Pull-push actuation type fruit picking and collecting integrated device

Abstract

The invention relates to a push-pull actuation type fruit picking and collecting integrated device which comprises an outer cylinder, an upper cover, an inner cylinder, a gripper, a push rod and a handle. The upper cover is coaxially connected to one end of the outer cylinder, and a central through hole and a plurality of mounting seats arranged around the central through hole are formed in the upper cover; the inner cylinder is slidably connected into the outer cylinder, and a plurality of driving rods are connected to the inner cylinder; the gripper comprises a plurality of phalanges, and each phalange is movably connected with one mounting seat and movably connected with the driving rod corresponding to the mounting seat; one end of the push rod is connected with the inner cylinder, and the other end extends out of the outer cylinder; the handle is connected to the outer cylinder. According to the device, through cooperative action of the inner barrel and the gripper, fruits directly fall into the inner barrel through the central through hole of the upper cover to be collected after being picked, scattering of the fruits is avoided, the manual picking link is omitted, interruption of the operation process and repeated labor are reduced, and the harvesting efficiency is remarkably improved; and the gripper adopts a flexible design, can fit the outline of the fruit, avoids extrusion damage, and ensures the quality of the fruit.

Description

Technical Field

[0001] This invention relates to the field of fruit picking technology, and in particular to an integrated device for picking and harvesting fruits using a pull-pull actuation mechanism. Background Technology

[0002] With the rapid development of agricultural mechanization and automation technologies, fruit harvesting, as a labor-intensive and time-sensitive key link in agricultural production, is receiving increasing attention. Achieving automated harvesting is of great significance for reducing labor intensity, improving operational efficiency, and ensuring fruit quality.

[0003] Currently, there are various types of fruit harvesting devices on the market, such as handheld harvesting shears, air-suction harvesting heads, vibrating harvesters, and automated harvesting robots based on machine vision. These devices have improved the mechanization level of harvesting operations to a certain extent and reduced some of the burden of manual harvesting.

[0004] However, most existing fruit pickers have a significant technical flaw: they typically focus only on completing the core action of "picking" (i.e., separating the fruit from the plant branches), and generally lack the functional design for effectively and simultaneously collecting the fruit after picking. This means that after using the picker to complete the fruit picking action, operators still need to frequently bend over or move around to manually pick up and collect the fruit scattered on the ground or in the container. This separation of the picking and collection processes causes interruptions in the work process and repetitive labor, which not only increases the labor intensity of workers, but also significantly reduces the overall harvesting efficiency. Summary of the Invention

[0005] Therefore, the technical problem to be solved by this invention is to overcome a significant technical defect in most existing fruit pickers: they usually only focus on completing the core action of "picking" (i.e., separating the fruit from the plant branches), and generally lack the functional design for effectively and synchronously collecting the fruit after picking. This means that after the operator completes the fruit picking action using the picker, they still need to frequently bend over or move around to manually pick up and collect the fruit scattered on the ground or in the container. This separation of the picking and collection process causes the interruption of the work process and repetitive labor, which not only increases the labor intensity of workers, but also significantly reduces the overall harvesting efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides a pull-pull actuation type fruit picking and harvesting integrated device, comprising, The outer cylinder is a cylindrical structure with openings at both ends; The upper cover is coaxially connected to one end of the outer cylinder. The upper cover has a central through hole coaxially opened on it, and multiple mounting seats are provided on the end face of the upper cover away from the outer cylinder, which are evenly spaced around the central through hole. The inner cylinder is a cylindrical structure with one end open. The inner cylinder is slidably connected to the outer cylinder. The open end of the inner cylinder faces the upper cover and is connected to a plurality of drive rods corresponding to the positions of each of the mounting seats. Each drive rod extends parallel to the axial direction of the outer cylinder into the through hole. The gripper includes multiple finger bones, each finger bone being movably connected to a mounting base and movably connected to a corresponding drive rod of the mounting base; A push rod, one end of which is coaxially connected to the end of the inner cylinder away from the top cover, and the other end extends to the outside of the outer cylinder; A handle, which is attached to the outer cylinder.

[0007] Preferably, a push plate coaxial with the outer cylinder is slidably connected in the outer cylinder. The push plate is located on the side of the inner cylinder away from the top cover. The push plate and the inner cylinder are connected by several connecting rods, and one end of the push rod is coaxially connected to the push plate.

