A flying picking machine imitating a snake swallowing

Abstract

This invention relates to a flying berry-harvesting machine with a snake-like swallowing device, belonging to the field of berry-harvesting technology. It includes a flying vehicle and a storage box at the bottom of the vehicle. A swallowing mechanism is installed on one side of the storage box. An adjustable angle adjustment device is installed between the first and second flexible tubes. An elastic peristaltic tube is installed inside the second flexible tube. A fruit-peristaltic device is installed between the second flexible tube and the elastic peristaltic tube. A fruit-cutting device is installed at one end of the second flexible tube. This invention adjusts the elastic peristaltic tube through the swallowing mechanism's adjustment device, the peristaltic device, and the spinal adjustment device, simulating a phased, near-sinusoidal swallowing trajectory on the esophagus's surface. It can swallow berries of different diameters. The spinal adjustment device can assist in adjusting the first connecting ring, regulating the peristaltic movement of berries entering the elastic peristaltic tube into the storage box. No manual harvesting is required, resulting in high harvesting efficiency.

Description

Technical Field

[0001] This invention relates to the field of berry harvesting technology, specifically to a flying harvesting machine with a snake-like swallowing device. Background Technology

[0002] A berry is a soft, juicy, fleshy fruit that develops from the ovary or other floral parts. There are many types of berry trees, such as grapes, kiwifruit, raspberries, currants, blueberries, mulberries, figs, pomegranates, star fruit, sapodilla, papaya, guava, rose apple, and passion fruit. Currently, berry harvesting in China is almost entirely done manually. The short ripening period of berries means that untimely manual harvesting easily leads to fruit drop and waste. Furthermore, manual harvesting requires bending or squatting, resulting in high labor intensity, high costs, and low efficiency. Large self-propelled harvesting machines are expensive and unsuitable for berry farmers' harvesting operations. Summary of the Invention

[0003] The present invention aims to solve the above-mentioned technical problems by providing a flying harvesting machine with a snake-like swallowing device.

[0004] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0005] A flying harvesting machine with a snake-like swallowing device, comprising a flying vehicle and a storage box at the lower end of the flying vehicle;

[0006] A swallowing mechanism is installed on one side of the storage box;

[0007] The swallowing mechanism includes a first tubing and a second tubing inside the first tubing, and an adjustable angle adjustment device is installed between the first tubing and the second tubing;

[0008] The second flexible tube is equipped with an elastic peristaltic tube, and one end of the elastic peristaltic tube is connected to the storage box;

[0009] A peristaltic device for fruit peristalsis is installed between the second flexible tube and the elastic peristaltic tube;

[0010] One end of the second flexible tube is equipped with a cutting device for cutting fruit.

[0011] Preferably, the adjusting device includes a plurality of elastic spacer rings disposed between the first hose and the second hose, the elastic spacer rings having through holes, one end of the elastic spacer rings being fitted with a spring wire which extends through the through holes of the other elastic spacer rings into the storage box, and a spring being installed on the outside of the spring wire and between two elastic spacer rings.

[0012] Preferably, the storage box is equipped with a drive source for pulling the elastic cord, and the through holes are arranged in a circular array with the center line of the elastic spacer ring as the axis.

[0013] Preferably, the peristaltic device includes multiple sets of adjusting rings installed inside the second flexible tube, and multiple spinal adjustment devices are connected between two of the adjusting rings.

[0014] Preferably, the adjusting ring includes multiple sets of first connecting rings and second connecting rings. The first connecting ring consists of three sets of first movable rods and first movable arms hinged on both sides of the first movable rods. Adjacent sets of the first movable arms are hinged to form a first connecting ring. The second connecting ring consists of three sets of second movable rods and second movable arms hinged on both sides of the second movable rods. Adjacent sets of the second movable arms are hinged to form a second connecting ring, and the second movable arms are hinged to the middle of the first movable arms. Adjacent sets of the second movable arms are hinged to form a second connecting ring.

[0015] Preferably, a first telescopic rod is installed between the first movable rod and the second movable rod, and the telescopic end and bottom of the first telescopic rod are respectively hinged to the middle parts of the first movable rod and the second movable rod.

