CN211793007U

CN211793007U - Categorised all-in-one is picked to fruit

Info

Publication number: CN211793007U
Application number: CN201922469536.9U
Authority: CN
Inventors: 孙榆欢; 张鹏; 余飞; 张亚男; 张茜; 张克平; 刘伟齐; 祁伟; 李佩文; 张利娟; 李东红
Original assignee: Gansu Agricultural University
Current assignee: Gansu Agricultural University
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-10-30
Anticipated expiration: 2029-12-31

Abstract

The utility model provides a fruit picking and classifying integrated machine, which comprises a manipulator, wherein the manipulator comprises an end effector and a mechanical arm component; the end effector is hinged at the top end of the mechanical arm component; the end effector includes: the fruit picking machine comprises a swing driving component, and a gripper, a gripper bracket and a rotary disc rack which are sequentially arranged from top to bottom and used for gripping and twisting fruits; the rotary disc frame comprises a disc frame and a rotary disc fixed at the bottom end of the disc frame, and the swinging driving component comprises a stepping motor, a lead screw nut pair and a connecting rod; the gripper moves and swings along with the connecting rod in the vertical direction, and simultaneously the gripper rotates around the gripper support to complete the gripping action. The utility model discloses can realize that the safety of fruit snatchs, snatch efficiently.

Description

Categorised all-in-one is picked to fruit

Technical Field

The utility model belongs to the agricultural machine field especially relates to a categorised all-in-one is picked to fruit.

Background

The demand of people for the quality of the quantity of fruits is increasing day by day, so that the area of fruit trees planted by fruit growers is getting bigger and bigger, and the picking quantity of the fruits is also increasing year by year.

Fruits such as apples, pears, oranges, peaches and the like are relatively hard, but the hardness of the fruits is relatively low compared to mechanical parts, and it is necessary to ensure that the friction on the surface of the fruit is enough to twist off the fruit stem without damaging the fruit surface during the picking process. If the torque is too large, the apples can be pinched and damaged, the sale is influenced, and if the torque is too small, the apples cannot be smoothly picked without being clamped and slipping during picking; therefore, during picking, the gripping torque of the robot during picking needs to be strictly controlled.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a categorised all-in-one is picked to fruit can improve the precision of grabbing power when picking, proves that the frictional force that the fruit surface receives will be enough to twist off fruit handle and can not destroy the fruit surface. In order to achieve the above purpose, the utility model adopts the following technical scheme:

a fruit picking and classifying all-in-one machine comprises a manipulator, wherein the manipulator comprises an end effector and a mechanical arm assembly, wherein the end effector is used for accurately grabbing fruits;

the end effector is hinged at the top end of the mechanical arm assembly;

the end effector includes: the fruit picking machine comprises a swing driving component, and a gripper, a gripper bracket and a rotary disc rack which are sequentially arranged from top to bottom and used for gripping and twisting fruits; the rotary disc rack comprises a disc rack and a rotary disc fixed at the bottom end of the disc rack;

the swing driving component comprises a stepping motor, a lead screw nut pair and a connecting rod;

the stepping motor is fixed on the tray frame; an output shaft of the stepping motor is connected with the screw nut auxiliary key; the screw rod nut pair is hinged with the lower end of the connecting rod; the upper end of the connecting rod is hinged with the hand grip;

the outer side of the hand grip is hinged to the upper end of the hand grip support;

the bottom end of the gripper bracket is fixed at the upper end of the tray frame;

the gripper moves and swings along the vertical direction along with the connecting rod, and meanwhile, the gripper rotates around the gripper support to complete gripping action.

Preferably, the swing driving member is located at an inner side of the gripper bracket; the stepping motor is fixed on the inner side of the tray frame.

Preferably, further comprises a transmission joint; the transmission joint is positioned below the turntable; a connecting hole is formed in the lower end face of the rotary table; the connecting hole is matched with an output shaft of the transmission joint;

after the grabbing process is completed, the transmission joint drives the rotary plate rack to rotate, and the grab drives the grabbed fruit to rotate around the fruit handle.