[0008] Preferably, the handle is a round rod structure with an arc, one end of the handle is connected to the side of the outer cylinder, the other end of the handle extends to the side near the push rod, and the side of the handle is provided with anti-slip texture.

[0009] Preferably, the handle is connected to a guide ring coaxial with the push rod at one end, and the push rod passes through the guide ring.

[0010] Preferably, each of the mounting bases has two first connecting plates symmetrically connected to both sides, and the finger bone is rotatably connected to the two first connecting plates via a first pin. The end of the drive rod located in the central through hole is rotatably connected to two mutually symmetrical second connecting plates, and the finger bone is rotatably connected to the two second connecting plates via a second pin.

[0011] Preferably, the finger bone includes a base and a flexible phalanx. The base is provided with a first connecting hole and a second connecting hole. A first pin is provided in the first connecting hole, and the two ends of the first pin are rotatably connected to two first connecting plates. A second pin is provided in the second connecting hole, and the two ends of the second pin are rotatably connected to two second connecting plates. The flexible phalanx is connected to the base.

[0012] Preferably, the drive rod has a third connecting hole at one end in the central through hole, and a third pin is provided in the third connecting hole. The two ends of the third pin are respectively rotatably connected to the two second connecting plates.

[0013] Preferably, the inner wall of the central through hole is provided with a plurality of through slots for each of the drive rods to pass through.

[0014] Preferably, the side of each drive rod away from the inner wall of the outer cylinder is an arc surface.

[0015] Preferably, the top cover is made of a corrosion-resistant material.

[0016] Compared with the prior art, the above-described technical solution of the present invention has the following advantages: This invention discloses a pull-pull actuated fruit-harvesting integrated device. Through the coordinated action of the inner cylinder and the gripper, the harvested fruit falls directly into the inner cylinder through the central through-hole of the top cover for collection, preventing fruit scattering, eliminating manual picking, reducing workflow interruptions and repetitive labor, and significantly improving harvesting efficiency. Furthermore, the gripper features a flexible finger design that conforms to the contours of the fruit and avoids crushing damage, ensuring fruit quality. The entire device has a simple structure, is easy to install and use, and is highly practical. Attached Figure Description

[0017] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a perspective view of a preferred embodiment of the integrated fruit-picking and harvesting device with a push-pull action according to the present invention; Figure 2 This is an exploded view of a preferred embodiment of the integrated fruit-picking and harvesting device with a push-pull action according to the present invention; Figure 3 This is a schematic diagram of the internal structure of the integrated fruit-picking and harvesting device with a push-pull action according to a preferred embodiment of the present invention; Figure 4 This is a schematic diagram of the gripper of the pull-pull actuation fruit picking and harvesting integrated device according to a preferred embodiment of the present invention; Figure 5 This is a schematic diagram of the outer cylinder of the integrated fruit-picking and harvesting device with a push-pull action according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of the inner cylinder of the integrated fruit-picking and harvesting device with a push-pull action according to a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the finger bone structure of the integrated fruit-picking and harvesting device with a push-pull action according to a preferred embodiment of the present invention.

[0018] Explanation of reference numerals in the accompanying drawings: 1. Outer cylinder; 2. Top cover; 21. Central through hole; 211. Through groove; 22. Mounting base; 23. First connecting plate; 3. Inner cylinder; 31. Drive rod; 32. Second connecting plate; 4. Handle; 41. Finger bone; 411. Base; 412. Flexible knuckle; 5. Push rod; 6. Handle; 61. Guide ring; 7. Push plate; 71. Connecting rod. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0020] Reference Figures 1-7 As shown, the present invention provides a pull-pull actuation type fruit picking and harvesting integrated device, comprising: Outer cylinder 1, which is a cylindrical structure with openings at both ends; The upper cover 2 is coaxially connected to one end of the outer cylinder 1. The upper cover 2 has a central through hole 21 coaxially opened on it, and multiple mounting seats 22 are evenly arranged around the central through hole 21 on the end face of the upper cover 2 away from the outer cylinder 1. Inner cylinder 3 is a cylindrical structure with one end open. Inner cylinder 3 is slidably connected to outer cylinder 1. The open end of inner cylinder 3 faces the upper cover 2 and is connected to multiple drive rods 31 that correspond to the positions of each mounting seat 22. Each drive rod 31 extends parallel to the axial direction of outer cylinder 1 into the central through hole 21. The gripper 4 includes multiple finger bones 41, each finger bone 41 being movably connected to a mounting base 22 and movably connected to a corresponding drive rod 31 of the mounting base 22. Push rod 5, one end of push rod 5 is coaxially connected to the end of inner cylinder 3 away from upper cover 2, and the other end extends to the outside of outer cylinder 1; Handle 6 is connected to the outer cylinder 1.

