CN209806470U

CN209806470U - Semi-automatic dragon fruit picking and collecting device

Info

Publication number: CN209806470U
Application number: CN201920412779.6U
Authority: CN
Inventors: 王金鹏; 高凯; 桂晨晨; 杨凯; 李奕; 蒋雪松; 周凤芳; 张慧春; 茹煜; 周宏平
Original assignee: Nanjing Forestry University
Current assignee: Nanjing Forestry University
Priority date: 2019-03-29
Filing date: 2019-03-29
Publication date: 2019-12-20
Anticipated expiration: 2029-03-29

Abstract

The application discloses a semi-automatic dragon fruit picking and collecting device, which comprises a tail end picking execution device, a conveying device and a collecting device; the tail end picking executing device comprises a clamping mechanism, an induction mechanism, a shearing mechanism and a storage battery; the collecting device comprises a telescopic conveying hose, one end of the telescopic conveying hose is connected with the handheld fixing frame, and the other end of the telescopic conveying hose is connected with the conveying device; the conveying device comprises a movable collecting basket, and the other end of the telescopic conveying hose is positioned inside the movable collecting basket and connected with the movable collecting basket. According to the application, the tail end picking execution device can be held by a hand to pick the pitaya, and the pitaya is conveyed into the conveying device through the collecting device, so that the operation is convenient, the labor intensity of workers is greatly reduced, and the picking efficiency is improved; meanwhile, the tail end picking executing device can reduce damage to fruits in the picking process.

Description

Semi-automatic dragon fruit picking and collecting device

Technical Field

The application relates to a collection technical field is picked to the dragon fruit, in particular to collection device is picked to semi-automatic dragon fruit.

Background

Along with the modern better living conditions of people, the dragon fruit is more and more favored by people due to good taste and rich nutrition, and the demand of people on the dragon fruit is also more and more increased. In the production chain of the dragon fruits, fruit picking operation is the most time-consuming and labor-consuming link, the picking operation is seasonal, the labor intensity is high, and the cost is high, so that the fruits are timely picked, and the reduction of the harvesting operation cost is one of the problems to be solved urgently in the current dragon fruit production industry. In addition, the harvesting period of the fruit is also one of the important factors influencing the fruit quality, which not only influences the fruit yield, quality and storability of the current batch, but also has obvious influence on the yield of the next batch of fruit trees.

The traditional picking and collecting mode of the dragon fruits is that a person carries a fruit basket with one hand and carries a pair of dragon fruit picking scissors with the other hand, the fruit basket is put down before each fruit tree, the dragon fruit is held with the other hand to prevent the damage of dropping after the dragon fruit is cut off, the dragon fruit is picked with the other hand, and the fruit is put into the fruit basket by bending the waist after the picking is completed. If operate in the fruit field alone, though can independently accomplish dragon fruit and pick, but because the growth characteristics of some fruit trees, have spine, fine hair, use picking scissors hand to pick and easily make the people be injured, produce discomfort, and all need bow after picking the fruit at every turn and put into the fruit basket with the fruit, after one kind of fruit tree is picked and finishes, still need to be equipped with the fruit basket of fruit and lift up and put down before walking to another kind of fruit tree, therefore it wastes time and energy with the collection process to pick by pure manual work, work efficiency is comparatively low, so need more high-efficient, swift picking collection device satisfies a large amount of dragon fruits and gathers, save intensity of labour, and guarantee the efficiency of dragon fruits, guarantee simultaneously that the dragon fruits of picking down the harvesting low damage.

Disclosure of Invention

The technical problem to be solved by the application of the patent is to provide a semi-automatic dragon fruit picking and collecting device aiming at the defects of the prior art, the semi-automatic dragon fruit picking and collecting device can be used for picking dragon fruits by holding an end picking executing device by hands and transmitting the dragon fruits into a conveying device through the collecting device, the operation is convenient, the labor intensity of workers is greatly reduced, and the picking efficiency is improved; meanwhile, the tail end picking executing device can reduce damage to fruits in the picking process.

In order to achieve the technical purpose, the technical scheme adopted by the patent application is as follows:

a semi-automatic dragon fruit picking and collecting device comprises a tail end picking execution device, a conveying device and a collecting device;

the tail end picking executing device comprises a clamping mechanism, an induction mechanism, a shearing mechanism and a storage battery; the clamping mechanism comprises two vertical clamping claws for clamping the dragon fruit, a handheld fixing frame and a first driving mechanism, one ends of the two clamping claws are arranged on the handheld fixing frame in a rotating mode, the first driving mechanism is arranged on the inner side of the handheld fixing frame and is used for driving the two clamping claws to rotate in opposite directions or in opposite directions, a hand-holding handle is arranged on one side of the handheld fixing frame, and a controller and a storage battery are arranged on the inner side of the handheld fixing frame; the induction mechanism comprises two induction supports, an induction rack and a second driving mechanism, wherein the two induction supports are respectively provided with a concave cambered surface, one ends of the two induction supports are arranged on the induction rack in a rotating mode, the two induction supports are distributed in a mode that the concave cambered surfaces are opposite, the second driving mechanism is arranged on the induction rack and is used for driving the two induction supports to rotate in opposite directions or in opposite directions, the concave cambered surfaces of the two induction supports are respectively provided with a roller and a first pressure sensor, the two induction supports are connected through a tension spring, and the tops of the concave cambered surfaces of the two induction supports are provided with a second pressure sensor; the shearing mechanism comprises a shearing device and a third driving mechanism, the third driving mechanism is arranged on the induction bracket, and the third driving mechanism is used for driving the shearing device to execute shearing action; the other side of the handheld fixing frame is connected with a linear driving mechanism, a driving end of the linear driving mechanism is connected with the lower surface of the induction rack, and the linear driving mechanism is used for driving the induction mechanism to move along the direction far away from the clamping mechanism; the first pressure sensor and the second pressure sensor are electrically connected with a signal input end of the controller, the first driving mechanism, the second driving mechanism, the third driving mechanism and the linear driving mechanism are electrically connected with a signal output end of the controller, and the first pressure sensor, the second pressure sensor, the first driving mechanism, the second driving mechanism, the third driving mechanism, the linear driving mechanism and the controller are electrically connected with the storage battery;

the collecting device comprises a telescopic conveying hose, one end of the telescopic conveying hose is connected with the handheld fixing frame, and the other end of the telescopic conveying hose is connected with the conveying device;

the conveying device comprises a movable collecting basket, and the other end of the telescopic conveying hose is positioned inside the movable collecting basket and connected with the movable collecting basket.