Preferably, the transmission joint comprises a joint cavity, a first hinged support, a rotating motor and a first gear transmission assembly;

wherein, the joint cavity is provided with a mounting hole which is communicated up and down;

the first hinged support is fixed on the outer wall of the joint cavity; the bottom of the first hinged support is hinged with the mechanical arm assembly; the rotating motor is fixed on the first hinged support;

the first gear transmission assembly is positioned in the joint cavity; the input shaft of the first gear transmission assembly is connected with the rotating motor key; the output shaft of the first gear transmission assembly is matched with the mounting hole.

Preferably, the gripper bracket comprises a sleeve and a swing rod arranged along the outer wall of the sleeve; the bottom end of the swinging rod is fixed on the sleeve.

Preferably, the robot arm assembly comprises: the lifting mechanism comprises a small arm, a large arm, a base, a lifting motor and a second gear transmission component;

wherein the transmission joint, the small arm and the large arm are sequentially hinged; the lifting motor is fixed on the base; the output shaft of the lifting motor is in keyed connection with the input shaft of the second gear transmission component; the output end of the second gear transmission component is hinged with the base and the large arm at the same position.

Preferably, further comprises a baffle plate and a support plate;

the supporting plate is provided with a first articulated shaft and a second articulated shaft;

the supporting plate is fixed on the small arm; the first hinge shaft is hinged with the first hinge support and extends out of the first hinge support; the second hinge shaft is hinged with the small arm and penetrates through the small arm;

the baffle is matched with the extending sections of the first hinged shaft and the second hinged shaft.

Preferably, the base comprises a second hinge support, a mounting plate and a transmission shaft; the second hinged support and the transmission shaft are respectively fixed on the front surface and the back surface of the mounting disc; the transmission shaft is connected with the motor assembly key; the motor assembly is fixed on the top of the walking device.

Preferably, the walking device comprises a track shoe and a transmission wheel; the transmission wheel is in transmission fit with the track shoe.

Compared with the prior art, the utility model has the advantages that: through the cooperation of swing drive component, tongs support, carousel frame, the moment of can strictly control the tongs, picking work's the process precision of snatching is higher, can guarantee that the frictional force that the tongs was applied to fruit surface is enough to snatch fruit, the phenomenon of skidding does not have, and can not harm the surface of fruit, the precision of snatching of tongs improves promptly.

Drawings

Fig. 1 is an overall structure diagram of a fruit picking and sorting all-in-one machine according to an embodiment of the present invention;

FIG. 2 is an assembled view of the end effector of FIG. 1;

FIG. 3 is a block diagram of the gripper of FIG. 2;

FIG. 4 is a block diagram of the gripper bracket of FIG. 2;

FIG. 5 is a block diagram of the linkage of FIG. 2;

FIG. 6 is a block diagram of the screw nut pair of FIG. 2;

fig. 7 is a structural view of the turret frame of fig. 2;

FIG. 8 is a block diagram of the drive joint of FIG. 2;

FIG. 9 is an assembly view of the robot arm assembly and end effector of FIG. 1;

FIG. 10 is a diagram of a forearm block of the robot arm assembly of FIG. 9;

FIG. 11 is a schematic illustration of a large arm structure of the robot arm assembly of FIG. 9;

FIG. 12 is a block diagram of the robot assembly of FIG. 9;

FIG. 13 is a support plate configuration view of the robot assembly of FIG. 9;

FIG. 14 is a base block diagram of the robot assembly of FIG. 9;

FIG. 15 is a schematic view of the linkage between the robotic arm assembly and the walking device of FIG. 1;

FIG. 16 is a roof structure view of the traveling apparatus of FIG. 1

FIG. 17 is a block diagram of a housing of the walking device of FIG. 1;

fig. 18 is a partial entire external configuration view of the traveling apparatus of fig. 1.

Wherein, 1-end actuator, 2-mechanical arm component, 3-walking device, 4-sorting device, 11-gripper, 12-gripper support, 121-sleeve, 122-swinging rod, 13-rotating disc rack, 131-rotating disc, 132-rotating disc rack, 14-transmission joint, 141-joint cavity, 142-first hinged support, 143-rotating motor, 15-swinging driving component, 151-nut, 152-lead screw, 153-connecting rod, 154-stepping motor, 21-small arm, 22-big arm, 23-base, 231-second hinged support, 232-mounting disc, 233-transmission shaft 24-lifting motor, 25-baffle, 26-supporting plate, 261-first hinged shaft, 262-second hinged shaft, 27-second gear transmission assembly.

