harvesting fruit trees in palm orchards according to claim 2 , wherein the middle connecting arm is a multi-section telescopic connecting arm. 10 . 10. The device for pruning and harvesting fruit trees in palm orchards according to claim 1, wherein the shearing mechanism comprises a mechanical arm, the mechanical arm is connected with the lifting arm, and the mechanical arm supports the shearing unit , the shearing unit includes a fixed knife connected with the mechanical arm, a moving knife is arranged on the inner side of the fixed knife, the moving knife is connected with a fourth driving member, and the fourth driving member drives the moving knife to move towards the fixed knife, so as to realize pruning or pruning of fruit trees. Harvesting of fruit.

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