Intelligent agricultural fruit picking device for fruit trees

Abstract

The invention discloses an intelligent agricultural fruit tree fruit picking device, and relates to the technical field of intelligent agriculture, the intelligent agricultural fruit tree fruit picking device comprises an extension rod, one end of the extension rod is provided with a circular ring, the annular surface of the circular ring is wrapped with a net bag, the net bag is internally provided with multiple layers of horn bags, and the opening of each horn bag is provided with a contraction pull belt; a plurality of connecting drawstrings are arranged on the annular surface of the contraction drawstring, and the ends, away from the contraction drawstring, of the connecting drawstrings are connected with the contraction drawstring below. By arranging the multiple layers of horn bags in the net bag and connecting the multiple layers of horn bags through the contraction drawstring and the connecting drawstring, when fruits start to fall off from the bottommost layer of the net bag, the horn bags above the fruits are contracted under the pulling of the gravity of the fruits and the extrusion of the volume of the fruits on the connecting drawstring, and the fruits fall off from the bottom layer of the net bag. Therefore, the subsequently fallen fruits are not in contact with the fruits in the net bag, and the damage risk in the fruit picking process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agriculture, and particularly to a fruit picking device for fruit trees in intelligent agriculture. Background Art

[0002] When the fruits are ripe, they need to be picked. For fruits such as apples and pears, the picking method is to pick and collect them manually. In order to improve the intelligence of fruit collection and reduce the difficulty of picking fruits, in the prior art, an electric push rod is installed in a net bag, and a cutter is installed at the movable end of the electric push rod. The electric push rod is used to push the cutter to cut off the branches, pick the fruits and collect them into the net bag. At the same time, in order to avoid damaging the fruits during the cutting process, a camera is also installed on the cutter to observe the relative position between the cutter and the fruits.

[0003] However, during the use of the net bag, the fruits piled up in the net bag are likely to collide with the fruits that fall into the net bag and cause damage. Since farmers generally plant a large area of fruit trees, observing the camera for a long time is likely to cause eye fatigue. Summary of the Invention

[0004] The purpose of the present invention is to provide a fruit picking device for fruit trees in intelligent agriculture to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A fruit picking device for fruit trees in intelligent agriculture includes an extension rod. One end of the extension rod is installed with a ring, and the annular surface of the ring is wrapped with a net bag. Multiple layers of horn-shaped bags are arranged in the net bag. A contraction drawstring is arranged at the opening of the horn-shaped bag. Multiple connecting drawstrings are arranged on the annular surface of the contraction drawstring, and the end of the connecting drawstring far away from the contraction drawstring is connected to the lower contraction drawstring.

[0006] Further, an installation block is installed at one end of the extension rod close to the ring on the annular surface of the extension rod. An electric push rod is installed on the installation block. A pushing block is installed at the movable end of the electric push rod. The pushing block is in sliding contact with the extension rod. A cutter is installed on the side of the pushing block far away from the electric push rod. The cutter is arranged above the ring.

[0007] Further, a pulling rope is installed on the side of the pushing block far away from the ring. The end of the pulling rope far away from the pushing block is connected to the connecting drawstring closest to the ring.

[0008] Further, a groove is opened on the side of the pushing block facing the ring. An inclined block is inserted into the groove. The inclined block is in sliding contact with the lower surface of the cutter. An elastic member is installed at one end of the inclined block in the groove. The end of the elastic member far away from the inclined block is installed in the groove. An inductor is installed in the groove. Induction rods penetrating the inclined block are installed at both ends of the inductor.

[0009] Further, a handrail is installed on the circumferential surface of the end of the extension rod away from the ring, and a control switch for controlling the extension or contraction of the electric push rod is installed on the handrail.

[0010] Further, an annular cylinder is sleeved on the circumferential surface of the end of the extension rod close to the ring, and a first connecting rope connected to the bottom of the net bag is arranged on the annular cylinder.

[0011] Further, a chute is formed on the circumferential surface of the extension rod close to the ring, a slider is slidably connected in the chute, one end of the slider away from the chute is connected to the annular cylinder, a transverse groove is formed on the circumferential surface of the end of the extension rod away from the ring, a plurality of round holes are formed in the transverse groove, a pulling member is inserted in the round holes, and the pulling member is connected to the annular cylinder.