[0021] Specifically, the outer cylinder 1, as the core supporting component of the device, provides a stable installation space and guide rail for moving parts such as the inner cylinder 3 and the push plate 7, ensuring the stability of the coordinated movement of each component. The outer cylinder 1 adopts a hollow cylindrical design, with its inner diameter matching the outer diameter of the inner cylinder 3. The inner wall of the outer cylinder 1 is smoothed to reduce the sliding resistance of the inner cylinder 3, ensuring that the inner cylinder 3 can slide smoothly within the outer cylinder 1. The length of the outer cylinder 1 can be designed according to the needs of the harvesting scenario (e.g., the length of the outer cylinder 1 can be increased for high-branch fruits). More preferably, the outer cylinder 1 can be made of lightweight, high-strength materials (such as carbon fiber composite materials) to reduce the overall weight, and the inner wall can be coated with a wear-resistant coating (such as a polytetrafluoroethylene coating) to further reduce friction. For different harvesting heights, a segmented telescopic structure can be designed, with length adjustment achieved through buckles or threaded connections.

[0022] The upper cover 2 has a disc-shaped structure and can be coaxially fixed to one end of the outer cylinder 1 by welding, threaded connection, or snap-fit, forming a sealed transition with the outer cylinder 1. A circular central through-hole 21 is formed in the center of the upper cover 2, providing a channel for the fruit to fall and for the drive rod 31 to move. The diameter of the central through-hole 21 is slightly larger than the maximum diameter of the fruit to ensure smooth fruit fall. On the end face of the upper cover 2 away from the outer cylinder 1, multiple mounting seats 22 (e.g., 4-6) are evenly distributed around the central through-hole 21. The mounting seats 22 have a raised structure and are used to connect the finger bones 41 of the gripper 4. It is conceivable that an elastic buffer ring (such as a silicone ring) could be added to the central through-hole 21 to reduce impact damage during fruit fall.

[0023] The inner cylinder 3 is a cylindrical tube open at one end, with the open end facing and close to the upper cover 2, and the closed end located inside the outer cylinder 1 on the side away from the upper cover 2. The outer diameter of the inner cylinder 3 is slightly smaller than the inner diameter of the outer cylinder 1, and a sliding connection is achieved through a clearance fit. Multiple drive rods 31 (the number is the same as the mounting base 22) are evenly connected to the edge of the open end. The drive rods 31 extend axially along the outer cylinder 1 and pass through the central through hole 21 of the upper cover 2. The side of the rod away from the inner wall of the outer cylinder 1 is machined into an arc surface. The inner cylinder 3 serves as a direct container for fruit collection. Its open end cooperates with the upper cover 2 to form a closed collection space to prevent fruit from scattering. The sliding connection design allows the inner cylinder 3 to reciprocate through the push rod 5, thereby driving the gripper 4 to move.

[0024] The gripper 4 consists of multiple finger bones 41 (the same number as the mounting base 22 and drive rod 31). Each finger bone 41 includes a base 411 and a flexible phalanx 412. The base 411 is a rigid structure (such as engineering plastic) with a first connecting hole and a second connecting hole. The flexible phalanx 412 (such as silicone or rubber) is fixed to the front end of the base 411 and can be bent in an arc shape to fit the contour of the fruit. Two first connecting plates 23 are symmetrically connected to both sides of the mounting base 22. The finger bones 41 are hinged to the first connecting plates 23 through a first pin. The top of the drive rod 31 is rotatably connected to two second connecting plates 32. The finger bones 41 are hinged to the second connecting plates 32 through a second pin, forming a linkage structure of "mounting base 22 - finger bone 41 - drive rod 31".

[0025] The push rod 5 is a long rod-shaped structure. One end is connected to the inner cylinder 3 via the push plate 7, and the other end extends to the outside of the outer cylinder 1 for the operator to hold. The push plate 7 is a circular flat plate, coaxially arranged with the outer cylinder 1, located on the side of the inner cylinder 3 away from the upper cover 2. The push plate 7 and the inner cylinder 3 are fixedly connected by multiple evenly distributed connecting rods 71 ​​(such as 3-4 rods). The push rod 5 is fixed coaxially with the center of the push plate 7.

