Non-shielding type fruit lossless picker

Abstract

The invention relates to a non-shielding type fruit lossless picker which comprises a handheld rod, a fruit shear and a fruit gripper are arranged at the top end of the handheld rod, and a shear opening and closing control mechanism and a gripper opening and closing control mechanism are arranged at the bottom end of the handheld rod. The fruit picking manipulator can adapt to fruit picking in an orchard with complex terrains and numerous branches, stable grabbing of fruits can be achieved through the manipulator with the flexible fingers, the skin of the fruits is not damaged, and the economic value of the fruits is protected; the size of the opening and closing angle of the fruit gripper at the tail end can be controlled by adjusting the round protruding part on the shell in a sliding mode, fruits of different sizes and shapes can be stably enveloped and grabbed, the scissor installation base and the gripper installation base are both in a V shape, and the operation view cannot be affected during picking operation; the fruit stem scissors can cut off stems at the upper ends of the stone fruits after stable grabbing, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to a non-shielding type non-destructive fruit picker, and relates to the technical field of fruit picking. Background Art

[0002] In modern agricultural practice, fruit picking is a labor-intensive and technically demanding process. Especially in mountain orchards, the complex terrain and tall trees make traditional manual picking not only inefficient, but also put a heavy burden on workers' health. Although picking robots have shown potential in certain scenarios, their application is greatly limited in mountainous environments with complex terrain and high operating costs. In addition, many fruit trees grow very tall, with dense branches and leaves and tough fruit stalks, which makes it particularly difficult to pick fruits from high places. Traditional fruit pickers are prone to scratching the fruit skin due to improper operation, thus affecting the quality and market value of the fruit.

[0003] In order to solve these problems, the present invention proposes a novel fruit picking device. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a non-blocking non-destructive fruit picker.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a non-obstructed non-destructive fruit picker, including a hand-held rod, the top of which is provided with fruit scissors and a fruit gripper, and the bottom of which is provided with a scissors opening and closing control mechanism and a gripper opening and closing control mechanism.

[0006] Preferably, the fruit grabber is located directly below the fruit scissors, and the fruit grabber consists of a left flexible finger and a right flexible finger.

[0007] Preferably, the left and right flexible fingers each comprise a flexible ring that gradually widens from front to back, and a plurality of flexible ribs are fixedly arranged at intervals inside the flexible ring.

[0008] Preferably, the adjacent side walls of the flexible rings of the left and right flexible fingers are right-angled edges, the outer side walls of the flexible rings of the left and right flexible fingers are arc-shaped edges, the length direction of the flexible ribs is left-right, and multiple flexible ribs are spaced apart in the front-to-back direction.

[0009] Preferably, the top end of the hand-held rod is fixedly connected to a scissors mounting seat and a gripper mounting seat, the front end of the scissors mounting seat is fixedly connected to a scissors adapter base plate, and the front end of the gripper mounting seat is fixedly connected to a gripper adapter base plate; two pins are symmetrically fixedly provided on the scissors adapter base plate, the scissors are composed of a left blade body and a right blade body, and the middle and rear parts of the left and right blade bodies are both provided with oblique grooves, and the pins are embedded in the oblique grooves on the same side, wherein the rear ends of the left and right blade bodies are hinged to each other via a pin shaft, the top end of the pin shaft is fixedly connected to a first L-shaped bent handle, and the bottom end of the pin shaft is fixedly connected to a first slider, and the first slider cooperates with the first front and rear slide grooves on the bottom surface of the scissors adapter base plate; A second front and rear slide groove is provided in the middle of the top surface of the gripper adapter substrate, and a second slider is provided on the second front and rear slide groove. A second L-shaped bent handle is fixedly connected to the rear side of the second slider, and parallelogram linkage assemblies are symmetrically provided on the left and right sides of the front side of the second slider. The parallelogram linkage assemblies include two long parallel links hinged on the second slider, and the outer ends of the two long parallel links are hinged on a short link, and a third slider is fixedly connected below the hinge axis of the short link and the long link, and the third slider is located in the left and right slide grooves opened on the top surface of the gripper adapter substrate, and the front end of the short link is fixedly connected to the rear end of the flexible finger on the same side.