[0012] Further, the pulling member includes a pulling rod inserted in the round hole, a second connecting rope is installed on one side of the pulling rod facing the annular cylinder, and one end of the second connecting rope away from the pulling rod is connected to the annular cylinder.

[0013] Further, a through opening is formed on the side of the net bag away from the ring, and a binding rope is wound around the through opening.

[0014] Further, a plurality of straps are installed on the circumferential surface of the end of the extension rod away from the ring. Beneficial effects

[0015] 1. By arranging multiple layers of horn-shaped bags in the net bag and connecting the multiple layers of horn-shaped bags through contraction drawstrings and connecting drawstrings, when fruits start to fall from the bottom layer of the net bag, under the pulling of the gravity of the fruits and the extrusion of the volume of the fruits themselves on the connecting drawstrings, the horn-shaped bags above the fruits contract, so that the subsequent fallen fruits will not contact the fruits in the net bag, thereby reducing the risk of damage during fruit picking.

[0016] 2. By arranging an annular cylinder on the circumferential surface of the extension rod and then connecting the bottom of the net bag to the annular cylinder through the first connecting rope, when fruits fall into the net bag, the net bag is stretched, but the length of the first connecting rope is fixed. Therefore, the fruits falling into the net bag will tilt towards the annular cylinder, reducing the downward acting force on the support extension rod. And then connecting the annular cylinder to the pulling rod through the second connecting rope, adjusting the pulling rod in different round holes to make the net bag fit the extension rod better and at the same time reducing the shaking amplitude when the net bag moves, making it easier to move the extension rod.

[0017] In the present invention, the inclined block first contacts the fruit. Since the fruit has a large area, it can contact two induction rods simultaneously, enabling the sensor to sense the fruit signal and prompting the farmer to raise the height of the circular ring, allowing the fruit to enter the net pocket. When the height of the fruit decreases, the inclined block contacts the branch, and the branch cannot contact the two induction rods simultaneously. At this time, the inclined block moves into the groove under the support of the branch, and the cutter gradually contacts the branch and cuts it off, thus preventing the fruit from contacting the cutter and being damaged.

[0018] 4. In the present invention, the contraction strap closest to the circular ring is connected to the pushing block through a pulling rope. When the pushing block cuts the fruit and the branch under the drive of the extending movable end of the electric push rod, the pushing block moves towards the center of the circular ring, driving the pulling rope to move towards the center of the circular ring. As a result, the pulling rope pulls the connecting strap, and the connecting strap tightens the contraction strap to contract, reducing the opening of the trumpet bag closest to the circular ring, thereby buffering the falling fruit and reducing the probability of direct contact between the falling fruit and the fruit in the net pocket. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of a fruit picking device for fruit trees in intelligent agriculture according to the present invention; Figure 2 is a fruit picking device for fruit trees in intelligent agriculture according to the present invention Figure 1 magnified schematic diagram of part A; Figure 3 is a fruit picking device for fruit trees in intelligent agriculture according to the present invention Figure 1 magnified schematic diagram of part B; Figure 4 is an assembly schematic diagram of the annular cylinder and the slider of a fruit picking device for fruit trees in intelligent agriculture according to the present invention; Figure 5 is an assembly schematic diagram of the cutter, the inclined block, and the pushing block of a fruit picking device for fruit trees in intelligent agriculture according to the present invention; Figure 6 is an assembly schematic diagram of the contraction strap, the connecting strap, and the trumpet bag when there is no fallen fruit in the net pocket of a fruit picking device for fruit trees in intelligent agriculture according to the present invention; Figure 7 is an assembly schematic diagram of the contraction strap, the connecting strap, and the trumpet bag when there is fallen fruit in the net pocket of a fruit picking device for fruit trees in intelligent agriculture according to the present invention; Figure 8 is an assembly schematic diagram of the contraction strap and the connecting strap of a fruit picking device for fruit trees in intelligent agriculture according to the present invention.