[0016] Preferably, the spinal adjustment device includes a second telescopic rod and a third movable plate hinged to the bottom of the second telescopic rod, a second flexible tube hinged to the telescopic end of the second telescopic rod, and a fourth movable plate hinged to both ends of the third movable plate. The other ends of the two fourth movable plates are respectively hinged to the middle of the first movable rod of two adjacent adjustment rings.

[0017] Preferably, the elastic peristaltic tube connects the inner sides of the first connecting ring and the second connecting ring.

[0018] Preferably, the cutting device includes a rotary motor disposed inside the second flexible tube, and a cutting blade is installed at the output end of the rotary motor and the cutting blade is located outside the second flexible tube.

[0019] With the above structure, the present invention has the following advantages:

[0020] This invention adjusts the elastic peristaltic tube through the adjustment device, peristaltic device, and spinal adjustment device of the swallowing mechanism, simulating the formation of a phased near-sinusoidal swallowing trajectory on the esophageal surface, which can swallow berries of different diameters. The spinal adjustment device can assist in the adjustment of the first connecting ring, and can adjust the peristalsis of the berries entering the elastic peristaltic tube into the storage box, eliminating the need for manual picking and improving picking efficiency.

[0021] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the installation of the adjusting device of the present invention;

[0025] Figure 3 This is an exploded view of the present invention;

[0026] Figure 4 This is a schematic diagram of the spinal adjustment device of the present invention;

[0027] Figure 5 This is a schematic diagram of the structure of the adjusting ring of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the first connecting ring of the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of the second connecting ring of the present invention.

[0030] As shown in the figure: 1. Aircraft; 2. Storage box; 3. First hose; 4. Second hose; 5. Adjustment device; 501. Elastic spacer ring; 502. Through hole; 503. Spring; 504. Elastic wire; 6. Elastic peristaltic tube; 7. Adjustment ring; 701. First connecting ring; 702. Second connecting ring; 703. First movable rod; 704. First movable arm; 705. Second movable rod; 706. Second movable arm; 707. First telescopic rod; 8. Spine adjustment device; 801. Second telescopic rod; 802. Third movable plate; 803. Fourth movable plate; 804. Fifth movable plate; 9. Cutting device; 901. Rotary motor; 902. Cutting blade. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] The present invention will now be described in further detail with reference to the full text.

[0034] Combined with appendix Figures 1-7 A flying harvesting machine with a snake-like swallowing device includes a flying vehicle 1 and a storage box 2 at the lower end of the flying vehicle 1. A swallowing mechanism is installed on one side of the storage box 2. An elastic peristaltic tube 6 is installed inside a second flexible tube 4, and one end of the elastic peristaltic tube 6 is connected to the storage box 2. The flying vehicle 1 is existing technology. A camera is installed on the flying vehicle 1. A camera is also installed on the side of the first flexible tube 3 near the cutting device 9. Berries are harvested by entering the storage box 2 through the swallowing mechanism. A switch door is installed at the lower end of the storage box 2 for taking out the berries in the storage box 2. The structural components of the swallowing mechanism are lightweight.

[0035] Specifically, the storage box 2 and the aircraft 1 are bolted together to achieve a detachable structure, and the swallowing mechanism can be disassembled by removing the storage box 2.

[0036] In specific implementations of this invention, such as Figure 2 and Figure 3 As shown, the swallowing mechanism includes a first flexible tube 3 and a second flexible tube 4 within the first flexible tube 3. An adjustable angle adjustment device 5 is installed between the first flexible tube 3 and the second flexible tube 4. The adjustment device 5 includes multiple elastic spacer rings 501 disposed between the first flexible tube 3 and the second flexible tube 4. Through holes 502 are formed on the elastic spacer rings 501. A spring wire 504 is installed at one end of each elastic spacer ring 501, and the spring wire 504 extends through the through holes 502 of the other elastic spacer rings 501 into the storage box 2. A spring 503 is installed outside the spring wire 504 and between two elastic spacer rings 501. A spring 503 is installed inside the storage box 2. There is a drive source for pulling the elastic wire 504. The through hole 502 is arranged in a circular array with the center line of the elastic spacer ring 501 as the axis. Specifically, the first hose 3 and the second hose 4 can be corrugated pipes or elastic pipes. The drive source can be an electric telescopic rod or a rotating motor installed in the storage box 2. The telescopic end of the electric telescopic rod is connected to the elastic wire 504. The rotating end of the rotating motor is equipped with a reel. The elastic wire 504 is wound on the reel. When the electric telescopic rod or the rotating motor is working, the elastic wire 504 can be pulled, causing the first hose 3 and the second hose 4 to swing. The elastic spacer ring 501 and the spring 503 are adjusted.

