A fruit collection mechanism for orchard harvesting

Abstract

This invention discloses a fruit-collecting mechanism for orchard harvesting, comprising a base frame, a horizontal conveyor belt, a skeleton, and a flexible fabric. The base frame is fixed to the carrier of the fruit-collecting equipment. The horizontal conveyor belt is mounted on the base frame, the skeleton is arranged around the horizontal conveyor belt, and the flexible fabric is mounted on the skeleton. The flexible fabric is spread out around the horizontal conveyor belt, with its lowest point connecting to the horizontal conveyor belt. The flexible fabric collects fruit falling from above and guides the fruit to slide down to the horizontal conveyor belt. The fruit-collecting mechanism of this invention utilizes the flexible fabric to catch fruit falling from above without damage and then guides the fruit to the horizontal conveyor belt. This allows the robotic arm of the harvesting equipment to reduce its travel distance, improving the efficiency of the robotic arm and preventing interference between adjacent robotic arms.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more particularly to a fruit-collecting mechanism for orchard harvesting. Background Technology

[0002] To improve industry efficiency, the fruit growing industry is increasingly using machinery to replace manual fruit picking, especially for tree-bearing fruits such as apples and citrus. The demand for fruit picking machinery is very strong because these tree-bearing fruits hang high on the branches, and manual picking alone is inefficient and dangerous.

[0003] Currently, various fully automatic and semi-automatic fruit-picking devices exist in existing technologies. Fully automatic fruit-picking devices generally include a chassis and a robotic arm mounted on it, with a mechanical gripper at the end of the arm for grasping the fruit. The drawback of fully automatic fruit-picking devices lies in the following: after the mechanical gripper grasps the fruit, there are two follow-up actions: the first is for the gripper to deliver the fruit to a storage bin; the second is to use a suction tube to suck the fruit into the storage bin. The first method requires the robotic arm to make a large stroke, while the second requires a suction mechanism near the robotic arm. Both methods can easily lead to spatial interference between the robotic arm and other objects, making it difficult to configure multiple robotic arms on a single fully automatic picking device and thus hindering the improvement of picking efficiency.

[0004] For some fruits that are difficult to harvest using robotic arms, existing technologies employ semi-automatic methods. These semi-automatic harvesting devices typically include a walking vehicle with a safe platform (some platforms also have lifting functions). Harvesters stand on the platform to pick the fruit. This method is suitable for fruits with complex branches and fragile fruit. This semi-automatic harvesting equipment also faces the problem of difficult fruit collection. Current technology places storage boxes near the worker's feet, requiring the worker to bend over and place the fruit into the boxes, which is not only physically demanding but also reduces harvesting efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a fruit collection mechanism that can be applied to fully automatic or semi-automatic fruit picking equipment, thereby solving the problem of fruit collection during fruit picking.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a fruit collection mechanism for orchard harvesting, comprising a base frame, a horizontal conveyor belt, a skeleton, and a flexible fabric;

[0007] The base frame is used to fix the fruit picking equipment to the carrier. If it is used in fully automatic fruit picking equipment, the base frame should be fixed near the root of the robotic arm; if it is used in semi-automatic fruit picking equipment, the base frame should be fixed near the platform where the worker stands.

[0008] A horizontal conveyor belt is installed on a base frame, a skeleton is arranged around the horizontal conveyor belt, and a flexible fabric is installed on the skeleton. The flexible fabric is spread out around the horizontal conveyor belt, and the flexible fabric is set at an angle and its lowest point connects with the horizontal conveyor belt. The flexible fabric collects fruit falling from a height and guides the fruit to slide down to the horizontal conveyor belt.

[0009] The fruit-collecting mechanism of this invention utilizes a flexible fabric to catch fruit falling from above without damage, and then guides the fruit to a horizontal conveyor belt. Therefore, regardless of whether the fruit-collecting mechanism of this invention is applied to fully automatic or semi-automatic fruit-picking equipment, the robotic arm or the picking worker can directly move the fruit to the top of the flexible fabric and then release it. The process of the fruit falling from a high place to a low place is achieved through free fall, and neither the robotic arm nor the worker needs to participate in the process of the fruit falling from a high place to a low place. For the robotic arm, the stroke of the robotic arm can be reduced, which not only improves the efficiency of the robotic arm, but also avoids interference between adjacent robotic arms. For the picking worker, the bending action is eliminated, which greatly reduces the labor intensity and improves the work efficiency.