[0010] Preferably, the structures of the scissors opening and closing control mechanism and the gripper opening and closing control mechanism are exactly the same, and both include a control end, a steel wire rope, and an angle converter, wherein the control end is located at the bottom end of the handle, and the angle converter is located inside the scissors mounting seat and the gripper mounting seat, respectively, and the steel wire rope connects the control end and the angle converter.

[0011] Preferably, the angle converter includes a rotating gear, one side of the rotating gear is meshed with a helical rack in an inclined state, and the other side of the rotating gear is meshed with a straight rack in a horizontal state; wherein, the first L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide-fit in the front and rear straight grooves inside the scissors mounting seat, a spring is connected between the rear ends of the scissors mounting seat and its corresponding straight rack, the second L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide-fit in the front and rear straight grooves inside the gripper mounting seat, a spring is connected between the rear ends of the gripper mounting seat and its corresponding straight rack, the scissors mounting seat and the rear ends of the helical racks on the gripper mounting seat are both tied and connected with the corresponding steel wire ropes, and the bevel guide groove inside the scissors mounting seat slides with the corresponding bevel rack, and the bevel guide groove inside the gripper mounting seat slides with the corresponding bevel rack.

[0012] Preferably, the control end includes an adjustment shell fixedly connected to the hand-held rod, and an adjustment groove parallel to the inclined guide groove is arranged inside the adjustment shell. An adjustment slider is slidably fitted on the adjustment groove, and the adjustment slider is tied and connected with the corresponding steel wire rope.

[0013] Preferably, the outer side of the adjustment shell is provided with an adjustment opening which is connected with the interior thereof, the length direction of the adjustment opening is parallel to the adjustment groove, and one side of the adjustment opening is provided with a plurality of gear notches in the shape of barbs at intervals along its length direction, the lower end of the gear notch is smoothly connected with the side wall of the adjustment opening, an adjustment handle is hinged on the adjustment slider, a torsion spring is provided on the hinge axis of the adjustment handle and the adjustment slider, and a circular convex portion is hinged on the outer end portion of the adjustment handle for engaging with the gear notch under the torsion force of the torsion spring.

[0014] Preferably, the hinge shaft portion of the adjusting handle and the adjusting slider protrudes from the surface of the adjusting slider, and a first notch and a second notch are arranged at intervals on the periphery of the hinge shaft, and an L-shaped elastic paddle is arranged on the side of the adjusting handle, the long end of the elastic paddle is fixed to the adjusting slider, and the short end of the elastic paddle is used to abut against the first notch, or the second notch, or the periphery of the hinge shaft between the first and second notches under the action of its own elasticity.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the non-blocking non-destructive fruit picker has a fruit scissors and a fruit gripper, the fruit gripper is composed of a left flexible finger and a right flexible finger, the left and right flexible fingers both include a flexible ring that gradually widens from front to back, and a plurality of flexible ribs are fixedly arranged inside the flexible ring. When grasping and clamping the fruit, it can be deformed to adapt to different fruit shapes, has good envelopment for fruits of different sizes and shapes, can realize stable grasping of the fruit, and can prevent scratching of the fruit skin; it will not block the line of sight when picking the fruit.

[0016] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.

[0018] Figure 2 A schematic diagram of the local structure of an embodiment of the present invention Figure 1 .

[0019] Figure 3 A schematic diagram of the local structure of an embodiment of the present invention Figure 2 .