As the further improved technical scheme of this patent application, portable collection basket is including collecting basket and crawler, collect the basket and install on crawler, crawler adopts crawler-type drive structure, and two tracks adopt motor drive respectively about, still be provided with microprocessor on the crawler, microprocessor connects the motor, realizes the action of drive track, install remote control on fixture's the handheld mount, through wireless communication module wireless connection between microprocessor on the crawler and the remote control to receive remote control's control signal.

As further modified technical scheme of this patent application, portable collection basket is including collecting basket, wire rope pulley and link, wire rope extends the setting along the cultivation direction of dragon fruit tree, the wire rope pulley sets up on the link and the link passes through wire rope pulley and wire rope sliding connection, collect the basket pass through the rope system in on the link, the front end of collecting the basket still is connected with the pull wire.

As a further modified technical scheme of this patent application, wire rope fixed connection is on the wire rope bracing piece, and the wire rope bracing piece is located the tip of the cultivation direction of dragon fruit tree, the wire rope bracing piece is used for supporting wire rope.

As a further improved technical scheme of the patent application, the handheld fixing frame comprises a fixing bottom plate and a fixing cover, the first driving mechanism adopts a first electric push rod, the first electric push rod is installed on the fixing bottom plate, the driving end of the first electric push rod is connected with the lower end of a push rod, the left side of the upper end and the right side of the upper end of the push rod are respectively hinged with a first connecting rod, the two first connecting rods are respectively hinged with two clamping claws, the lower ends of the two clamping claws are respectively hinged with the fixing bottom plate, the first electric push rod is used for driving the push rod to move along the linear direction so as to drive the push rod to drive the two clamping claws to rotate oppositely or oppositely and oppositely, the controller and the storage battery are both installed on the fixing bottom plate, the fixing cover is fixedly connected with the fixing bottom plate, and the first electric push rod, the first connecting rod, the controller and the storage battery are, the surface of the fixed cover is also provided with a power switch which is electrically connected with the controller.

As a further improved technical scheme of this patent application, the response frame includes response bottom plate and response cover, response bottom plate and response cover fixed connection, second actuating mechanism adopts driving motor, driving motor install in on the response cover and driving motor's output shaft stretches into in the response cover and be connected with first gear train, first gear train pass through the gear shaft with can pivoted mode connect in on the response bottom plate, it has two second connecting rods to articulate on the first gear train, and every second connecting rod all is articulated with the one end of an induction support, every induction support is articulated through the front end of third connecting rod with the response bottom plate, thereby driving motor is used for making two second connecting rods drive two induction supports through two second connecting rod rotations of first gear train drive and carry out opposite directions or back mutually and rotate.

As a further improved technical scheme of the patent application, the induction bracket comprises an arc section, a straight section and an L section, the arc section, the straight section and the L section are sequentially connected into an integrated mechanism, the arc section is provided with a concave arc surface, the concave arc surface is provided with a plurality of rollers and a first pressure sensor, the top of the arc section of the induction bracket is provided with a second pressure sensor, one side of the L section is provided with a strip-shaped groove extending along the length direction of the L section, and one ends of a second connecting rod and a third connecting rod are both positioned in the strip-shaped groove of the L section and hinged to the strip-shaped groove;

the straight section of one induction bracket is connected with the straight section of the other induction bracket through an extension spring.

As a further improved technical scheme of the patent application, the shearing device comprises two engaging teeth, the two engaging teeth are symmetrically and obliquely distributed on two sides of the induction bracket, each induction bracket is provided with a third driving mechanism, the two third driving mechanisms are used for respectively driving the two engaging teeth to be upwards turned and engaged or downwards turned and separated, the two engaging teeth can be horizontally engaged with the upper part of the induction bracket for a certain distance after being turned upwards, and can be symmetrically and obliquely positioned on two sides of the induction bracket after being turned downwards and separated;

third actuating mechanism adopts the rotating electrical machines, the rotating electrical machines install in just be located the induction support outside on the L type section of induction support, the output shaft of rotating electrical machines has the second gear train, the second gear train pass through the gear shaft in order can the pivoted mode connect in on the induction support, the second gear train is connected with the engaging lug through the connecting axle, the engaging lug is connected with the tip of meshing tooth perpendicularly, thereby the rotating electrical machines is used for making the engaging lug drive meshing tooth upwards overturn to induction support top certain distance or overturn downwards to induction support's both sides through the rotation of second gear train drive engaging lug.

As the further improved technical scheme of this patent application, sharp actuating mechanism adopts second electric putter, second electric putter passes through the fixed bolster and is connected with handheld mount, second electric putter's drive end pass through the support frame with response mechanism's response frame lower surface is connected, second electric putter is used for driving response mechanism and removes along the direction of keeping away from fixture.

As a further improved technical scheme of the application, the controller is further provided with a plurality of operation keys used for enabling the controller to send signals, and the operation keys are installed on the handheld fixing frame.

The beneficial effect of this patent application does:

(1) the utility model provides an end harvesting actuating device uses to pluck to cut the harvesting in traditional manual work relatively, picks labour saving and time saving, and automatic level is high, and holds the fruit tightly through fixture, need not to hold by hand and picks, avoids making the people be injured.

(2) After the tail end picking actuating device picks the dragon fruits, the accessible collecting device conveys the conveying device, and is convenient to operate, so that the labor intensity of workers is greatly reduced, and the picking efficiency is improved.

(3) The utility model provides a conveyor adopts portable collection basket, need not artifical hard to lift the fruit basket that is equipped with the fruit and puts down again to suitable position, saves intensity of labour.

(4) The utility model provides an actuating device is picked to end's response mechanism is under sharp actuating mechanism's promotion, can remove to petiole department along the direction of perpendicular to dragon fruit blade, it stops to support the blade, can be accurate seek to find the dragon fruit blade, thereby the accessible changes the distance between the connecting axle and the link of engaging lug and the meshing tooth and sets for the interval between the meshing tooth upwards upset back and the response support, thereby more accurate definite cut-off position, reduce the damage to the dragon fruit at the shearing in-process.

(5) The meshing tooth in the mechanism is cuted in this patent application is located response support top certain distance when upwards overturning the meshing, when biting off the dragon fruit, can bite into the dragon fruit blade in the time, makes the fruit of picking down have partial mesophyll, is favorable to the transportation and the storage of dragon fruit, more accords with the picking requirement of dragon fruit.