[0010] The fruit collection mechanism should also be equipped with a storage component, a guide wheel, and a flexible baffle. The storage component is mounted on the base frame and receives fruit from the horizontal conveyor belt. The guide wheel is mounted on the base frame and located at the junction of the flexible fabric and the horizontal conveyor belt. The guide wheel is used to assist in controlling the orderly rolling of fruit from the flexible fabric onto the horizontal conveyor belt. The flexible baffle stands on the side of the horizontal conveyor belt, opposite the flexible fabric. Fruit rolling from the flexible fabric onto the horizontal conveyor belt will impact the flexible baffle due to inertia, and the flexible baffle can reduce the impact damage of the rolling fruit.

[0011] If the storage component is merely a storage box, the fruit on the horizontal conveyor belt will fall directly to the bottom of the storage box, potentially causing damage. To reduce the mechanical damage that may occur as the fruit falls into the storage box, this invention provides two storage components with functions that reduce fruit damage.

[0012] The first technical solution for the storage component is as follows: the storage component includes a first support, a first storage box, and a first driver. The first support is hinged to a base frame and located at the end of a horizontal conveyor belt. The first storage box is placed on the first support, and the first driver drives the first support to rotate. In the initial state, the rotation of the first support causes the first storage box to be in an inclined state. Fruit falling from the horizontal conveyor belt will fall onto the inclined wall of the first storage box and roll down to the bottom, thereby reducing fruit damage. As the amount of fruit in the first storage box increases, the first driver will drive the first support and the first storage box to gradually rotate to a normal state. Finally, when the first storage box is full of fruit, it is in an upright state. To control the angle of the first storage box, a pressure sensor should be installed on the first support to detect the weight of the first storage box. The first driver performs actions based on the weight of the first storage box.

[0013] Specifically, the first actuator is a pneumatic cylinder or a hydraulic cylinder, and the cylinder body and the telescopic rod of the first actuator are respectively hinged to the base frame and the first support.

[0014] The present invention also provides another technical solution for a storage component: the storage component includes a second support, a second storage box and a second driver, the second support is fixed on the base frame, the second support is located at the end of the horizontal conveyor belt, the second storage box is placed on the second support, and the second driver is fixed on the second support;

[0015] The second storage box includes a box body, a fabric, and a clamping strip. A horizontal groove is provided on one vertical side of the box body. One side of the fabric is fixed at a first included angle inside the box body. The other opposite side passes through the horizontal groove and is fitted with a clamping strip. The first included angle and the vertical side where the horizontal groove is located are in opposite positions. A second driver drives the clamping strip to move to realize the unfolding and unfurling of the fabric. When the fabric is taut and unfolded, it tilts inside the box body. The tilted fabric is used to catch fruit falling from the horizontal conveyor belt.

[0016] In this technical solution, the inclined display creates a ramp for the fruit to roll down, reducing damage from falling fruit. Compared to the aforementioned first storage box inclined technical solution, the second storage box in this technical solution is stationary, and the entire device has no exposed moving parts, which provides better safety and facilitates the replacement of the second storage box.

[0017] Specifically, the second actuator is a pneumatic cylinder or a hydraulic cylinder, and the telescopic rod of the second actuator is provided with a hook tongue, and the clamping strip is provided with an outwardly protruding hook edge; after the second storage box is placed in the second bracket, the hook tongue just rests on the hook edge, and when the telescopic rod moves downward, the clamping strip is driven downward through the hook tongue and the hook edge.

[0018] Furthermore, the outer surface of the box is provided with an elastic clamping edge made of rubber material, and the clamping edge strip is provided with a wedge-shaped part that is inserted into the elastic clamping edge; after the second storage box is filled with fruit, the clamping edge strip will rise to the highest point, at which time the wedge-shaped part of the clamping edge strip is inserted into the elastic clamping edge.