[0020] Figure 4 A schematic diagram of the local structure of an embodiment of the present invention Figure 3 . DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0024] like Figures 1 to 4 As shown, this embodiment provides a non-obstructed non-destructive fruit picker, including a hand-held rod 1, the top of which is provided with fruit scissors 2 and a fruit gripper 3, and the bottom of which is provided with a scissors opening and closing control mechanism 4 and a gripper opening and closing control mechanism 5.

[0025] In the embodiment of the present invention, the fruit gripper is located directly below the fruit scissors, and the fruit gripper is composed of a left flexible finger 6 and a right flexible finger 7 .

[0026] In the embodiment of the present invention, the left and right flexible fingers both include a flexible ring 8 that gradually widens from front to back, and a plurality of flexible ribs 9 are fixedly arranged inside the flexible ring.

[0027] In an embodiment of the present invention, the adjacent side walls of the flexible rings of the left and right flexible fingers are right-angled edges, the outer side walls of the flexible rings of the left and right flexible fingers are arc-shaped edges, the length direction of the flexible ribs is left and right, and multiple flexible ribs are arranged at intervals along the front and back directions.

[0028] In the embodiment of the present invention, the top of the hand-held rod is fixedly connected with a scissors mounting seat 10 and a gripper mounting seat 11, the front end of the scissors mounting seat is fixedly connected with a scissors adapter substrate 12, and the front end of the gripper mounting seat is fixedly connected with a gripper adapter substrate 13; two pins 14 are symmetrically fixedly provided on the scissors adapter substrate, and the scissors are composed of a left blade body and a right blade body. The middle and rear parts of the left and right blade bodies are both provided with oblique grooves 15, and the pins are embedded in the oblique grooves on the same side, wherein the rear ends of the left and right blade bodies are hinged to each other through a pin shaft, the top end of the pin shaft is fixedly connected with a first L-shaped bent handle 16, and the bottom end of the pin shaft is fixedly connected with a first slider 17, and the first slider is connected to the first front and rear slide grooves 15 on the bottom surface of the scissors adapter substrate. 8; a second front and rear slide groove 19 is provided in the middle of the top surface of the gripper adapter substrate, a second slider 20 is provided on the second front and rear slide groove, a second L-shaped bent handle 21 is fixedly connected to the rear side of the second slider, and parallelogram linkage assemblies are symmetrically provided on the left and right sides of the front side of the second slider, and the parallelogram linkage assemblies include two long parallel links 22 hinged on the second slider, the outer ends of the two long parallel links are hinged on a short link 23, and a third slider 24 is fixedly connected below the hinge axis of the short link and the long link, the third sliders are located in the left and right slide grooves 25 opened on the top surface of the gripper adapter substrate, and the front ends of the short links are fixedly connected to the rear ends of the flexible fingers on the same side.

[0029] In the embodiment of the present invention, the scissor mounting seat and the gripper mounting seat are both V-shaped.

[0030] In an embodiment of the present invention, the structures of the scissors opening and closing control mechanism and the gripper opening and closing control mechanism are exactly the same, and both respectively include a control end, a steel wire rope 26, and an angle converter, wherein the control end is located at the bottom end of the hand-held rod, and the angle converter is respectively located inside the scissors mounting seat and inside the gripper mounting seat, and the steel wire rope connects the control end and the angle converter.

[0031] In an embodiment of the present invention, the hand-held rod is a hollow rod, and a steel wire rope of the grip opening and closing control mechanism passes through it.

[0032] In an embodiment of the present invention, the angle converter includes a rotating gear 27, one side of which is meshed with a bevel rack 28 in an inclined state, and the other side of the rotating gear is meshed with a straight rack 29 in a horizontal state; wherein, the first L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide in the front and rear straight grooves inside the scissors mounting seat, and a spring 30 is connected between the rear ends of the scissors mounting seat and its corresponding straight rack, the second L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide in the front and rear straight grooves inside the gripper mounting seat, and a spring is connected between the rear ends of the gripper mounting seat and its corresponding straight rack, the scissors mounting seat and the rear ends of the bevel racks on the gripper mounting seat are both tied and connected with the corresponding steel wire ropes, and the bevel guide groove inside the scissors mounting seat slides with the corresponding bevel rack, and the bevel guide groove inside the gripper mounting seat slides with the corresponding bevel rack.