Detailed Description

The fruit picking and sorting all-in-one machine of the present invention will now be described in greater detail with reference to the schematic drawings, in which preferred embodiments of the invention are shown, it being understood that those skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.

As shown in fig. 1, the present embodiment provides a fruit picking and sorting all-in-one machine, which mainly includes the following four aspects: 1) an end effector 1 of a manipulator; 2) a mechanical arm assembly 2 of the manipulator; 3) a sorting device 4; 4) a traveling device 3. The structures and the mutual position relations of the above 4 parts are as follows:

the end effector 1 is structurally designed as follows: as shown in fig. 1-2, the robot comprises an end effector 1 and a robot arm assembly 2; the end effector 1 is hinged at the top end of the robot arm assembly 2. The end effector 1 includes: the fruit twisting device comprises a swing driving component 15, and a hand grip 11, a hand grip support 12, a rotary disc frame 13 and a transmission joint 14 which are arranged from top to bottom in sequence and used for gripping and twisting fruits. The specific structure of the end effector 1 is explained below:

the rotating plate frame 13 includes a plate frame 132 and a rotating plate 131 fixed to a bottom end of the plate frame 132, as shown in fig. 2 and 7.

The outer side of the hand grip 11 is hinged at the upper end of the hand grip bracket 12 (as shown in fig. 2-3); the lower end of the hand grip 11 is hinged with the upper end of the swinging driving member 15; the swing driving component 15 is fixedly arranged and used for strictly controlling the grabbing moment; the swing driving member 15 is fixed to the inside of the tray frame 132; the swing driving member 15 is located inside the gripper bracket 12.

The bottom end of the gripper bracket 12 is fixed at the upper end of the tray frame 132; a connecting hole is formed in the lower end face of the rotary disc 131; the connecting hole is matched with the output shaft of the transmission joint 14.

When the end effector 1 works, the hand grip 11 moves and swings along with the swing driving member 15 in the vertical direction, and meanwhile, the hand grip 11 rotates around the hand grip support 12 to complete the gripping action; then the transmission joint 14 drives the rotary tray frame 13 to rotate, and the gripper 11 drives the gripped fruit to twist around the fruit handle.

The structural design of the swing drive member 15 in the end effector 1 is as follows: as shown in fig. 2 and 5 to 6, the swing driving member 15 includes a stepping motor 154, a screw-nut pair, and a connecting rod 153.

Wherein, the stepping motor 154 is fixed on the tray frame 132, and the stepping motor 154 is adopted to provide power, which not only can ensure the stability of transmission force, but also can ensure the more stable clamping process; an output shaft of the stepping motor 154 is in keyed connection with the screw-nut pair, namely, a screw 152 in the screw-nut pair is in transmission connection with the stepping motor 154, a nut 151 in the screw-nut pair makes linear motion along the screw 152, and the screw-nut pair is a relatively stable transmission mode while ensuring torque; the screw nut pair is hinged with the lower end of the connecting rod 153; the upper end of the link 153 is hinged to the hand grip 11. The swing driving member 15 is used for swinging the hand grip 11 around the hand grip support 12, and finally provides power for opening and closing the hand grip 11. Under the matching action of the stepping motor 154, the screw nut pair and the connecting rod 153, the moment of the gripper 11 is strictly controlled, the precision of the picking process of the picking work is high, the friction force applied to the surface of the fruit by the gripper 11 can be guaranteed to be enough for gripping the fruit, the phenomenon of slipping does not exist, and the surface of the fruit cannot be damaged.

The structure design of the gripper bracket 12 in the end effector 1 is shown in fig. 2 and 4, and the gripper bracket 12 comprises a sleeve 121 and a swing rod 122 arranged along the outer wall of the sleeve 121; the bottom end of the swing lever 122 is fixed to the sleeve 121. The upper end of the swing lever 122 is inclined toward the outside of the sleeve 121, and the upper end of the swing lever 122 is hinged to the outside of the hand grip 11. The swing rod 122, the rotating hand 11 and the connecting rod 153 of the gripper bracket 12 form a crank-connecting rod mechanism, and the crank-connecting rod mechanism is matched with the stepping motor 154 and the lead screw nut pair, so that the moment precision of gripping of the gripper 11 can be accurately controlled.

