Integrated lycium barbarum harvesting equipment

Abstract

The invention discloses integrated Chinese wolfberry harvesting equipment, and relates to the technical field of fruit picking, the integrated Chinese wolfberry harvesting equipment comprises a collecting structure, the collecting structure comprises a box body and a negative pressure fan, and the output end of the negative pressure fan is communicated with the side wall of the box body; the picking structure comprises a mechanical arm, a hose, a barrel, a shearing assembly and an air pressure detection assembly, the mechanical arm is arranged on the side wall of the box, one end of the hose communicates with the side wall of the box, the barrel communicates with the other end of the hose, the output end of the mechanical arm is connected with the barrel, the mechanical arm is used for adjusting the position of the barrel, and the shearing assembly is arranged at the end, away from the hose, of the barrel. The shearing assembly is used for shearing fruits, and the air pressure detection assembly is arranged in the barrel and used for detecting air pressure in the barrel; and the controller is electrically connected with the negative pressure fan, the mechanical arm, the air pressure detection assembly and the shearing assembly. The device has the advantages that the Chinese wolfberry fruits are prevented from being harvested in an impact mode, and damage to Chinese wolfberry branches and fruits caused by impact is avoided.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting technology, specifically to an integrated goji berry harvesting device. Background Technology

[0002] Goji berries are a common traditional Chinese medicine, scientifically known as Lycium barbarum, belonging to the genus Lycium in the Solanaceae family. They are mainly distributed in northwestern China, including Ningxia, Qinghai, Gansu, and Xinjiang. Ningxia goji berries are the most famous, considered one of the "Five Treasures of Ningxia." As an important economic crop with both medicinal and edible uses in my country, goji berry harvesting has long faced problems such as low efficiency and high labor costs.

[0003] Based on the above problems, large-scale goji berry orchards currently typically use mechanized harvesting equipment during the goji berry ripening period. Because the connection between the stem and branch of the goji berry fruit is relatively loose during the ripening stage, shaking the branch can usually dislodge the fruit. Therefore, existing goji berry harvesting equipment usually uses vibration, generally employing high-frequency vibration or impact force. A motor drives a vibrating rod to rotate, which vibrates the goji berry branch, thus dislodging the fruit. However, in practical application, the vibration impact force is very large. During operation, it is difficult to avoid rigid collisions between the harvested fruit and the branch, leading to damage to the fruit skin, damage or breakage of some branches, and thus causing irreversible damage to the goji berry tree. Furthermore, the falling goji berries after harvesting are also prone to collision damage.

[0004] In summary, the mechanical damage problem of current goji berry harvesting equipment is prominent, and there is a need for harvesting equipment that can avoid damaging goji berry branches and fruits. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an integrated goji berry harvesting device that avoids damage to goji berry branches and fruits caused by impact.

[0006] This invention provides an integrated goji berry harvesting device, comprising: The collection structure includes a housing and a negative pressure fan, wherein the output end of the negative pressure fan is connected to the side wall of the housing; The harvesting structure includes a robotic arm, a hose, a cylinder, a shearing component, and a pressure detection component. The robotic arm is mounted on the side wall of the housing. One end of the hose is connected to the side wall of the housing, and the cylinder is connected to the other end of the hose. The output end of the robotic arm is connected to the cylinder. The robotic arm is used to adjust the position of the cylinder. The cylinder has an opening at the end opposite to the hose, and the shearing component is located at the end of the cylinder opposite to the hose. The shearing component is used to shear the fruit. The pressure detection component is located inside the cylinder and is used to detect the pressure inside the cylinder. The controller is electrically connected to the negative pressure fan, the robotic arm, the air pressure detection component, and the shearing component. The robotic arm adjusts the position of the cylinder, the shearing component cuts the fruit, and the controller controls the negative pressure fan to start and suck the cut fruit into the box through the hose. The air pressure detection component detects the air pressure inside the cylinder and sends it to the controller. The controller adjusts the output frequency of the negative pressure fan according to the detected air pressure.