[0020] In the figure: 1. Extension rod; 2. Handrail; 3. Binding strap; 4. Chute; 5. Ring-shaped cylinder; 6. Electric push rod; 7. Mounting block; 8. Ring; 9. Mesh bag; 10. Binding rope; 11. First connecting rope; 12. Second connecting rope; 13. Pulling rod; 14. Round hole; 15. Horizontal groove; 16. Pushing block; 17. Cutting knife; 18. Pulling rope; 19. Inclined block; 20. Inductive rod; 21. Elastic member; 22. Horn-shaped bag; 23. Contracting pull strap; 24. Connecting pull strap; 25. Slide block; 26. Inductor. Detailed implementation manner

[0021] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solutions of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0023] Please refer to Figures 1 to 8 , the fruit picking device for fruit trees in intelligent agriculture provided by the present invention includes an extension rod 1. One end of the extension rod 1 is installed with a ring 8. The ring surface of the ring 8 is wrapped with a mesh bag 9. A plurality of layers of horn-shaped bags 22 are arranged in the mesh bag 9. A contracting pull strap 23 is arranged at the opening of the horn-shaped bag 22. A plurality of connecting pull straps 24 are arranged on the ring surface of the contracting pull strap 23. One end of the connecting pull strap 24 away from the contracting pull strap 23 is connected to the contracting pull strap 23 below, and the lowermost connecting pull strap 24 is connected to the bottom of the mesh bag 9.

[0024] The multi-layer horn-shaped bags 22 are connected by the contracting pull strap 23 and the connecting pull strap 24. When the fruits start to fall from the lowermost layer of the mesh bag 9, under the pulling of the fruit gravity and the extrusion of the fruit volume on the connecting pull strap 24, the horn-shaped bag 22 above the fruit contracts, so that the subsequent falling fruits will not contact the fruits in the mesh bag 9, thereby reducing the risk of damage during fruit picking.

[0025] One end of the extension rod 1 close to the ring 8 on the ring surface is installed with a mounting block 7. An electric push rod 6 is installed on the mounting block 7. The movable end of the electric push rod 6 is installed with a pushing block 16. The pushing block 16 is in sliding contact with the extension rod 1. A cutting knife 17 is installed on the side of the pushing block 16 away from the electric push rod 6. The cutting knife 17 is arranged above the ring 8.

[0026] The movable end of the electric push rod 6 extends and drives the pushing block 16 to move towards the circular ring 8, and drives the cutter 17 to move towards the circular ring 8, so as to cut the connection between the fruit and the branch entering the mesh bag 9.

[0027] A pulling rope 18 is installed on the side of the pushing block 16 away from the circular ring 8, and one end of the pulling rope 18 away from the pushing block 16 is connected to the connecting pulling belt 24 closest to the circular ring 8.

[0028] When the pushing block 16 cuts the connection between the fruit and the branch driven by the extension of the movable end of the electric push rod 6, the pushing block 16 moves towards the center of the circular ring 8, driving the pulling rope 18 to move towards the center of the circular ring 8. Then, the pulling rope 18 pulls the connecting pulling belt 24, and the connecting pulling belt 24 tightens the contraction pulling belt 23 to contract, reducing the opening of the horn bag 22 closest to the circular ring 8, thereby buffering the falling fruit and reducing the probability of direct contact between the falling fruit and the fruit in the mesh bag 9.

[0029] In some embodiments, a groove is formed on the side of the pushing block 16 facing the circular ring 8, and an inclined block 19 is inserted into the groove. The inclined block 19 is in sliding contact with the lower surface of the cutter 17. One end of the inclined block 19 in the groove is provided with an elastic member 21. The first elastic member 21 is a spring, and the first elastic member 21 is in a normal state. The end of the elastic member 21 away from the inclined block 19 is installed in the groove. Then, a sensor 26 is installed in the groove, and induction rods 20 penetrating the inclined block 19 are installed at both ends of the sensor 26.

[0030] In some specific embodiments, the above inclined block 19 can be made of a relatively soft material, and the inclined block 19 is used to contact the fruit first.