The structural design of the transmission joint 14 in the end effector 1 is as follows: as shown in fig. 2 and 8, the transmission joint 14 includes a joint cavity 141, a first hinge support 142, a rotation motor 143, and a first gear assembly. Wherein, the joint cavity 141 is provided with a vertically through mounting hole; the first hinge support 142 is fixed on the outer wall of the joint cavity 141; the bottom of the first articulated support 142 articulates the robot arm assembly 2; the rotating motor 143 is fixed to the first hinge support 142; the first gear assembly is located in the joint cavity 141; the input shaft of the first gear transmission component is in key connection with the rotating motor 143; the output shaft of the first gear transmission assembly is matched with the mounting hole and the connecting hole in sequence so as to realize that the rotating motor 143 drives the rotating disc frame 13, the gripper bracket 12, the gripper 11 and the swing driving member 15 to rotate together. Specifically, the transmission of the first gear transmission assembly is stable, the torque direction of the rotating motor 143 can be changed, and the precision of the twisting process can be improved when fruits are picked. For example, the first gear assembly may have the following structure: 2 meshed bevel gears. When picking, if the twisting speed is too low, the picking efficiency is too low, the delivery is not facilitated, and the cost is increased; if the twisting speed is too fast, the service life of the manipulator is affected, the cost is increased, and the apple can be scratched due to the too fast twisting speed, so that loss is caused. In the case of mechanical structures, the large moment of inertia is borne, the safety of the parts and the mechanical structures can be damaged, the parts are always deformed or broken, the use precision of the machine is affected, and the torsion speed cannot be too high. The transmission joint 14, in which the joint cavity 141, the first hinge support 142, the rotating motor 143, and the first gear transmission assembly are mutually engaged, may need to strictly control the twisting speed, and improve the accuracy of the twisting speed. In the present embodiment, the torsional speed of the rotating motor 143 is determined as: 2.0 rad/s.

The design of the robot arm assembly 2 is shown in fig. 9-11, and the robot arm assembly 2 includes: the lifting mechanism comprises a small arm 21, a large arm 22, a base 23, a lifting motor 24 and a second gear transmission component 27. Wherein, the transmission joint 14, the small arm 21 and the large arm 22 are sequentially hinged; the lifting motor 24 is fixed on the base 23; the output shaft of the lifting motor 24 is in keyed connection with the input shaft of the second gear transmission component 27; the output end of the second gear transmission assembly 27 is hinged to the base 23 and the large arm 22 at the same position, as shown in fig. 9 and 15. Specifically, the second gear transmission assembly 27 includes a driving gear and a driven gear; the driving gear is connected with the output shaft key of the lifting motor 24, and the driven gear is rotatably arranged at the tail end of the large arm 22 (i.e. the end far away from the small arm 21) and is rotatably arranged on the base 23. At this time, the base 23 is positioned outside the end of the large arm 22; the driven gear is mounted on the end of the large arm 22 through a rotating shaft which extends out of the end of the large arm 22 and is rotatably mounted on the base 23. The lifting motor 24 transmits torque to the large arm 22 of the mechanical arm assembly 2 through the second gear transmission assembly 27, so that the large arm 22 and the small arm 21 rotate, and the mechanical arm assembly 2 is retracted. That is, the pulling step is performed by the contraction of the robot arm. In the picking process, the pulling speed is the same as the twisting speed, and the efficiency and the quality of apple picking are also related. Particularly, too low speed can cause too low picking efficiency and influence delivery; too fast also can influence the life-span of machine, makes the great increase of cost, still can increase the fish tail apple possibility. In the pulling process, the pulling speed is too high, so that the branches of the apple trees swing, other apples can be hurt by the branches in the process, the apples on the trees can swing to fall, loss is caused, and the pulling speed cannot be too high. According to the speed of the fruit grower picking the apples, the pulling speed of the mechanical arm assembly is set as follows: 1 m/s. The speed can ensure the picking quality of the apples while ensuring the efficiency, and can also prevent the apples from being hurt and falling off caused by shaking.