(6) The gyro wheel on this patent application response support compares with the rolling friction of dragon fruit with response support and dragon fruit direct contact, has further reduced the damage to the dragon fruit.

Drawings

Fig. 1 is a schematic structural view of embodiment 1.

Fig. 2 is a schematic structural view of the bottom of the crawler type bogie of the embodiment 1.

Fig. 3 is a schematic structural view of the end picking actuator of embodiment 1.

Fig. 4 is a schematic structural view of a chucking mechanism of embodiment 1.

Fig. 5 is a schematic structural view of the sensing mechanism and the shearing mechanism of embodiment 1.

Fig. 6 is a schematic view showing a structure in which two engaging teeth of the shearing mechanism of embodiment 1 are turned up to be engaged.

Fig. 7 is a state diagram of the end picking actuator of embodiment 1.

Fig. 8 is a schematic structural view of embodiment 2.

Fig. 9 is a schematic view of a steel wire rope building structure of embodiment 2.

Fig. 10 is a partial enlarged view of a in fig. 9.

Detailed Description

The following further description of embodiments of the present patent application is made with reference to fig. 1 to 10:

example 1: referring to fig. 1, a semi-automatic dragon fruit picking and collecting device comprises an end picking execution device 1, a conveying device and a collecting device.

Referring to fig. 1, the collecting device comprises a telescopic conveying hose 2, one end of the telescopic conveying hose 2 is connected with a handheld fixing frame 8 of the end picking execution device 1, and the other end is connected with the conveying device. The telescopic conveying hose 2 has a telescopic function, and the telescopic conveying hose 2 can be lengthened when fruits are picked.

Referring to fig. 1, the transfer device comprises a movable collecting basket, and the other end of the telescopic transfer hose 2 is located inside and connected to the movable collecting basket. The movable collecting basket comprises a collecting basket frame 3 and a crawler-type trolley, the collecting basket frame 3 is installed on the crawler-type trolley, the crawler-type trolley is of a crawler-type driving structure, the left crawler belt 4 and the right crawler belt 4 are driven by motors 5 respectively, the motors 5 are connected with speed reducers 6, the crawler belts 4 are driven by the speed reducers 6, a microprocessor 7 is further arranged on the crawler-type trolley, the microprocessors 7 are connected with the motors 5 to drive the crawler belts 4 to move, a remote controller 10 (shown in the figure 3) is installed on a handheld fixing frame 8 of the terminal picking execution device 1, and the microprocessors 7 on the crawler-type trolley are in wireless connection with the remote controller 10 through wireless communication modules to receive control signals of the remote controller 10.

The end picking actuator 1 of the present embodiment includes a gripping mechanism, a sensing mechanism, a shearing mechanism, and a battery.

Referring to fig. 3, the clamping mechanism includes two vertical clamping claws 12 for clamping the dragon fruit 38, a handheld fixing frame 8 and a first driving mechanism, the two clamping claws 12 are respectively provided with a concave arc clamping surface, a buffer pad is laid on the concave arc clamping surface, one ends of the two clamping claws 12 are respectively arranged on the handheld fixing frame 8 in a rotating manner, the two clamping claws 12 are distributed in a manner that the concave arc clamping surfaces are opposite, the first driving mechanism is installed on the inner side of the handheld fixing frame 8 and is used for driving the two clamping claws 12 to rotate in opposite directions or in opposite directions, one side of the handheld fixing frame 8 is provided with a hand grip 9, and the inner side of the handheld fixing frame 8 is provided with a controller 26 (as shown in fig. 4) and a storage battery (not shown).

Referring to fig. 3, the hand-held fixing frame 8 in the present embodiment includes a fixing base plate 8-2 and a fixing cover 8-1. Referring to fig. 4, the first driving mechanism adopts an electric push rod commonly used in the prior art, that is, a first electric push rod 27, the first electric push rod 27 is installed on the fixed base plate 8-2, a driving end of the first electric push rod 27 is connected with a lower end of a push rod 28, left and right sides of an upper end of the push rod 28 are hinged with first connecting rods 11, the two first connecting rods 11 are respectively hinged with the two clamping claws 12, lower ends of the two clamping claws 12 are respectively hinged with left and right sides of a top end of the fixed base plate 8-2, and a hinged position of the first connecting rod 11 and the clamping claw 12 is higher than a hinged position of the clamping claw 12 and the fixed base plate 8-2 (as shown in fig. 4). The first electric push rod 27 is used for driving the push rod 28 to move in a linear direction, so that the push rod 28 and the first connecting rod 11 drive the two clamping claws 12 to rotate towards or away from each other. The controller 26 and the storage battery are both mounted on the fixed bottom plate 8-2, the fixed cover 8-1 is fixedly connected with the fixed bottom plate 8-2, the first electric push rod 27, the push rod 28, the first connecting rod 11, the controller 26 and the storage battery are all located between the fixed cover 8-1 and the fixed bottom plate 8-2, a power switch is further mounted on the surface of the fixed cover 8-1, and the power switch is electrically connected with the controller 26.

As shown in fig. 4, the fixing base plate 8-2 of this embodiment is further provided with two limiting protrusions 29 parallel to each other, a rectangular groove is formed between the two limiting protrusions 29, the push rod 28 is located in the rectangular groove, the push rod 28 can slide in the rectangular groove along a straight line, and the two limiting protrusions 29 are used for preventing the push rod 28 from shaking left and right during movement.

As shown in fig. 3, the sensing mechanism in this embodiment includes two sensing brackets 25, a sensing rack 18 and a second driving mechanism, the two sensing brackets 25 are all provided with a concave arc surface, one ends of the two sensing brackets 25 are all rotatably disposed on the sensing rack 18, and the two sensing brackets 25 are distributed in a manner that the concave arc surfaces are opposite, the second driving mechanism is mounted on the sensing rack 18 and is used for driving the two sensing brackets 25 to rotate in opposite directions or in opposite directions, the concave arc surfaces of the two sensing brackets 25 are both provided with a roller 24 and a first pressure sensor 23, the two sensing brackets 25 are connected through a tension spring 21, and the tops of the concave arc surfaces of the two sensing brackets 25 are both provided with a second pressure sensor 32.