[0007] Preferably, the air pressure detection component includes: A supporting arc plate is provided, and an arc-shaped groove is provided on the side wall of the cylinder. The arc-shaped groove is opened along the circumference of the cylinder. The supporting arc plate matches the arc-shaped groove, and the supporting arc plate is detachably connected to the side wall of the arc-shaped groove. A pressure sensor is installed on the support arc plate. The pressure sensor is located inside the cylinder and is used to detect the air pressure inside the cylinder.

[0008] Preferably, the shearing component includes: A driving element is disposed on the side wall of the cylinder, and the driving element has an output end; A rotating shaft is disposed at the output end of the driving component, and the driving component is used to drive the rotating shaft to rotate. The first gear is fitted and fixed circumferentially to the rotating shaft; The second gear is coaxially disposed at the end of the cylinder and is rotatably connected to the cylinder, and the second gear meshes with the first gear; Multiple blades, fan-shaped, are circular in shape. The two ends of the arc of the fan shape are at the first angle and the two radii, respectively. The first angle of the blade is hinged to the second gear, and the second angle of the blade is hinged to the end of the cylinder.

[0009] Preferably, the rotatable connection structure between the second gear and the cylinder includes: Multiple sliders are disposed at the ends of the cylinder. Multiple arc-shaped grooves are formed through the middle of the second gear. The arc-shaped grooves are formed along the circumference of the second gear. The multiple sliders are slidably connected to the multiple arc-shaped grooves one by one.

[0010] Preferably, the blade is connected to the second gear via a crank, one end of the crank is hinged to one side of the second gear, and the other end of the crank is hinged to the blade.

[0011] Preferably, the robotic arm includes: The first support is disposed on the side wall of the housing; Multiple sets of drive rods are arranged in a circular array on the first support base, and all sets of drive rods are electrically connected to the controller. The second support is annular and is fixed around the circumference of the cylinder. Multiple sets of drive rods are mounted on the second support at the ends opposite to the first support.

[0012] Preferably, the drive lever assembly includes: The motor is mounted on the first support base; The first link has one end connected to the output shaft of the motor, and the motor is used to drive the first link to rotate. The second link has one end hinged to the first link and the other end hinged to the side wall of the second support.

[0013] Preferably, the second link is longer than the first link.

[0014] Preferably, the cylinder is connected to the hose through an interface, the drive component is fixed to the side wall of the cylinder through a connecting plate, and a first spring and a second spring are fitted on the cylinder. The first spring is disposed between one side of the second support and the interface, and the second spring is disposed between the other side of the second support and the connecting plate.

[0015] Preferably, the housing has an air vent and a feed inlet, the output end of the negative pressure fan is connected to the air vent, the hose is connected to the feed inlet, the air vent is higher than the feed inlet, and a screen is installed inside the housing, the screen is located below the air vent and above the feed inlet.

[0016] Compared with the prior art, the present invention discloses an integrated goji berry harvesting device, the beneficial effects of which are: This device first uses a robotic arm shearing assembly to cut the goji berries off the branches, avoiding direct vibration and impact that could damage the branches and berries. Second, the device uses a housing and a negative pressure fan to collect the cut berries. Specifically, the negative pressure of the fan traps the berries inside the housing during cutting, preventing leakage. Simultaneously, the fan draws the cut berries through the housing and hoses into the housing, completing the integrated cutting and collection process and preventing damage from falling berries. Finally, the device includes a pressure detection assembly. Excessive pressure could damage the berries; this assembly monitors the pressure inside the housing, ensuring that workers collect the goji berries within a safe pressure range, further preventing damage during harvesting. This device avoids impact-based harvesting of goji berries, preventing damage to the branches and berries. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the harvesting structure of the present invention; Figure 3 This is a schematic diagram of the structure of the collection device of the present invention; Figure 4 This is a schematic diagram of the supporting structure of the present invention; Figure 5 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 6 This is a schematic diagram of the structure of the cylindrical body of the present invention; Figure 7 This is a cross-sectional view of the cylindrical body of the present invention; Figure 8 This is a schematic diagram of the shearing component of the present invention; Figure 9 This is a schematic diagram of the structure of the housing of the present invention; Figure 10 This is a side view of the housing of the present invention; Figure 11 This is a schematic diagram of the internal structure of the housing of the present invention.