In the present embodiment, as shown in fig. 12 to 13, a baffle plate 25 and a support plate 26 are further provided; the support plate 26 is provided with a first hinge shaft 261 and a second hinge shaft 262; the supporting plate 26 is fixed on the small arm 21; the first hinge shaft 261 is hinged to the first hinge support 142 and extends out of the first hinge support 142; the second hinge shaft 262 is hinged with the small arm 21 and passes through the small arm 21; the damper 25 is engaged with the protruding sections of the first hinge shaft 261 and the second hinge shaft 262.

The structural design of the base 23 of the robot arm assembly 2 is shown in fig. 9 and 14, and the base 23 comprises a second hinge support 231, a mounting plate 232 and a transmission shaft 233; the second hinge supports 231 and the transmission shaft 233 are fixed to the front and the back of the mounting plate 232, respectively; the transmission shaft 233 is in key connection with the motor assembly; the motor assembly is fixed on the top of the walking device 3. The motor assembly transmits the torque to the large arm 22 of the mechanical arm assembly 2 through gear transmission, and the large arm 22 rotates, so that the mechanical arm assembly 2 rotates in a large range, and fruits in different directions are picked. In the present embodiment, 4 manipulators are provided; the four mechanical arms work in a pairwise manner, so that the phenomenon that the four mechanical arms interfere with each other cannot occur, and the mechanical arms on the left side and the right side are controlled by the same control system respectively. The movement in the horizontal plane of the robot arm assembly 2 is accomplished by the transmission part of the traveling device 3.

The structure design of the sorting device 4 is shown in fig. 1, and further comprises a control device, the sorting device 4 and a collecting device; the sorting device 4 is in signal connection with the control device. The sorting device 4 may be a diameter detection device (e.g., an infrared detection system), a sugar detection device. After the apples are picked by the gripper 11, the apples are placed on a conveyor belt, and a sugar detection device and an external detection system are arranged on the conveyor belt. The diameter detection and the sugar detection are carried out on the picked fruits, after the detection, the control device controls the mechanical arm, and the picked fruits are loaded into different collecting devices, so that the purpose of accurate classification is achieved.

The structure design of the walking device 3 is shown in fig. 16-18, and the walking device 3 comprises a track shoe and a transmission wheel; the driving wheel is in driving fit with the track shoe. Because the orchard is generally the soil, the surface is unsmooth, can't guarantee the stationarity that the wheel passes through, if adopt the wheel to come as running gear 3, because the stability of wheel is relatively poor, can influence the precision of manipulator when snatching the apple, can damage the apple surface, lead to the income to reduce, cause the loss. The wheels are not reasonable as running gear 3. So select running gear 3 for the track, when guaranteeing trafficability characteristic, the stationarity of assurance walking that also can be very big guarantees precision and efficiency when the manipulator snatchs then. In addition, the crawler belt has a large land contact area, the pressure of a unit area on the land can be reduced, the land can not be pressed to be hard, and the water storage capacity of the soil can not be reduced, so that the crawler belt is a very good walking device 3. The crawler belt is made of rubber, so that the machine quality is reasonable, and the land is protected. Compared with the chain plate made of iron, the rubber material can prevent soil from entering the traveling device 3, so that the stability and the safety of the traveling device 3 can be guaranteed. The crawler wheels are selected as the traveling device 3, and the parts do not need to be designed and only need to be purchased according to the required size and horsepower.

The utility model discloses a theory of operation does:

the stepping motor 154, the rotating motor 143, the lifting motor 24 and the motor assembly all work under the control of the computer integrated control device.

1) Firstly, the mechanical arm assembly 2 is driven by a motor assembly to work to drive the mechanical arm assembly 2 to rotate, a position sensor catches 155 to catch a fruit position, the mechanical arm assembly 2 sends the end effector 1 to a picking position, a stepping motor 154 drives a screw 152 in a screw-nut pair to rotate, a nut 151 moves, the nut 151 drives a connecting rod 153 to move, the connecting rod 153 drives a hand grip 11, the hand grip 11 rotates outwards around a swing rod in a hand grip support 12, the hand grip 11 is opened and is detected by a pressure sensor 156 to realize gripping, and the stepping motor 154 is not enough to damage the surface and the shape of the fruit.