As shown in fig. 5, the induction rack 18 in this embodiment includes an induction bottom plate 18-1 and an induction cover (the induction cover is omitted in fig. 5), the induction bottom plate 18-1 is fixedly connected with the induction cover, the second driving mechanism employs a driving motor 17, the driving motor 17 is mounted on the induction cover, an output shaft of the driving motor 17 extends into the induction cover and is connected with a first gear set 30, the first gear set 30 is connected to the induction bottom plate 18-1 in a rotatable manner through a gear shaft, the first gear set 30 is hinged to two second connecting rods 31, each second connecting rod 31 is hinged to one end of one induction bracket 25, each induction bracket 25 is further hinged to the front end of the induction bottom plate 18-1 through a third connecting rod 19, and the driving motor 17 is configured to drive the two second connecting rods 31 to rotate through the first gear set 30, so that the two second connecting rods 31 drive the two induction brackets 25 to face or face each other The back rotates.

As shown in fig. 5, the first gear set 30 of the present embodiment is configured as shown in fig. 5, and includes a small gear 30-3, a first large gear 30-2 and a second large gear 30-1, the small gear 30-3, the first large gear 30-2 and the second large gear 30-1 are all rotatably connected to the induction base plate 18-1 through a gear shaft, an output shaft of the second driving mechanism is connected to the small gear 30-3, the small gear 30-3 is engaged with the first large gear 30-2, the first large gear 30-2 is engaged with the second large gear 30-1, the first large gear 30-2 and the second large gear 30-1 are each rotatably connected to a second connecting rod 31, when the output shaft of the second driving mechanism drives the small gear 30-3 to rotate, the small gear 30-3 drives both the first large gear 30-2 and the second large gear 30-1 to rotate in opposite directions, thereby realizing the rotation of the two induction brackets 25 towards or away from each other.

The induction support 25 in this embodiment includes an arc-shaped section 25-1, a straight section 25-2, and an L-shaped section 25-3, the arc-shaped section 25-1, the straight section 25-2, and the L-shaped section 25-3 are sequentially connected to form an integrated mechanism, the arc-shaped section 25-1 is provided with a concave arc surface, the concave arc surface is provided with a plurality of rollers 24 and a first pressure sensor 23, the top of the arc-shaped section 25-1 of the induction support 25 is provided with a plurality of second pressure sensors 32, one side of the L-shaped section 25-3 is provided with a strip-shaped groove 20 (as shown in fig. 6) extending along the length direction thereof at the middle portion, and one ends of the second connecting rod 31 and the third connecting rod 19 are both located in the strip-shaped groove 20 of the L-shaped section 25-3 and hinged to the strip-shaped groove 20.

As shown in fig. 5, the straight section 25-2 of one induction bracket 25 is connected with the straight section 25-2 of the other induction bracket 25 by two extension springs 21.

The shearing mechanism of this embodiment includes a shearing device and a third driving mechanism, the third driving mechanism is installed on the induction bracket 25, and the third driving mechanism is used for driving the shearing device to execute shearing action.

As shown in fig. 5, the shearing apparatus in this embodiment includes two engaging teeth 22, the two engaging teeth 22 are symmetrically and obliquely distributed on two sides of the sensing bracket 25, each sensing bracket 25 is provided with a third driving mechanism, the two third driving mechanisms are used for respectively driving the two engaging teeth 22 to be turned upwards to engage or turned downwards to separate, the two engaging teeth 22 can be horizontally engaged with a certain distance above the sensing bracket 25 after being turned upwards, and can be symmetrically and obliquely located on two sides of the sensing bracket 25 after being turned downwards to separate.

As shown in fig. 5, the third driving mechanism in this embodiment employs a rotating electrical machine 33, the rotating electrical machine 33 is installed on the L-shaped section of the induction bracket 25 and located outside the induction bracket 25, an output shaft of the rotating electrical machine 33 is connected with a second gear set 35, the second gear set 35 is rotatably connected to the induction bracket 25 through a gear shaft (specifically, a mounting plate 34 is connected to the straight section 25-2 of the induction bracket 25, the second gear set 35 is rotatably connected to the mounting plate 34 through a gear shaft, the mounting plate 34 serves the purpose of supporting the second gear set 35, the output shaft of the rotating electrical machine 33 extends out of a reserved hole of the mounting plate 34 and is connected with the second gear set 35 for driving the second gear set 35 to rotate), the second gear set 35 is connected with a connecting lug 37 through a connecting shaft 36 (see fig. 6 in shape), the connecting lugs 37 are vertically connected with the end portions of the engaging teeth 22, the rotating motor 33 is used for respectively driving the two connecting lugs 37 at the two sides of the induction bracket 25 to rotate through the second gear sets 35 connected with each other, so that the two connecting lugs 37 drive the two engaging teeth 22 to upwards turn over to a certain distance above the induction bracket 25 and to be engaged with or downwards turn over to the two sides of the induction bracket 25 and to be separated from each other, the schematic diagram of the upwards turning engagement of the two engaging teeth 22 can be seen in fig. 6 (at this time, the two induction brackets 25 are in a close clasping state), and the schematic diagram of the downwards turning separation can be seen in fig. 5. The rotating electric machine 33 is electrically connected to the controller 26.

The second gear set 35 in this embodiment includes two gears, a pinion and a gearwheel, and two gears are all connected on the mounting panel 34 and two gears intermeshing with the mode that can rotate, and the output shaft of the third driving mechanism drives the pinion to rotate, and the pinion drives the gearwheel to rotate, thereby the gearwheel drives engaging lug 37 through connecting axle 36 and rotates and drive engaging tooth 22 to overturn upwards or overturn downwards.

As shown in fig. 3, the sensing mechanism in this embodiment is located above the clamping mechanism, the extending direction of the length of the sensing bracket 25 is perpendicular to the extending direction of the length of the clamping paw 12, the other side of the handheld fixing frame 8 is connected with a linear driving mechanism, the driving end of the linear driving mechanism is connected with the lower surface of the sensing frame 18, and the linear driving mechanism is used for driving the sensing mechanism to move in the direction away from the clamping mechanism. The linear driving mechanism in this embodiment adopts a linear driving mechanism commonly used in the prior art, that is, the second electric push rod 15 is connected with the handheld fixing frame 8 through the fixing support 14, the driving end of the second electric push rod 15 is connected with the lower surface of the induction rack 18 of the induction mechanism through the support frame 16, and the second electric push rod 15 is used for driving the induction mechanism to move along the direction away from the clamping mechanism.