[0026] This invention discloses a pull-pull actuated fruit-harvesting integrated device. Through the coordinated action of the inner cylinder and the gripper, the harvested fruit falls directly into the inner cylinder through the central through-hole of the top cover for collection, preventing fruit scattering, eliminating manual picking, reducing workflow interruptions and repetitive labor, and significantly improving harvesting efficiency. Furthermore, the gripper features a flexible knuckle design that conforms to the contours of the fruit and avoids crushing damage, ensuring fruit quality. The entire device has a simple structure, is easy to install and use, and is highly practical.

[0027] Reference Figure 2 , Figure 3 and Figure 4 As shown, further, a push plate 7, coaxial with the outer cylinder 1, is slidably connected within the outer cylinder 1. The push plate 7 is located on the side of the inner cylinder 3 away from the upper cover 2. The push plate 7 and the inner cylinder 3 are connected by several connecting rods 71. One end of the push rod 5 is coaxially connected to the push plate 7. Specifically, the combination structure of the push plate 7 and the connecting rods 71 ​​ensures that the driving force of the push rod 5 is evenly transmitted to the inner cylinder 3, preventing the inner cylinder 3 from tilting or jamming due to uneven force. More preferably, the push rod 5 can be designed as a telescopic structure (such as a sleeve connection), with its length adjusted by a locking mechanism to accommodate operators of different heights; a non-slip handle can be added to the end of the push rod 5 to improve grip comfort; and an electric drive module (such as a small motor + lead screw) can be added to achieve automatic pushing and pulling, reducing labor intensity.

[0028] Reference Figure 5 As shown, the handle 6 is further designed as a curved rod structure. One end of the handle 6 is connected to the side of the outer cylinder 1, and the other end extends to the side near the push rod 5. The side of the handle 6 is provided with anti-slip textures. Specifically, the curved design is ergonomic, reducing hand fatigue during prolonged operation; the anti-slip textures increase the friction between the hand and the handle 6, preventing accidental slippage of the device; the guide ring 61 limits the push rod 5, preventing radial displacement during movement and ensuring driving accuracy. More preferably, the handle 6 can be wrapped with rubber or foam material to improve grip comfort and shock absorption; an adjustable angle structure can be added to accommodate different operators' grip habits; a wear-resistant bushing (such as a copper sleeve) can be added inside the guide ring 61 to reduce frictional wear between the push rod 5 and the guide ring 61.

[0029] Furthermore, a guide ring 61, coaxial with the push rod 5, is connected to the end of the handle 6 near the push rod 5, through which the push rod 5 passes. It is conceivable that the guide ring 61 can limit and guide the push rod 5, ensuring the stability of the pushing process.

[0030] Reference Figure 4As shown, each mounting base 22 is further symmetrically connected to two first connecting plates 23 on both sides. The finger bone 41 is rotatably connected to the two first connecting plates 23 through a first pin. The drive rod 31 is rotatably connected to two mutually symmetrical second connecting plates 32 at one end located in the central through hole 21. The finger bone 41 is rotatably connected to the two second connecting plates 32 through a second pin.

[0031] Reference Figure 7 As shown, the finger bone 41 further includes a base 411 and a flexible finger joint 412. The base 411 has a first connecting hole and a second connecting hole respectively. A first pin is provided in the first connecting hole, and the two ends of the first pin are rotatably connected to the two first connecting plates 23 respectively. A second pin is provided in the second connecting hole, and the two ends of the second pin are rotatably connected to the two second connecting plates 32 respectively. The flexible finger joint 412 is connected to the base 411. The flexible finger joint 412 has elastic deformation capability, which can conform to the surface of fruits of different shapes and avoid squeezing damage during picking. Through the hinge structure of the pin and the connecting plate, the finger bone 41 can rotate around the mounting base 22, and complete the "opening-closing" action in conjunction with the pushing and pulling action of the drive rod 31 to accurately clamp the fruit. The combined design of the base 411 and the flexible finger joint 412 takes into account both structural strength and fruit protection requirements. Even better, the surface of the flexible knuckle 412 can be provided with anti-slip texture to improve clamping stability; a pressure sensor can also be embedded in the inner side of the knuckle 41 to control the clamping force through feedback signal and avoid excessive squeezing; the base 411 and the flexible knuckle 412 can be designed as a detachable structure to facilitate the replacement of knuckles of different hardness to fit soft fruits (such as strawberries) or hard fruits (such as apples).