[0019] Furthermore, a weight bar is installed in the middle of the fabric, and an elastic rope is installed inside the box. One end of the elastic rope is connected to the weight bar, and the other end is connected to a second included angle inside the box, which is opposite to the first included angle. When the second storage box is empty, the elastic rope pulls the weight bar, causing the weight bar to be positioned at the second included angle, thereby controlling the fabric to spread out on the bottom surface and inner wall of the box.

[0020] Beneficial effects: (1) The fruit collection mechanism of the present invention uses flexible fabric to receive fruit falling from above without damage, and then guides the fruit to the horizontal conveyor belt; so that the robotic arm or worker of the picking equipment does not need to participate in the process of the fruit falling from a high place to a low place; for the robotic arm, the stroke of the robotic arm can be reduced, which not only improves the efficiency of the robotic arm, but also avoids interference between adjacent robotic arms; for the picking worker, it saves the worker from bending over, greatly reduces labor intensity and improves work efficiency. (2) The fruit collection mechanism of the present invention is equipped with a flip-up first storage box to receive fruit from the horizontal conveyor belt. The fruit rolls down the inclined box wall to the bottom of the box, reducing fruit damage. (3) The fruit collection mechanism of the present invention is equipped with another second storage box with a spreading cloth to receive fruit from the horizontal conveyor belt. The fruit rolls down the inclined spreading cloth to the bottom of the second storage box, which can also reduce fruit damage. (4) The fruit collection mechanism of the present invention is provided with a weight bar and an elastic rope below the spreader. When the second storage box is empty, the elastic rope pulls the weight bar so that the weight bar is in the position of the second included angle, thereby controlling the spreader to spread on the bottom surface and inner wall of the box. Attached Figure Description

[0021] Figure 1 This is a three-dimensional view of the fruit collection mechanism in Example 1.

[0022] Figure 2 This is a perspective view of the fruit collection mechanism in Embodiment 1 (with the first storage frame hidden).

[0023] Figure 3 This is the front view of the fruit collection mechanism in Example 1.

[0024] Figure 4 This is the front view of the fruit collection mechanism in Embodiment 1 (another state).

[0025] Figure 5 This is a schematic diagram of the fruit collection mechanism in Example 1.

[0026] Figure 6This is a structural diagram of the storage component in Embodiment 2.

[0027] Figure 7 yes Figure 6 Enlarged view of A.

[0028] Figure 8 This is a flowchart of the storage component in Embodiment 2 (one of the flowcharts).

[0029] Figure 9 This is a flowchart of the storage component in Embodiment 2 (Part Two).

[0030] Figure 10 This is the third flowchart of the storage component in Embodiment 2.

[0031] The components are as follows: 100, base frame; 200, horizontal conveyor belt; 300, skeleton; 400, flexible fabric; 500, storage assembly; 510, first support; 520, first storage box; 530, first driver; 540, second support; 550, second storage box; 551, box body; 552, fabric spreading; 553, edge strip; 554, horizontal groove; 555, first included angle; 556, elastic edge; 557, plumb bob; 558, elastic rope; 559, second included angle; 560, second driver; 600, carrier; 700, robotic arm; 800, dial wheel; 900, flexible baffle. Detailed Implementation

[0032] The present invention will be further described in detail below with reference to specific embodiments.

[0033] Example 1

[0034] like Figures 1 to 4 As shown, the fruit collection mechanism applied to orchard harvesting in this embodiment includes a base frame 100, a horizontal conveyor belt 200, a skeleton 300, a flexible fabric 400, a storage component 500, a dial wheel 800, and a flexible baffle 900.

[0035] The base frame 100 is used to fix it to the carrier 600 of the fruit picking equipment.

[0036] A horizontal conveyor belt 200 is mounted on a base frame 100, and a frame 300 is arranged around the horizontal conveyor belt 200. A flexible fabric 400 is mounted on the frame 300 and unfolds around the horizontal conveyor belt 200. The flexible fabric 400 is inclined and its lowest point connects with the horizontal conveyor belt 200. The flexible fabric 400 collects fruit falling from a height and guides the fruit to slide down to the horizontal conveyor belt 200. A derailleur 800 is mounted on the base frame and located at the junction of the flexible fabric 400 and the horizontal conveyor belt 200. The derailleur 800 is used to assist in controlling the orderly rolling of fruit from the flexible fabric 400 to the horizontal conveyor belt 200. A flexible baffle 900 stands on the side of the horizontal conveyor belt 200 and is located opposite the flexible fabric 400. Fruit rolling from the flexible fabric 400 to the horizontal conveyor belt 200 will impact the flexible baffle 900 due to inertia. The flexible baffle 900 can reduce the impact damage of the rolling fruit.