[0033] In the embodiment of the present invention, the control end includes an adjustment shell 31 fixedly connected to the hand-held rod, and an adjustment groove 32 parallel to the inclined guide groove is arranged inside the adjustment shell. An adjustment slider 33 is slidably fitted on the adjustment groove, and the adjustment slider is tied and connected with the corresponding steel wire rope.

[0034] In the embodiment of the present invention, the outer side of the adjustment shell is provided with an adjustment opening 34 which is connected with the interior thereof, the length direction of the adjustment opening is parallel to the adjustment groove, and one side of the adjustment opening is provided with a plurality of gear notches 35 in the shape of barbs at intervals along its length direction, the lower end of the gear notch is smoothly connected with the side wall of the adjustment opening, an adjustment handle 36 is hinged on the adjustment slider, a torsion spring is provided on the hinge shaft between the adjustment handle and the adjustment slider, and a circular protrusion 37 is hinged on the outer end of the adjustment handle for engaging with the gear notch under the torsion force of the torsion spring.

[0035] In the embodiment of the present invention, the hinge shaft portion of the adjusting handle and the adjusting slider protrudes from the surface of the adjusting slider, and a first notch 38 and a second notch 39 are arranged at intervals on the protruding periphery of the hinge shaft. An L-shaped elastic paddle 40 is arranged on the side of the adjusting handle, and the long end of the elastic paddle is fixed to the adjusting slider, and the short end of the elastic paddle is used to abut against the first notch, or the second notch, or the protruding periphery of the hinge shaft between the first and second notches under the action of its own elasticity.

[0036] In an embodiment of the present invention, the working method of the non-blocking non-destructive fruit picker is: In the initial state, the fruit scissors are closed, the fruit gripper is closed, the round convex parts of the control ends of the fruit scissors and the fruit gripper are both embedded in the bottom gear notch, and the springs inside the scissors and gripper mounting seats are in a stretched state.

[0037] S1: After the picker is aimed at the fruit, the control end of the fruit scissors and the fruit gripper is manually operated. When the convex part of the fruit gripper disengages from the bottom gear notch and slides upward with the adjusting slider, the fruit gripper gradually opens; when the convex part of the fruit scissors disengages from the bottom gear notch and slides upward with the adjusting slider, the fruit scissors gradually open; when the convex part of the control end of the fruit scissors and the fruit gripper is embedded in one of the top gear notches, the fruit gripper and the fruit scissors remain in the open state.

[0038] S2: Then, grab the fruit first, aim the left and right flexible fingers at the fruit, and then manually operate the convex part of the fruit gripper to disengage the gear gap and slide down to the bottom along the adjustment slider. At this time, the left and right flexible fingers are closed, and can be deformed to adapt to different fruit shapes when grabbing the fruit. It has good enveloping properties for fruits of different sizes and shapes, can achieve stable grasping of the fruit, and can prevent scratching the fruit's skin.

[0039] Then, the convex part is manually operated to move slightly upward, and the convex part is re-engaged in the gear gap at the bottom to achieve the gripping and holding of the fruit.

[0040] The reason why the convex part of the fruit gripper should first slide to the bottom and then move slightly upward to be embedded in the bottom gear gap is that this operation can make the left and right flexible fingers fully deform, while ensuring the stability of the grip and clamping, it has better envelopment.

[0041] S3: Then, cut the fruit stalk again, manually operate the convex part of the fruit scissors to disengage the gear gap and slide down to the bottom along with the adjustment slider, and then the scissors close to cut the fruit stalk.