[0031] It should be noted that since the fruit has a large area, it can contact the two induction rods 20 at the same time, so that the sensor 26 senses the fruit signal, and prompts the farmer to raise the height of the circular ring 8 and make the fruit enter the mesh bag. When the height of the fruit decreases, the inclined block 19 contacts the branch, and the branch cannot contact the two induction rods 20 at the same time. At this time, the inclined block 19 moves into the groove under the resistance of the branch, and the cutter 17 gradually contacts the branch and cuts the branch, so as to avoid damage to the fruit caused by contact with the cutter 17.

[0032] A handrail 2 is installed on the circumferential surface of the extension rod 1 away from the circular ring 8, and a control switch for controlling the extension or contraction of the electric push rod 6 is installed on the handrail 2.

[0033] A circular cylinder 5 is sleeved on the circumferential surface of the extension rod 1 close to the circular ring 8, and a first connecting rope 11 connected to the bottom of the mesh bag 9 is arranged on the circular cylinder 5.

[0034] A slide groove 4 is provided on the side of the annular surface of the extension rod 1 close to the ring 8, and a slider 25 is slidably connected in the slide groove 4. The end of the slider 25 away from the slide groove 4 is connected to the annular tube 5. A transverse groove 15 is provided on the annular surface of the end of the extension rod 1 away from the ring 8. A plurality of circular holes 14 are provided in the transverse groove 15. A pulling rod 13 is inserted in the circular hole 14. A second connecting rope 12 is installed on the side of the pulling rod 13 facing the annular tube 5, and the end of the second connecting rope 12 away from the pulling rod 13 is connected to the annular tube 5.

[0035] It should be noted that when fruits fall into the net bag 9, the net bag 9 is stretched, but the length of the first connecting rope 11 is fixed. Therefore, the fruits that fall into the net bag 9 will tilt toward the annular tube 5, so that the downward force on the human arm supported by the extension rod 1 is reduced, and the annular tube 5 is connected to the pulling rod 13 through the second connecting rope 12, and the pulling rod 13 is adjusted in different circular holes 14 to make the net bag 9 fit the extension rod 1 more closely. At the same time, the shaking amplitude of the net bag 9 when moving is reduced, making it easier to move the extension rod 1.

[0036] A through opening is provided on one side of the net bag 9 away from the ring 8 , and a binding rope 10 is wound around the through opening. After the binding rope 10 is opened, the fruits can be taken out from the bottom of the net bag 9 in sequence.

[0037] A plurality of straps 3 are installed on the annular surface of one end of the extension rod 1 away from the ring 8 , and the extension rod 1 is fixed on the arm by means of the straps 3 , thereby facilitating the support of the extension rod 1 .

[0038] When using the intelligent agricultural fruit picking device for fruit trees, the extension rod 1 is first fixed to the arm by the strap 3, and the extension rod 1 is driven to move by the arm. After the ring 8 is moved under the fruit, the electric push rod 6 is started, and the movable end of the electric push rod 6 extends to drive the push block 16 to move toward the fruit in the ring 8. The movement of the push block 16 drives the inclined block 19 and the cutter 17 to move. When the inclined block 19 first contacts the fruit and then resists the fruit, the fruit moves into the net bag 9 until the resisting force on the inclined block 19 gradually increases and moves into the groove. At this time, the cutter 17 contacts the connection between the fruit and the branch and cuts it off, so that the fruit falls into the net bag 9.

[0039] After the first fruit falls into the bottom of the net bag 9, the net bag 9 stretches under the action of the gravity of the fruit, and uses its own volume to tighten the connecting drawstring 24, while expanding the space formed by multiple connecting drawstrings 24, so that the multiple connecting drawstrings 24 tighten the shrinkage drawstring 23, and after the shrinkage drawstring 23 is tightened, the opening of the trumpet bag 22 is closed, so that the subsequent falling fruits are caught by the trumpet bag 22 and will not come into contact with the fruits below, thereby reducing the damage caused by the fruit picking process.

[0040] When the fruit falls into the net bag 9, gravity will stretch the net bag 9. Since the net bag 9 is connected to the annular cylinder 5 through the first connecting rope 11, the bottom of the net bag 9 will be pulled and inclined towards the annular cylinder 5, thereby moving the center of gravity of the fruit to the side away from the ring 8 and reducing the effort required for the human arm to support the extension rod 1.