[0037] The storage assembly 500 includes a first support 510, a first storage box 520, and a first driver 530. The first support 510 is hinged to the base frame 100 and is located at the end of the horizontal conveyor belt 200. The first storage box 520 is placed on the first support 510, and the first driver 530 drives the first support 510 to rotate. Figure 3 As shown, in the initial state, the first support 510 flips, causing the first storage box 520 to tilt. Fruit falling from the horizontal conveyor belt 200 will land on the tilted wall of the first storage box 520 and roll down to the bottom, thus reducing fruit damage. As the number of fruits in the first storage box 520 increases, the first driver 530 will drive the first support 510 and the first storage box 520 to gradually flip back to the normal state, as shown. Figure 4 As shown, when the first storage box 520 is finally filled with fruit, it is in an upright position. In order to control the angle of the first storage box 520, a pressure sensor should be installed on the first support 510 to detect the weight of the first storage box 520, and the first driver 530 performs an action based on the weight of the first storage box 520.

[0038] In this embodiment, the first driver 530 is a pneumatic cylinder or a hydraulic cylinder, and the cylinder body and the telescopic rod of the first driver 530 are respectively hinged to the base frame 100 and the first bracket 510.

[0039] The fruit collection mechanism in this embodiment can use flexible fabric 400 to catch fruit falling from above without damage, and then guide the fruit to the horizontal conveyor belt 200. Figure 5The fruit collection mechanism shown in this embodiment is installed on a fully automatic picking device. The robotic arm 700 can directly move the picked fruit to directly above the flexible fabric 400 and then release the fruit. The process of the fruit falling from a high place to a low place is achieved by free fall. The robotic arm 700 does not need to participate in the process of the fruit falling from a high place to a low place. For the robotic arm 700, the stroke of the robotic arm 700 can be reduced, which not only improves the efficiency of the robotic arm 700, but also avoids interference between adjacent robotic arms 700.

[0040] Example 2

[0041] The only difference between this embodiment and embodiment 1 is that this embodiment uses a different storage component 500, such as... Figure 6 and Figure 7 As shown, the storage component 500 in this embodiment includes a second support 540, a second storage box 550, and a second driver 560. The second support 540 is fixed on the base frame 100 and is located at the end of the horizontal conveyor belt 200. The second storage box 550 is placed on the second support 540, and the second driver 560 is fixed on the second support 540.

[0042] The second storage box 550 includes a box body 551, a spreading cloth 552, and a clamping strip 553. A horizontal groove 554 is provided on one vertical side of the box body 551. One side of the spreading cloth 552 is fixed at a first included angle 555 inside the box body 551. The other opposite side passes through the horizontal groove 554 and is fitted with the clamping strip 553. The first included angle 555 and the vertical side where the horizontal groove 554 is located are in opposite positions. The second driver 560 drives the clamping strip 553 to move to realize the unfolding and relaxation of the spreading cloth 552. When the spreading cloth 552 is taut and unfolded, the spreading cloth 552 is tilted inside the box body 551. The tilted spreading cloth 552 is used to receive fruit falling from the horizontal conveyor belt 200.

[0043] The second actuator 560 is a pneumatic or hydraulic cylinder, such as... Figure 7 As shown, the telescopic rod of the second driver 560 is provided with a hook tongue, and the clamping strip 553 is provided with an outwardly protruding hook edge; after the second storage box 550 is placed in the second bracket 540, the hook tongue just rests on the hook edge. When the telescopic rod of the second driver 560 moves downward, the clamping strip 553 is driven downward through the hook tongue and the hook edge.