First pressure sensor 23 and second pressure sensor 32 all with controller 26's signal input part electric connection, first actuating mechanism, second actuating mechanism, third actuating mechanism and sharp actuating mechanism all with controller 26's signal output part electric connection, first pressure sensor 23, second pressure sensor 32, first actuating mechanism, second actuating mechanism, third actuating mechanism, sharp actuating mechanism and controller 26 all with battery electric connection. The controller 26 in this embodiment is further provided with a plurality of operation buttons 13 (as shown in fig. 3) for sending signals to the controller 26, and the plurality of operation buttons 13 are mounted on the handheld fixing frame 8. The plurality of operation keys 13 may include a snap key, a shear key, a release key, and the like.

The end picking actuators 1 of the present embodiment may be manually operated by hand, manually placing the end picking actuators 1 in position on the dragon fruit 38. In the initial power failure state of the end picking actuator 1 of this embodiment, the gripping claws 12 and the sensing bracket 25 are both in a close clasping state. After the power switch is started, the controller 26 controls the driving motor 17 and the first electric push rod 27 to work, the driving motor 17 rotates anticlockwise to pull apart the two clasped induction brackets 25, the first electric push rod 27 pushes the push rod 28 upwards to open the clamping paw 12, the clamping paw 12 is sent to the bottom of the dragon fruit 38 by the manual handheld handle 9, and the dragon fruit 38 is sleeved into the clamping paw 12 (as shown in fig. 7). When the embracing key of the operation key 13 is pressed, the controller 26 controls the first electric push rod 27 to work, the first electric push rod 27 drives the push rod 28 to move downwards, the clamping claws 12 are tightened, and the two clamping claws 12 embrace the dragon fruit 38; meanwhile, the driving motor 17 in the sensing mechanism rotates clockwise to drive the gear of the first gear set 30 to do corresponding motion, the two sensing brackets 25 are tightened, if the first pressure sensor 23 on the inner side of the concave arc surface of the sensing bracket 25 presses the surface of the dragon fruit 38, a signal is sent to the controller 26, the controller 26 controls the driving motor 17 to power off and stop rotating, the second electric push rod 15 is controlled to act, the second electric push rod 15 pushes the sensing bracket 25 in the sensing mechanism to rise along the surface of the dragon fruit 38 through the support frame 16, as the diameter of the dragon fruit 38 is gradually reduced from the middle part to the top end, the extension spring 21 between the two sensing brackets 25 is tightened inwards due to the self restoring force so that the two sensing brackets 25 are gradually embraced, the sensing bracket 25 is attached to the surface of the dragon fruit 38 to rise, and the roller 24 on the inner side rolls on the dragon fruit 38 in the rising process of the sensing bracket 25, the rollers 24 roll over the pitaya fruit 3827 to reduce damage to the pitaya fruit 38 by the sensing bracket 25. After the fruit is lifted to a certain height, the second pressure sensor 32 arranged on the upper side of the induction bracket 25 is pressed by the dragon fruit blades 39 on the upper part of the fruit (namely the second pressure sensor 32 senses the dragon fruit blades 39), the second pressure sensor 32 sends a signal to the controller 26, the controller 26 drives the second electric push rod 15 to stop pushing, and the induction mechanism stops lifting; when the cutting key in the operation key 13 is pressed, the controller controls the rotating motor 33, the rotating motor 33 starts to work, the second gear set 35 is driven to act, the two meshing teeth 22 are enabled to be overturned and meshed upwards, the two meshing teeth bite into the mesophyll of the dragon fruit blades 39, and finally the dragon fruit blades 39 are bitten off. Since the engaging teeth 22 are located above the sensing bracket 25 at a distance when they are turned upward and engaged, when the dragon fruit 38 is finally bitten off, they bite into the mesophyll of the dragon fruit blades 39, thereby cutting off the dragon fruit 38 with a small mesophyll. The control process of the controller 26 is implemented by the prior art, and is not within the scope of the present invention.

After the dragon fruit 38 is cut off, the end picking executing device 1 is inclined, the loosening button in the operation button 13 is pressed, the controller 26 controls the first electric push rod 27 to open the two clamping claws 12, the dragon fruit 38 falls into the telescopic conveying hose 2, the telescopic conveying hose 2 conveys the dragon fruit 38 into the collecting basket frame 3 of the movable collecting basket, and picking and collecting of the dragon fruit 38 are completed. When the next fruit is picked, the reset key in the operation key 13 is firstly pressed, the rotating motor 33, the driving motor 17 and the second electric push rod 15 are all reset in sequence, namely, the two meshing teeth 22 are turned and separated downwards, the two induction brackets 25 are pulled apart, and the second electric push rod 15 retracts downwards so as to drive the induction mechanism to move downwards. If the collecting basket frame 3 needs to be moved, the speed signal can be sent to the microprocessor through the remote controller 10 by operating the remote controller 10 of the handheld fixing frame 8, and the microprocessor controls the rotating speed of the motor on the crawler-type trolley, so that the crawler-type trolley can walk.

Example 2: a semi-automatic dragon fruit picking and collecting device comprises a tail end picking execution device 1, a conveying device and a collecting device.

Referring to fig. 8, the collecting device comprises a telescopic conveying hose 2, one end of the telescopic conveying hose 2 is connected with a handheld fixing frame 8 in the end picking execution device 1, and the other end is connected with the conveying device. The telescopic conveying hose 2 can be extended, and the telescopic conveying hose 2 can be extended according to the position of the fruit.

Referring to fig. 8, the conveying device comprises a movable collecting basket, and the other end of the telescopic conveying hose 2 is located inside and connected to the movable collecting basket. The movable collection basket in the embodiment comprises a collection basket frame 3, a steel wire rope 40, a steel wire rope pulley 42 and a connecting frame 41, wherein the steel wire rope 40 extends along the cultivation direction of a dragon fruit tree 45, the steel wire rope pulley 42 is arranged on the connecting frame 41, the connecting frame 41 is in sliding connection with the steel wire rope 40 through the steel wire rope pulley 42, the collection basket frame 3 is tied to a bottom hanging ring 41-1 of the connecting frame 41 through a rope, the front end of the collection basket frame 3 is further connected with a traction wire 43, and the traction wire 43 can be tied to the wrist or the waist of a worker. Referring to fig. 9, the wire rope 40 in this embodiment is sleeved on a wire rope support rod 44, the wire rope support rods 44 are respectively located at two ends of each row of dragon trees 45 in the cultivation direction (fig. 9 illustrates a row of dragon trees 45), and the wire rope support rods 44 are used for supporting the wire rope 40. Two adjacent wire rope support rods 44 at the same end are connected through a U-shaped slide rail 46, a wire rope 40 penetrates in from one end of the U-shaped slide rail 46 and penetrates out from the other end, a sliding groove 46-1 (shown in fig. 10) extending along the direction of the U-shaped slide rail 46 is formed in the bottom of the U-shaped slide rail 46, and the vertical section width of the sliding groove 46-1 is smaller than the diameter of the wire rope 40 and can support the wire rope 40. The thickness of the periphery of the hanging ring 41-1 at the bottom of the connecting frame 41 is smaller than the thickness of the rest part above the hanging ring 41-1 and smaller than the width of the vertical section of the sliding groove 46-1, when the connecting frame 41 slides from the U-shaped sliding rail 46, the periphery of the hanging ring 41-1 is embedded in the sliding groove 46-1, and the rest part above the hanging ring 41-1 is positioned on the inner side of the U-shaped sliding rail 46, so that the U-shaped sliding rail 46 slides onto the steel wire rope 40 of the other row, and the fruits on the dragon fruit trees 45 of the other row are picked and collected.