[0042] Then, the convex part is manually operated to move slightly upward, and the convex part is re-engaged in the gear gap at the bottom to achieve the closed reset of the scissors.

[0043] In the initial state, the convex parts of the control ends of the fruit scissors and the fruit gripper are deflected toward the gear notch under the torsion of the torsion spring, and are both embedded in the bottom gear notch. At this time, the short ends of the elastic paddles are pressed against the first notch, which can work together with the torsion spring to provide a greater deflection force toward the gear notch, thereby preventing the convex parts from easily disengaging from the gear notch without manual operation.

[0044] In step S2, when the convex part of the fruit gripper disengages from the gear notch and slides downward to the bottom along with the adjusting slider, in this process the short end of the elastic paddle first disengages from the first notch, then passes through the protruding periphery of the hinge shaft between the first and second notches, and finally presses on the second notch, which can work together with the torsion spring to provide a greater deflection force toward the gear notch side, thereby ensuring that the convex part is always in close contact with the side wall of the adjusting opening.

[0045] In step S3, when the convex part of the scissors gripper disengages from the gear notch and slides downward to the bottom along with the adjusting slider, in this process the short end of the elastic paddle first disengages from the first notch, then passes through the protruding periphery of the hinge shaft between the first and second notches, and finally presses on the second notch, which can work together with the torsion spring to provide a greater deflection force toward the gear notch side, thereby ensuring that the convex part is always in close contact with the side wall of the adjusting opening.

[0046] The present invention can adapt to fruit picking in orchards with complex terrain and numerous branches. The manipulator with flexible fingers can stably grasp the fruit without damaging the fruit skin, thereby protecting the economic value of the fruit. The opening and closing angle of the fruit gripper at the end can be controlled by sliding the convex portion on the shell, so that fruits of different sizes and shapes can be stably enveloping and grasped. The shapes of the scissor mounting seat and the gripper mounting seat are both V-shaped, so that the fruit scissors, the fruit gripper and the hand-held rod are at a certain angle, so that the operation field of view is not affected during the picking operation, the picking efficiency is improved, and the possibility of misoperation is reduced. The fruit handle scissors can cut off the stem of the upper end of the stone fruit after stable grasping, thereby improving the picking efficiency.

[0047] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A non-blocking fruit non-destructive picker, characterized in that: The utility model comprises a hand-held rod, the top end of which is provided with fruit scissors and a fruit gripper, and the bottom end of which is provided with a scissors opening and closing control mechanism and a gripper opening and closing control mechanism.

2. The non-blocking fruit non-destructive picker according to claim 1 is characterized in that: The fruit gripper is located directly below the fruit scissors, and the fruit gripper consists of a left flexible finger and a right flexible finger.

3. The non-blocking fruit non-destructive picker according to claim 2 is characterized in that: The left and right flexible fingers both include a flexible ring that gradually widens from front to back, and a plurality of flexible ribs are fixedly arranged inside the flexible ring.

4. The non-blocking fruit non-destructive picker according to claim 3 is characterized in that: The adjacent side walls of the flexible rings of the left and right flexible fingers are right-angled edges, the outer side walls of the flexible rings of the left and right flexible fingers are arc-shaped edges, the length direction of the flexible ribs is left-right, and multiple flexible ribs are spaced apart in the front-back direction.