[0037] In specific implementations of this invention, such as Figure 2 and Figure 3 As shown, a peristaltic device for fruit peristalsis is installed between the second flexible tube 4 and the elastic peristaltic tube 6. The peristaltic device includes multiple sets of adjusting rings 7 installed inside the second flexible tube 4. Each adjusting ring 7 includes multiple sets of first connecting rings 701 and second connecting rings 702. The first connecting ring 701 consists of three sets of first movable rods 703 and first movable arms 704 hinged on both sides of the first movable rods 703. Adjacent sets of first movable arms 704 are hinged to form the first connecting ring 701. The second connecting ring 702 consists of three sets of second movable rods 705 and second movable arms 706 hinged on both sides of the second movable rods 705. Adjacent sets of second movable arms 706 are hinged to form the second connecting ring 702, and the second movable arms 706 are hinged to the middle of the first movable arms 704. Two sets of second movable arms 706 are hinged together to form a second connecting ring 702. A first telescopic rod 707 is installed between the first movable rod 703 and the second movable rod 705, and the telescopic end and bottom of the first telescopic rod 707 are respectively hinged to the middle of the first movable rod 703 and the second movable rod 705. When the first telescopic rod 707 extends, it will drive the position adjustment between the first movable rod 703 and the second movable rod 705, thereby driving the first movable arm 704 and the second movable arm 706 to move and adjust, thereby driving the elastic peristaltic tube 6 to exert inward or outward force. As the berry moves in the elastic peristaltic tube 6, the simulated esophagus will form a staged near-sinusoidal swallowing trajectory. At the same time, the surface of the elastic peristaltic tube 6 has high extensibility and high toughness, and can swallow berries of different diameters.

[0038] In specific implementations of this invention, such as Figures 1-3 As shown, a cutting device 9 for cutting fruit is installed at one end of the second flexible tube 4. The cutting device 9 includes a rotating motor 901 installed inside the second flexible tube 4. A cutting blade 902 is installed at the output end of the rotating motor 901 and the cutting blade 902 is located outside the second flexible tube 4. The rotating motor 901 drives the cutting blade 902 to rotate back and forth to perform a cutting action, which can cut the roots and stems of the berries that have just entered the elastic peristaltic tube 6.

[0039] Specifically, the elastic peristaltic tube 6 can be a tube made of elastic rope or a peristaltic tube made of elastic cloth.

[0040] In specific implementations of this invention, such as Figure 3 and Figure 4As shown, multiple spinal adjustment devices 8 are connected between the two adjustment rings 7. Each spinal adjustment device 8 includes a second telescopic rod 801, with a third movable plate 802 hinged to the bottom of the second telescopic rod 801. A second flexible tube 4 is hinged to the telescopic end of the second telescopic rod 801. A fourth movable plate 803 is hinged to both ends of the third movable plate 802. A fifth movable plate 804 is hinged between the telescopic end of the second telescopic rod 801 and the fourth movable plate 803. The other ends of the two fourth movable plates 803 are respectively hinged to two adjacent adjustment rings 7. The first movable rod 703 has three hinge points at its middle section and the extension end of the second telescopic rod 801. These hinges connect the second flexible hose 4 and the two fifth movable plates 804. Specifically, the spinal adjustment device 8 is configured in three groups. When the second telescopic rod 801 is working, it can drive the third movable plate 802 and the fifth movable plate 804 to adjust. The third movable plate 802 and the fourth movable plate 803 are hinged and adjusted to complete the auxiliary adjustment of the first connecting ring 701. This allows the berries entering the elastic peristaltic tube 6 to be adjusted and peristaltically moved into the storage box 2.

[0041] The elastic peristaltic tube 6 connects the inner sides of the first connecting ring 701 and the second connecting ring 702.