The terminal picking actuator 1 in this embodiment includes a clamping mechanism, a sensing mechanism, a shearing mechanism, and a battery. The structure can be seen in fig. 3 to 6 in embodiment 1.

As shown in fig. 3, the clamping mechanism in this embodiment includes two vertical clamping claws 12 for clamping the dragon fruit 38, a handheld fixing frame 8 and a first driving mechanism, the two clamping claws 12 are respectively provided with a concave arc clamping surface, a buffer pad is laid on the concave arc clamping surface, one ends of the two clamping claws 12 are respectively arranged on the handheld fixing frame 8 in a rotating manner, and the two clamping claws 12 are distributed in a manner that the concave arc clamping surfaces are opposite to each other, the first driving mechanism is installed on the inner side of the handheld fixing frame 8 and is used for driving the two clamping claws 12 to rotate in opposite directions or in opposite directions, one side of the handheld fixing frame 8 is provided with a hand grip 9, and the inner side of the handheld fixing frame 8 is provided with a controller 26 and a storage battery. The handheld fixed frame 8 in this embodiment includes a fixed base plate 8-2 and a fixed cover 8-1, as shown in fig. 4, the first driving mechanism employs a commonly used electric push rod in the prior art, that is, a first electric push rod 27, the first electric push rod 27 is installed on the fixed base plate 8-2, a driving end of the first electric push rod 27 is connected to a lower end of a push rod 28, left and right sides of an upper end of the push rod 28 are hinged to first connecting rods 11, the two first connecting rods 11 are respectively hinged to two clamping claws 12, lower ends of the two clamping claws 12 are respectively hinged to left and right sides of a top end of the fixed base plate 8-2, and a hinged position of the first connecting rod 11 and the clamping claws 12 is higher than a hinged position of the clamping claws 12 and the fixed base plate 8-2. The first electric push rod 27 is used for driving the push rod 28 to move in a linear direction, so that the push rod 28 and the first connecting rod 11 drive the two clamping claws 12 to rotate in the opposite direction or in the opposite direction, the controller 26 and the storage battery are both installed on the fixed base plate 8-2, the fixed cover 8-1 is fixedly connected with the fixed base plate 8-2, the first electric push rod 27, the push rod 28, the first connecting rod 11, the controller 26 and the storage battery are all located between the fixed cover 8-1 and the fixed base plate 8-2, a power switch is further installed on the surface of the fixed cover 8-1, and the power switch is electrically connected with the controller 26.

As shown in fig. 3, the induction mechanism of this embodiment includes two induction brackets 25, induction rack 18 and second actuating mechanism, all is equipped with the concave cambered surface on two induction brackets 25, and the one end of two induction brackets 25 all sets up on induction rack 18 with rotatory mode and two induction brackets 25 distribute with the mode that the concave cambered surface is relative, second actuating mechanism install in induction rack 18 is last and be used for driving two induction brackets 25 and carry out in opposite directions or looks back to back, and the concave cambered surface of two induction brackets 25 all is equipped with a plurality of gyro wheels 24 and first pressure sensor 23 and two induction brackets 25 pass through extension spring 21 and connect, and the top of the concave cambered surface of two induction brackets 25 all is equipped with a plurality of second pressure sensor 32.

As shown in fig. 5, the induction housing 18 in this embodiment includes an induction base plate 18-1 and an induction dome, the induction bottom plate 18-1 is fixedly connected with the induction cover, the second driving mechanism adopts a driving motor 17, the driving motor 17 is installed on the induction housing, an output shaft of the driving motor 17 extends into the induction housing and is connected with a first gear set 30, the first gear set 30 is rotatably connected to the sensing baseplate 18-1 by a gear shaft, two second connecting rods 31 are hinged on the first gear set 30, each second connecting rod 31 is hinged with one end of one induction bracket 25, each induction bracket 25 is hinged with the front end of the induction bottom plate 18-1 through a third connecting rod 19, the driving motor 17 is configured to drive the two second connecting rods 31 to rotate through the first gear set 30, so that the two second connecting rods 31 drive the two sensing brackets 25 to rotate in the opposite direction or in the opposite direction.

The structure of the first gear set 30 of the present embodiment is shown in fig. 5, and includes a small gear 30-3, a first large gear 30-2 and a second large gear 30-1, the small gear 30-3, the first large gear 30-2 and the second large gear 30-1 are all rotatably connected to the induction base plate 18-1 through a gear shaft, an output shaft of the second driving mechanism is connected to the small gear 30-3, the small gear 30-3 is engaged with the first large gear 30-2, the first large gear 30-2 is engaged with the second large gear 30-1, the first large gear 30-2 and the second large gear 30-1 are each rotatably connected to a second connecting rod 31, when the output shaft of the second driving mechanism drives the small gear 30-3 to rotate, the small gear 30-3 drives both the first large gear 30-2 and the second large gear 30-1 to rotate in opposite directions, thereby realizing the rotation of the two induction brackets 25 towards or away from each other.

As shown in fig. 5, the induction bracket 25 in this embodiment includes an arc-shaped section 25-1, a straight section 25-2, and an L-shaped section 25-3, the arc-shaped section 25-1, the straight section 25-2, and the L-shaped section 25-3 are sequentially connected to form an integrated mechanism, the arc-shaped section 25-1 is provided with a concave arc surface, the concave arc surface is provided with a plurality of rollers 24 and a first pressure sensor 23, the top of the arc-shaped section 25-1 of the induction bracket 25 is provided with a plurality of second pressure sensors 32, one side of the L-shaped section 25-3 is provided with a strip-shaped groove 20 (shown in fig. 6) extending along the length direction thereof, and one end of each of the second connecting rod 31 and the third connecting rod 19 is located in the strip-shaped groove 20 of the L-shaped section 25-3 and hinged to the strip-shaped groove 20.