[0044] The outer surface of the box 551 is provided with an elastic clamping edge 556 made of rubber material. The clamping strip 553 is provided with a wedge-shaped part, which is inserted into the elastic clamping edge 556. After the second storage box 550 is filled with fruit, the clamping strip 553 will rise to the highest point, at which time the wedge-shaped part of the clamping strip 553 is inserted into the elastic clamping edge 556.

[0045] A plumb line 557 is provided in the middle of the display 552, and an elastic rope 558 is provided inside the box 551. One end of the elastic rope 558 is connected to the plumb line 557, and the other end is connected to the second included angle 559 inside the box 551. The second included angle 559 is opposite to the first included angle 555.

[0046] The basic workflow of the storage component 500 in this embodiment is as follows:

[0047] (1) As Figure 8 As shown, initially, the second storage box 550 is placed on the second support 540. The telescopic rod of the second driver 560 moves downward, causing the clamping strip 553 to move downward to the lowest position. At this time, the spread fabric 552 is completely taut after being pulled by the clamping strip 553, and the spread fabric 552 forms a slope inside the second storage box 550. At the same time, the drop bar 557 fixed in the middle of the spread fabric 552 is also lifted, and the elastic rope 558 is stretched.

[0048] (2) Figure 9 As shown, as the horizontal conveyor belt 200 moves, the fruit continuously falls onto the display cloth 552 and slides down the display cloth 552 into the second storage box 550;

[0049] (3) Figure 10 As shown, when the amount of fruit in the second storage box 550 increases, the telescopic rod of the second actuator 560 moves upward, and the taut spreading cloth 552 gradually bends so that the second storage box 550 can hold more fruit; eventually, the spreading cloth 552 will return to its original position. Figure 6 As shown in the image, the second storage box 550 will be full of fruit at this time.

[0050] Although embodiments of the present invention have been described in the specification, these embodiments are merely illustrative and should not be construed as limiting the scope of protection of the present invention. Various omissions, substitutions, and modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A fruit-collecting mechanism for use in orchard harvesting, characterized in that: Includes a base frame, horizontal conveyor belt, skeleton, flexible fabric, storage components, dials, and flexible baffles; The base frame is used to secure the fruit picking equipment to its carrier; A horizontal conveyor belt is installed on a base frame, a skeleton is arranged around the horizontal conveyor belt, and a flexible fabric is installed on the skeleton. The flexible fabric is spread out around the horizontal conveyor belt, and the flexible fabric is set at an angle and its lowest point connects with the horizontal conveyor belt. The flexible fabric collects fruit falling from a height and guides the fruit to slide down to the horizontal conveyor belt. The storage component is mounted on the base frame and receives fruit from the horizontal conveyor belt; The dial is mounted on the base frame and located at the junction of the flexible fabric and the horizontal conveyor belt; the flexible baffle stands on the side of the horizontal conveyor belt and is located on the opposite side of the flexible fabric. The storage component includes a second support, a second storage box, and a second driver. The second support is fixed on the base frame and located at the end of the horizontal conveyor belt. The second storage box is placed on the second support, and the second driver is fixed on the second support. The second storage box includes a box body, a fabric, and a clamping strip. A horizontal groove is provided on one vertical side of the box body. One side of the fabric is fixed at the first included angle inside the box body. The other opposite side passes through the horizontal groove and is fitted with a clamping strip. A second driver drives the clamping strip to move to realize the unfolding and unfurling of the fabric. When the fabric is taut and unfolded, the fabric tilts inside the box body. The tilted fabric is used to catch the fruit falling from the horizontal conveyor belt. A weight bar is installed in the middle of the spread-out fabric; An elastic rope is installed inside the box. One end of the elastic rope is connected to a weight bar, and the other end is connected to a second included angle inside the box. The second included angle is opposite to the first included angle.

2. The fruit-collecting mechanism applied to orchard harvesting according to claim 1, characterized in that: The second actuator is a pneumatic cylinder or a hydraulic cylinder. The telescopic rod of the second actuator is provided with a hook tongue, and the clamping strip is provided with an outwardly protruding hook edge.

3. The fruit-collecting mechanism applied to orchard harvesting according to claim 2, characterized in that: The outer surface of the box is provided with an elastic clamping edge, and the clamping edge strip is provided with a wedge-shaped part, which is inserted into the elastic clamping edge.

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