[0041] When it is necessary to move the extension rod 1 over a long distance during the picking process, adjust the pulling rod 13 to different circular holes 14, so as to drive the annular cylinder 5 to move away from the ring 8 through the second connecting rope 12. The movement of the annular cylinder 5 further pulls the net bag 9 to deflect away from the ring 8 through the first connecting rope 11, making the center of gravity of the fruit in the net bag 9 closer to the human arm support, reducing the effort consumed by the long-distance movement of the moving rod. At the same time, during the pulling process of the net bag 9, the shaking amplitude is reduced, further facilitating the movement of the fruit in the net bag 9.

[0042] When the fruit picking is completed, untie the binding rope 10 at the bottom of the net bag 9 and take out the fruits from the bottom of the net bag 9 in sequence.

[0043] The embodiments of the present invention are given for purposes of illustration and description, and are not exhaustive or limit the invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are chosen and described in order to better explain the principles of the invention and its practical application, and to enable those of ordinary skill in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A fruit picking device for fruit trees used in intelligent agriculture, characterized in that: It includes an extension rod, one end of which is equipped with a ring, the annular surface of the ring is wrapped with a net bag, a multi-layer horn bag is arranged in the net bag, a shrinkage drawstring is arranged at the opening of the horn bag, and a plurality of connecting drawstrings are arranged on the annular surface of the shrinkage drawstring, and one end of the connecting drawstring away from the shrinkage drawstring is connected to the shrinkage drawstring below.

2. The intelligent agricultural fruit picking device for fruit trees according to claim 1, characterized in that: A mounting block is installed at one end of the annular surface of the extension rod close to the ring, an electric push rod is installed on the mounting block, a pushing block is installed at the movable end of the electric push rod, the pushing block is in sliding contact with the extension rod, a cutter is installed on the side of the pushing block away from the electric push rod, and the cutter is arranged above the ring.

3. The intelligent agricultural fruit picking device for fruit trees according to claim 2, characterized in that: A pulling rope is installed on one side of the pushing block away from the circular ring, and one end of the pulling rope away from the pushing block is connected to the retractable connecting drawstring closest to the circular ring.

4. The intelligent agricultural fruit picking device for fruit trees according to claim 3, characterized in that: A groove is provided on the side of the pushing block facing the circular ring, an inclined block is inserted into the groove, the inclined block is in sliding contact with the lower surface of the cutter, an elastic member is installed at one end of the inclined block in the groove, the end of the elastic member away from the inclined block is installed in the groove, a sensor is installed in the groove, and sensing rods penetrating the inclined block are installed at both ends of the sensor.

5. The intelligent agricultural fruit picking device for fruit trees according to claim 4, characterized in that: A handrail is installed on the annular surface of one end of the extension rod away from the circular ring, and a control switch for controlling the extension or retraction of the electric push rod is installed on the handrail.

6. The intelligent agricultural fruit picking device for fruit trees according to claim 5, characterized in that: An annular tube is sleeved on one end of the annular surface of the extension rod close to the circular ring, and a first connecting rope connected to the bottom of the net bag is arranged on the annular tube.

7. The intelligent agricultural fruit picking device for fruit trees according to claim 6, characterized in that: A sliding groove is provided on the side of the annular surface of the extension rod close to the circular ring, a slider is slidably connected in the sliding groove, the end of the slider away from the sliding groove is connected to the annular tube, a transverse groove is provided on the annular surface of the end of the extension rod away from the circular ring, a plurality of circular holes are provided in the transverse groove, a pulling piece is inserted in the circular hole, and the pulling piece is connected to the annular tube.

8. The intelligent agricultural fruit picking device for fruit trees according to claim 7, characterized in that: The pulling member comprises a pulling rod which is inserted into the circular hole. A second connecting rope is installed on the side of the pulling rod facing the annular cylinder. An end of the second connecting rope away from the pulling rod is connected to the annular cylinder.

9. The intelligent agricultural fruit picking device for fruit trees according to claim 8, characterized in that: A through opening is provided on one side of the net bag away from the ring, and a binding rope is wound around the through opening.

10. The intelligent agricultural fruit picking device for fruit trees according to claim 9, characterized in that: A plurality of straps are installed on the annular surface of one end of the extension rod away from the circular ring.

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