The straight section 25-2 of one of the sensing legs 25 is connected to the straight section 25-2 of the other sensing leg 25 by two tension springs 21.

As shown in fig. 5, the third driving mechanism in this embodiment employs a rotating electrical machine 33, the rotating electrical machine 33 is mounted on the L-shaped section 25-3 of the induction bracket 25 and located outside the induction bracket 25, an output shaft of the rotating electrical machine 33 is connected with a second gear set 35, the second gear set 35 is rotatably connected to the induction bracket 25 through a gear shaft (specifically, a mounting plate 34 is connected to the straight section 25-2 of the induction bracket 25, the second gear set 35 is rotatably connected to the mounting plate 34 through a gear shaft, the mounting plate 34 serves to support the second gear set 35, the output shaft of the rotating electrical machine 33 extends out of a reserved hole of the mounting plate 34 and is connected with the second gear set 35 to drive the second gear set 35 to rotate), the second gear set 35 is connected with a connecting lug 37 through a connecting shaft 36 (see fig. 6 in shape), the connecting lugs 37 are vertically connected with the end portions of the engaging teeth 22, the rotating motor 33 is used for driving the two connecting lugs 37 to rotate through the second gear sets 35 connected with the two connecting lugs 37 respectively, so that the two connecting lugs 37 drive the two engaging teeth 22 to be turned upwards to a certain distance above the induction bracket 25 and to be engaged with or turned downwards to two sides of the induction bracket 25 and to be separated from each other, a schematic diagram of the two engaging teeth 22 turning upwards for engagement can be seen in fig. 6, and a schematic diagram of the two engaging teeth 22 turning downwards for separation can be seen in fig. 5. The rotating electric machine 33 is electrically connected to the controller 26.

As shown in fig. 3, the sensing mechanism is located above the clamping mechanism, the extending direction of the length of the sensing bracket 25 is perpendicular to the extending direction of the length of the clamping paw 12, the other side of the handheld fixing frame 8 is connected with a linear driving mechanism, the driving end of the linear driving mechanism is connected with the lower surface of the sensing rack 18, and the linear driving mechanism is used for driving the sensing mechanism to move along the direction away from the clamping mechanism. As shown in fig. 3, the linear driving mechanism in this embodiment adopts a linear driving mechanism commonly used in the prior art, that is, a second electric push rod 15, the second electric push rod 15 is connected with the handheld fixing frame 8 through a fixing bracket 14, a driving end of the second electric push rod 15 is connected with a lower surface of an induction rack 18 of the induction mechanism through a supporting frame 16, and the second electric push rod 15 is used for driving the induction mechanism to move in a direction away from the clamping mechanism.

First pressure sensor 23 and second pressure sensor 32 all with controller 26's signal input part electric connection, first actuating mechanism, second actuating mechanism, third actuating mechanism and sharp actuating mechanism all with controller 26's signal output part electric connection, first pressure sensor 23, second pressure sensor 32, first actuating mechanism, second actuating mechanism, third actuating mechanism, sharp actuating mechanism and controller 26 all with battery electric connection. The controller 26 in this embodiment is further provided with a plurality of operation keys 13 for enabling the controller 26 to send signals, and the plurality of operation keys 13 are mounted on the handheld fixing frame 8. The plurality of operation keys 13 may include a snap key, a cut key, a release key, a reset key, and the like.

The end picking actuators 1 of the present embodiment may be manually operated by hand, manually placing the end picking actuators 1 in position on the dragon fruit 38. In the initial power failure state of the end picking actuator 1 of this embodiment, the gripping claws 12 and the sensing bracket 25 are both in an approximately clasping state. After the power switch is started, the controller 26 controls the driving motor 17 and the first electric push rod 27 to work, the driving motor 17 rotates anticlockwise to pull apart the two clasped induction brackets 25, the first electric push rod 27 pushes the push rod 28 upwards to open the clamping paw 12, the clamping paw 12 is sent to the bottom of the dragon fruit 38 by the manual handheld handle 9, and the dragon fruit 38 is sleeved into the clamping paw 12 (as shown in fig. 7). When the cohesion key in the operation key 13 is pressed, the controller 26 controls the first electric push rod 27 to work, the first electric push rod 27 drives the push rod 28 to move downwards, the clamping paw 12 is tightened, and the dragon fruit 38 is cohered; meanwhile, the driving motor 17 in the sensing mechanism rotates clockwise to drive the gear of the first gear set 30 to do corresponding motion, the two sensing brackets 25 are tightened, if the first pressure sensor 23 on the inner side of the concave arc surface of the sensing bracket 25 presses the surface of the dragon fruit 38, a signal is sent to the controller 26, the controller 26 controls the driving motor 17 to power off and stop rotating, the second electric push rod 15 is controlled to act, the second electric push rod 15 drives the sensing bracket 25 of the sensing mechanism to ascend along the surface of the dragon fruit 38 through the support frame 16, as the diameter of the dragon fruit 38 is gradually reduced from the middle part to the top end, the tension spring 21 between the two sensing brackets 25 enables the two sensing brackets 25 to tighten inwards along the surface of the dragon fruit 38 due to the self restoring force of the tension spring 21, so that the sensing brackets 25 are attached to the surface of the dragon fruit 38 to ascend, and the rollers 24 roll on the dragon fruit 38 during the ascending process of the sensing brackets 25, the rollers 24 roll on the dragon fruit 38 to reduce damage to the dragon fruit 38 caused by the sensing bracket 25. After the fruit is lifted for a certain height, the second pressure sensor 32 arranged on the upper side of the induction bracket 25 is pressed by the dragon fruit blade 39 on the upper part of the fruit (namely the dragon fruit blade 39 is induced by the second pressure sensor 32), the second pressure sensor 32 sends a signal to the controller 26, the controller 26 drives the second electric push rod 15 to stop pushing, and the induction mechanism stops lifting; when the cutting key in the operation key 13 is pressed, the controller 26 controls the rotating motor 33, the rotating motor 33 starts to work, the second gear set 35 is driven to act, the two meshing teeth 22 are turned upwards and meshed with each other, the two meshing teeth bite into the mesophyll of the dragon fruit blades 39, and finally the dragon fruit blades 39 are bitten off. Since the engaging teeth 22 are located above the sensing bracket 25 at a distance when they are turned upward and engaged, when the dragon fruit 38 is finally bitten off, they bite into the mesophyll of the dragon fruit blades 39, thereby cutting off the dragon fruit 38 with a small mesophyll. The control process of the controller 26 is implemented by the prior art, and is not within the scope of the present invention.