[0042] Working principle of the invention:

[0043] The aircraft 1 flies to the berry tree and observes the position of the berries through a camera. The berries are brought close and enter the elastic peristaltic tube 6. When the first telescopic rod 707 of the peristaltic device extends, it will drive the position adjustment between the first movable rod 703 and the second movable rod 705, thereby driving the first movable arm 704 and the second movable arm 706 to move and adjust. This will drive the elastic peristaltic tube 6 to exert inward or outward force. As the berries move in the elastic peristaltic tube 6, the second telescopic rod 801 of the spinal adjustment device 8 will work, which can drive the third movable plate 802 and the fifth movable plate 804 to adjust. The third movable plate 802 and the fourth movable plate 803 are hinged to adjust the first connecting ring 701. This can adjust the peristaltic movement of the berries that have entered the elastic peristaltic tube 6 into the storage box 2. The simulated esophagus will form a staged near-sinusoidal swallowing trajectory. At the same time, the surface of the elastic peristaltic tube 6 has high extensibility and high toughness, which can swallow berries of different diameters.

[0044] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A flying picking machine imitating a snake's swallowing device, characterized in that, The utility model relates to an aircraft (1) and a storage box (2) at the lower end of the aircraft (1). The storage box (2) is provided with a swallowing mechanism on one side. The swallowing mechanism comprises a first hose (3) and a second hose (4) in the first hose (3), and an angle-adjustable adjusting device (5) is arranged between the first hose (3) and the second hose (4). The second hose (4) is provided with an elastic peristaltic tube (6) at one end, and the elastic peristaltic tube (6) is connected to the storage box (2). A peristaltic device for fruit peristalsis is arranged between the second hose (4) and the elastic peristaltic tube (6). One end of the second hose (4) is provided with a cutting device (9) for cutting fruits. The peristaltic device comprises a plurality of adjusting rings (7) arranged in the second hose (4), and a plurality of spine adjusting devices (8) are connected between two adjusting rings (7). The adjusting ring (7) comprises a plurality of first connecting rings (701) and second connecting rings (702), the first connecting ring (701) comprises three groups of first movable rods (703) and first movable arms (704) hinged on both sides of the first movable rods (703), and the first connecting ring (701) is formed by hinging two adjacent groups of first movable arms (704), the second connecting ring (702) is formed by three groups of second movable rods (705) and second movable arms (706) hinged on both sides of the second movable rods (705), and the second connecting ring (702) is formed by hinging two adjacent groups of second movable arms (706), and the second movable arms (706) are hinged in the middle of the first movable arms (704), and the second connecting ring (702) is formed by hinging two adjacent groups of second movable arms (706). The spine adjusting device (8) comprises a second telescopic rod (801) and a third movable plate (802) hinged at the bottom of the second telescopic rod (801), the telescopic end of the second telescopic rod (801) is hinged to the second hose (4), both ends of the third movable plate (802) are hinged to fourth movable plates (803), the telescopic end of the second telescopic rod (801) and the fourth movable plates (803) are hinged to a fifth movable plate (804), and the other ends of the two fourth movable plates (803) are respectively hinged to the middle of the first movable rods (703) of two adjacent adjusting rings (7).

2. A flying picking machine imitating a snake's swallowing action according to claim 1, characterized in that: The adjusting device (5) comprises a plurality of elastic spacing rings (501) arranged between the first hose (3) and the second hose (4), a through hole (502) is formed in the elastic spacing ring (501), a spring (503) is arranged on the outer side of the elastic line (504) and between two elastic spacing rings (501).

3. A flying picking machine imitating a snake's swallowing action according to claim 2, characterized in that: A driving source is arranged in the storage box (2) to pull the elastic line (504), and the through hole (502) is circularly arranged around the center line of the elastic spacing ring (501).

4. A flying picking machine imitating snake swallowing food device according to claim 1, characterized in that: The first movable rod (703) and the second movable rod (705) are provided with a first telescopic rod (707), and the telescopic end and the bottom of the first telescopic rod (707) are respectively hinged to the middle part of the first movable rod (703) and the second movable rod (705).

5. A flying picking machine imitating snake swallowing food device according to claim 1, characterized in that: The elastic peristaltic tube (6) is connected to the inner side of the first connecting ring (701) and the second connecting ring (702).

6. A flying picking machine imitating a snake's swallowing action according to claim 1, characterized in that: The cutting device (9) comprises a rotating motor (901) arranged in the second hose (4), and the output end of the rotating motor (901) is provided with a cutting blade (902), and the cutting blade (902) is located on the outer side of the second hose (4).

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