2) The motor 143 is rotated, the lifting motor 24 is started, the motor 143 is rotated to drive the hand grip 11 to rotate, and the hand grip 11 twists the fruit handle; to perform torsion; simultaneously, the lifting motor 24 drives the large arm 22 and the small arm 21 to retract for pulling; namely, the large arm 22 and the small arm 21 are rotated by the driving of the lifting motor 24, so that the rotation between the large arm 22 and the small arm 21 is realized, and the retraction of the mechanical arm assembly 2 is realized. The lifting motor 24 is started, the mechanical arm is controlled to contract to realize the pulling process, the fruit is twisted off from the tree, and the fruit picking work is completed.

3) After the picking is finished, the motor assembly is started, and the mechanical arm assembly 2 takes out the fruits and puts the fruits into a collecting device.

In conclusion, the fruit picking and classifying all-in-one machine of this embodiment has the following advantages:

1) the integrated machine can pick fruits with the size, shape and weight similar to that of apples, such as pears, oranges, peaches and the like.

2) And determining the picking mode as a twisting picking mode. Thus, in designing the end effector 1, the arm assembly grabs the fruit and then rotates, and the arm assembly 2 retracts back while rotating, thereby smoothly picking the fruit off and then placing it in the collection device. A layer of non-toxic, harmless, soft and high-friction-coefficient rubber substance is wrapped on the hand grip 11 of the end effector 1, and finally fruits can be smoothly twisted down by means of friction force, so that the fruits cannot be damaged.

3) Through tests, the torsional force of the rotating motor 143 is 1 kg; according to the speed of the fruit grower picking the apples, the torsion speed of the rotating motor 143 is determined as: 2.0 rad/s. The speed can ensure the efficiency and the fruit picking quality; the pulling speed of the lift motor 24 is determined as: 1 m/s. This speed prevents the possibility of the apple being damaged and shaking the apple to cause a fall.

4) The running gear 3 is selected to be a track plate structure. The stability of walking can also be greatly guaranteed while the trafficability characteristic is guaranteed, and then the precision and the efficiency of the machine in grabbing are guaranteed. The contact area of the creeper tread and the land is large, the pressure of a unit area to the land becomes small, and the land cannot be pressed to be hard, so that the water storage capacity of the soil is reduced.

The above description is only for the preferred embodiment of the present invention, and does not limit the present invention. Any technical personnel who belongs to the technical field, in the scope that does not deviate from the technical scheme of the utility model, to the technical scheme and the technical content that the utility model discloses expose do the change such as the equivalent replacement of any form or modification, all belong to the content that does not break away from the technical scheme of the utility model, still belong to within the scope of protection of the utility model.

Claims

1. The fruit picking and classifying all-in-one machine is characterized by comprising a manipulator, wherein the manipulator comprises an end effector for precisely grabbing fruits and a mechanical arm assembly;

the end effector is hinged at the top end of the mechanical arm assembly;

2. The all-in-one fruit picking and sorting machine according to claim 1, wherein the swing driving member is located inside the hand grip support; the stepping motor is fixed on the inner side of the tray frame.

3. The fruit picking and sorting machine of claim 1, further comprising a drive joint; the transmission joint is positioned below the turntable; a connecting hole is formed in the lower end face of the rotary table; the connecting hole is matched with an output shaft of the transmission joint;

4. The all-in-one fruit picking and sorting machine according to claim 3, wherein the transmission joint comprises a joint cavity, a first hinged support, a rotating motor and a first gear transmission assembly;

5. The all-in-one fruit picking and sorting machine according to claim 1, wherein the gripper bracket comprises a sleeve and a swing rod arranged along an outer wall of the sleeve; the bottom end of the swinging rod is fixed on the sleeve.

6. The fruit picking and sorting machine of claim 4, wherein the robotic arm assembly comprises: the lifting mechanism comprises a small arm, a large arm, a base, a lifting motor and a second gear transmission component;

7. The fruit picking and sorting all-in-one machine according to claim 6, further comprising a baffle plate and a support plate;

8. The all-in-one fruit picking and sorting machine according to claim 6, wherein the base comprises a second hinged support, a mounting plate and a transmission shaft; the second hinged support and the transmission shaft are respectively fixed on the front surface and the back surface of the mounting disc; the transmission shaft is connected with the motor assembly key; the motor assembly is fixed on the top of the walking device.

9. The all-in-one fruit picking and sorting machine according to claim 8, wherein the walking device comprises a track shoe and a transmission wheel; the transmission wheel is in transmission fit with the track shoe.