After the dragon fruit 38 is cut off, the end picking executing device 1 is inclined, the loosening button in the operation button 13 is pressed, the controller 26 controls the first electric push rod 27 to open the two clamping claws 12, the dragon fruit 38 falls into the telescopic conveying hose 2, the telescopic conveying hose 2 conveys the dragon fruit 38 into the collecting basket frame 3 of the movable collecting basket, and picking and collecting of the dragon fruit 38 are completed. When the next fruit is picked, the reset key in the operation key 13 is firstly pressed, the rotating motor 33, the driving motor 17 and the second electric push rod 15 are all reset in sequence, namely, the two meshing teeth 22 are reversely rotated and separated downwards, the two induction brackets 25 are pulled apart, and the second electric push rod 15 retracts downwards so as to drive the induction mechanism to move downwards. If the collection basket 3 needs to be moved, the collection basket 3 can be pulled by the pulling wire 43, and the collection basket 3 slides forward on the wire rope 40 by the wire rope pulley 42 on the connecting frame 41, thereby completing the movement of the collection basket 3.

The protection scope of the present patent application includes but is not limited to the above embodiments, and the protection scope of the present patent application is subject to the claims, and any replacement, modification and improvement that can be easily conceived by those skilled in the art are made to fall within the protection scope of the present patent application.

Claims

1. The utility model provides a collection device is picked to semi-automatic dragon fruit which characterized in that: comprises a tail end picking execution device, a conveying device and a collecting device;

2. The semi-automatic pitaya picking and collecting device of claim 1, wherein: the portable collection basket includes collection basket frame and crawler-type dolly, collect the basket frame and install on the crawler-type dolly, the crawler-type dolly adopts crawler-type drive structure, and two tracks of left and right sides adopt motor drive respectively, still be provided with microprocessor on the crawler-type dolly, microprocessor connects the motor, realizes driving the track action, install remote controller on fixture's the handheld mount, pass through wireless communication module wireless connection between microprocessor on the crawler-type dolly and the remote controller to receive remote controller's control signal.

3. The semi-automatic pitaya picking and collecting device of claim 1, wherein: the portable collection basket is including collecting basket frame, wire rope pulley and link, wire rope extends the setting along the cultivation direction of dragon fruit tree, the wire rope pulley sets up on the link and the link passes through wire rope pulley and wire rope sliding connection, collect the basket frame pass through the rope system in on the link, the front end of collecting the basket frame still is connected with the haulage line.

4. The semi-automatic pitaya picking and collecting device of claim 3, wherein: the steel wire rope is fixedly connected to the steel wire rope supporting rod, the steel wire rope supporting rod is located at the end of the cultivation direction of the dragon fruit tree, and the steel wire rope supporting rod is used for supporting the steel wire rope.

5. The semi-automatic pitaya picking and collecting device according to claim 2 or 3, wherein: the handheld fixing frame comprises a fixing bottom plate and a fixing cover, the first driving mechanism adopts a first electric push rod, the first electric push rod is installed on the fixing bottom plate, the driving end of the first electric push rod is connected with the lower end of the push rod, the left side of the upper end and the right side of the upper end of the push rod are both hinged with a first connecting rod, the two first connecting rods are respectively hinged with the two clamping claws, the lower ends of the two clamping claws are both hinged with the fixing bottom plate, the first electric push rod is used for driving the push rod to move along the linear direction so as to enable the push rod to drive the two clamping claws to rotate in opposite directions or in opposite directions, the controller and the storage battery are both installed on the fixing bottom plate, the fixing cover is fixedly connected with the fixing bottom plate, the first electric push rod, the first connecting rod, the controller and the storage battery are all positioned between the fixing cover and the, the power switch is electrically connected with the controller.

6. The semi-automatic pitaya picking and collecting device according to claim 2 or 3, wherein: the induction rack comprises an induction bottom plate and an induction cover, the induction bottom plate is fixedly connected with the induction cover, the second driving mechanism adopts a driving motor, the driving motor is installed on the induction cover, an output shaft of the driving motor extends into the induction cover and is connected with a first gear set, the first gear set is connected onto the induction bottom plate in a rotatable mode through a gear shaft, two second connecting rods are hinged onto the first gear set, each second connecting rod is hinged to one end of one induction support, each induction support is hinged to the front end of the induction bottom plate through a third connecting rod, and the driving motor is used for driving the two second connecting rods to rotate through the first gear set so that the two second connecting rods drive the two induction supports to rotate in opposite directions or back to back.

7. The semi-automatic pitaya picking and collecting device of claim 6, wherein: the induction support comprises an arc section, a straight section and an L-shaped section, the arc section, the straight section and the L-shaped section are sequentially connected into an integrated mechanism, the arc section is provided with a concave arc surface, the concave arc surface is provided with a plurality of rollers and a first pressure sensor, the top of the arc section of the induction support is provided with a second pressure sensor, the middle of one side of the L-shaped section is provided with a strip-shaped groove extending along the length direction of the L-shaped section, and one ends of the second connecting rod and the third connecting rod are both positioned in the strip-shaped groove of the L-shaped section and hinged with the strip-shaped groove;

8. The semi-automatic pitaya picking and collecting device of claim 7, wherein:

the shearing device comprises two meshing teeth, the two meshing teeth are symmetrically and obliquely distributed on two sides of the induction support, a third driving mechanism is arranged on each induction support, the two third driving mechanisms are used for respectively driving the two meshing teeth to be upwards turned and meshed or downwards turned and separated, the two meshing teeth can be horizontally meshed above the induction support for a certain distance after being upwards turned, and can be symmetrically and obliquely positioned on two sides of the induction support after being downwards turned and separated;

9. The semi-automatic pitaya picking and collecting device of claim 1, wherein: the linear driving mechanism adopts a second electric push rod, the second electric push rod is connected with the handheld fixing frame through a fixing support, the driving end of the second electric push rod is connected with the lower surface of the induction rack of the induction mechanism through a supporting frame, and the second electric push rod is used for driving the induction mechanism to move along the direction far away from the clamping mechanism.

10. The semi-automatic pitaya picking and collecting device of claim 5, wherein: the controller is also provided with a plurality of operation keys for enabling the controller to send signals, and the operation keys are arranged on the handheld fixed frame.