5. The non-blocking fruit non-destructive picker according to claim 2 is characterized in that: The top end of the hand-held rod is fixedly connected with a scissors mounting seat and a gripper mounting seat, the front end of the scissors mounting seat is fixedly connected with a scissors adapter substrate, and the front end of the gripper mounting seat is fixedly connected with a gripper adapter substrate; Two pins are fixedly arranged symmetrically on the left and right sides of the scissors transfer base plate. The scissors are composed of a left blade body and a right blade body. The middle and rear parts of the left and right blade bodies are provided with oblique grooves, and the pins are embedded in the oblique grooves on the same side. The rear ends of the left and right blade bodies are hinged to each other via a pin shaft. The top end of the pin shaft is fixedly connected with a first L-shaped bent handle, and the bottom end of the pin shaft is fixedly connected with a first slider, and the first slider cooperates with the first front and rear slide grooves on the bottom surface of the scissors transfer base plate; a second front and rear slide groove is provided in the middle of the top surface of the gripper transfer base plate, and a second A slider, a second L-shaped bent handle is fixedly connected to the rear side of the second slider, and parallelogram linkage assemblies are symmetrically arranged on the left and right sides of the front side of the second slider, and the parallelogram linkage assemblies include two long parallel links hinged on the second slider, the outer ends of the two long parallel links are hinged on a short link, and a third slider is fixedly connected below the hinge axis of the short link and the long link, and the third slider is located in the left and right slide grooves opened on the top surface of the gripper adapter substrate, and the front end of the short link is fixedly connected to the rear end of the flexible finger on the same side.

6. The non-blocking non-destructive fruit picker according to claim 5, characterized in that: The structures of the scissors opening and closing control mechanism and the gripper opening and closing control mechanism are exactly the same, and both include a control end, a steel wire rope, and an angle converter, wherein the control end is located at the bottom end of the handle, the angle converter is located inside the scissors mounting seat and the gripper mounting seat, respectively, and the steel wire rope connects the control end and the angle converter.

7. The non-blocking fruit non-destructive picker according to claim 6 is characterized in that: The angle converter includes a rotating gear, one side of which is meshed with a helical rack in an inclined state, and the other side of which is meshed with a straight rack in a horizontal state; wherein, the first L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide in the front and rear straight grooves inside the scissors mounting seat, a spring is connected between the rear ends of the scissors mounting seat and its corresponding straight rack, the second L-shaped bent handle and its corresponding straight rack are fixedly connected to each other and slide in the front and rear straight grooves inside the gripper mounting seat, a spring is connected between the rear ends of the gripper mounting seat and its corresponding straight rack, the scissors mounting seat and the rear ends of the helical racks on the gripper mounting seat are both tied and connected with the corresponding steel wire ropes, and the bevel guide groove inside the scissors mounting seat slides with the corresponding bevel rack, and the bevel guide groove inside the gripper mounting seat slides with the corresponding bevel rack.

8. The non-blocking fruit non-destructive picker according to claim 7 is characterized in that: The control ends all include an adjustment shell fixedly connected to a hand-held rod, an adjustment slot parallel to the oblique guide slot is provided inside the adjustment shell, an adjustment slider is slidably fitted on the adjustment slot, and the adjustment slider is tied and connected with a corresponding steel wire rope.

9. The non-blocking non-destructive fruit picker according to claim 8, characterized in that: The outer side of the adjustment shell is provided with an adjustment opening that is connected with the interior thereof, the length direction of the adjustment opening is parallel to the adjustment groove, and one side of the adjustment opening is provided with a plurality of gear notches in the shape of barbs at intervals along the length direction thereof, the lower end of the gear notch is smoothly connected with the side wall of the adjustment opening, an adjustment handle is hinged on the adjustment slider, a torsion spring is provided on the hinge shaft of the adjustment handle and the adjustment slider, and a round convex portion is hinged on the outer end of the adjustment handle for engaging with the gear notch under the torsion of the torsion spring.

10. The non-shielding non-destructive fruit picker according to claim 9, characterized in that: The hinge shaft portion of the adjusting handle and the adjusting slider protrudes from the surface of the adjusting slider, and a first notch and a second notch are arranged at intervals on the circumference of the hinge shaft. An L-shaped elastic paddle is arranged on the side of the adjusting handle, and the long end of the elastic paddle is fixed to the adjusting slider, and the short end of the elastic paddle is used to abut against the first notch, or the second notch, or the circumference of the hinge shaft between the first and second notches under the action of its own elasticity.

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