[0032] Furthermore, the drive rod 31 has a third connecting hole at one end in the central through hole 21, and a third pin is provided in the third connecting hole. The two ends of the third pin are rotatably connected to the two second connecting plates 32 respectively.

[0033] Furthermore, the inner wall of the central through hole 21 is provided with a plurality of through slots 211 for each drive rod 31 to pass through. The inner wall of the central through hole 21 is provided with a plurality of through slots 211 along the axial direction, the number of through slots 211 being the same as the number of drive rods 31, and the slot width being slightly larger than the diameter of the drive rod 31. The through slots 211 serve to guide the drive rods 31 and prevent them from deviating during movement.

[0034] Furthermore, the inner wall side of each drive rod 31 away from the outer cylinder 1 is a rounded surface. The rounded surface design reduces frictional contact with the fruit and avoids scratching the fruit.

[0035] Furthermore, the top cover 2 is made of corrosion-resistant material.

[0036] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A push-operated fruit-picking and harvesting integrated device, characterized in that: include, The outer cylinder is a cylindrical structure with openings at both ends; The upper cover is coaxially connected to one end of the outer cylinder. The upper cover has a central through hole coaxially opened on it, and multiple mounting seats are provided on the end face of the upper cover away from the outer cylinder, which are evenly spaced around the central through hole. The inner cylinder is a cylindrical structure with one end open. The inner cylinder is slidably connected to the outer cylinder. The open end of the inner cylinder faces the upper cover and is connected to a plurality of drive rods corresponding to the positions of each of the mounting seats. Each drive rod extends parallel to the axial direction of the outer cylinder into the through hole. The gripper includes multiple finger bones, each finger bone being movably connected to a mounting base and movably connected to a corresponding drive rod of the mounting base; A push rod, one end of which is coaxially connected to the end of the inner cylinder away from the top cover, and the other end extends to the outside of the outer cylinder; A handle, which is attached to the outer cylinder.

2. The integrated fruit-picking and harvesting device with a push-pull action as described in claim 1, characterized in that: A push plate, coaxial with the outer cylinder, is slidably connected to the inner cylinder. The push plate is located on the side of the inner cylinder away from the top cover. The push plate and the inner cylinder are connected by several connecting rods, and one end of the push rod is coaxially connected to the push plate.

3. The integrated fruit-picking and harvesting device with a push-pull action as described in claim 1, characterized in that: The handle is a round rod structure with an arc. One end of the handle is connected to the side of the outer cylinder, and the other end of the handle extends to the side near the push rod. The side of the handle is provided with anti-slip texture.

4. The integrated fruit-picking and harvesting device with a push-pull action according to claim 3, characterized in that: The handle is connected to a guide ring coaxial with the push rod at one end, and the push rod passes through the guide ring.

5. The integrated fruit-picking and harvesting device with a push-pull action according to claim 1, characterized in that: Each of the mounting bases has two first connecting plates symmetrically connected to both sides. The finger bone is rotatably connected to the two first connecting plates via a first pin. The drive rod is rotatably connected to two mutually symmetrical second connecting plates at one end located in the central through hole. The finger bone is rotatably connected to the two second connecting plates via a second pin.

6. The integrated fruit-picking and harvesting device with a push-pull action according to claim 5, characterized in that: The finger bone includes a base and a flexible phalanx. The base is provided with a first connecting hole and a second connecting hole. A first pin is provided in the first connecting hole, and the two ends of the first pin are rotatably connected to the two first connecting plates respectively. A second pin is provided in the second connecting hole, and the two ends of the second pin are rotatably connected to the two second connecting plates respectively. The flexible phalanx is connected to the base.

7. The integrated fruit-picking and harvesting device with a push-pull action according to claim 6, characterized in that: The drive rod has a third connecting hole at one end in the central through hole, and a third pin is provided in the third connecting hole. The two ends of the third pin are respectively rotatably connected to the two second connecting plates.

8. The integrated fruit-picking and harvesting device with a push-pull action according to claim 1, characterized in that: The inner wall of the central through hole is provided with multiple through slots for each of the drive rods to pass through.

9. The integrated fruit-picking and harvesting device with a push-pull action according to claim 1, characterized in that: The side of each drive rod away from the inner wall of the outer cylinder is an arc surface.

10. The integrated fruit-picking and harvesting device with a push-pull action according to claim 1, characterized in that: The top cover is made of corrosion-resistant material.

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