[0019] Figure label: 1—Harvesting structure, 2—Collection structure, 3—Supporting structure, 11—Cylinder, 12—Robotic arm, 13—Depth camera, 111—Interface, 112—Driver, 113—First gear, 114—Second gear, 115—Crank, 116—Blade, 117—Pressure sensor, 118—Second spring, 119—Slider, 121—First support base, 122—First connecting rod, 123—Motor, 124 —Second connecting rod, 125—Second support seat, 21—Box body, 22—Hose, 23—Electric push rod, 24—Negative pressure fan, 211—Busbar, 212—Bus cover, 213—Bus door, 214—Air outlet, 215—Feed inlet, 216—Screen screen, 217—Electric push rod bracket, 218—Binding wire, 219—Spring hinge, 31—Fan bracket, 32—Box body bracket, 33—Camera bracket, 34—Conveyor belt. Detailed Implementation

[0020] The following detailed description of a specific embodiment of the present invention is provided in conjunction with the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Furthermore, in the description of this invention, "a plurality of" refers to two or more. The terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0024] Example 1 This invention provides an integrated goji berry harvesting device, such as... Figure 1 As shown, it includes: collection structure 2, harvesting structure 1, and controller. Figure 3 As shown, the collection structure 2 includes a housing 21 and a negative pressure fan 24. The output end of the negative pressure fan 24 is connected to the side wall of the housing 21. The housing 21 is used to collect the harvested goji berries. The housing 21 is constructed entirely of galvanized steel sheet welded together. The negative pressure fan 24 acts as the driving component, providing negative pressure suction to draw the harvested goji berries into the housing 21 for collection. The negative pressure fan 24 is an oil-free vortex fan with a flow rate of 12 m³ / h and an ultimate vacuum of -35 kPa. Figure 2 , Figure 3 As shown, in this embodiment, the harvesting structure 1 includes a robotic arm 12, a flexible hose 22, a cylinder 11, a shearing assembly, and a pressure detection assembly. The robotic arm 12 is mounted on the side wall of the housing 21 and has an adjustable position. A robotic arm mechanism from an existing structure can be used. One end of the flexible hose 22 is connected to the side wall of the housing 21, and the cylinder 11 is connected to the other end of the flexible hose 22. The flexible hose 22 can be a Φ40mm food-grade PU tube. The cylinder 11 has an opening at the end facing away from the flexible hose 22, and the goji berries enter the flexible hose 22 through the opening of the cylinder 11. The negative pressure fan 2... 4. Under the action of negative pressure suction, the fruit is collected into the box 21. The output end of the robotic arm 12 is connected to the cylinder 11. The robotic arm 12 is used to adjust the position of the cylinder 11. The flexible hose 22 is also used to facilitate the adaptation to the position change of the cylinder 11. The shearing component is set at the end of the cylinder 11 away from the flexible hose 22. The shearing component is used to shear the fruit. The shearing component can adopt the existing fruit shearing structure. During shearing, the fruit is placed in the cylinder 11 and then the fruit stem is cut. The sheared fruit is sent into the box 21 through the cylinder 11 and the flexible hose 22. The air pressure detection component is set in the cylinder. Inside cylinder 11, a pressure detection component is used to detect the internal pressure, serving as a warning system. Excessive pressure may damage the fruit. By setting up the pressure detection component, the system can monitor the internal pressure of cylinder 11 and remind workers to collect goji berries within a safe pressure range. The controller is electrically connected to the negative pressure fan 24, robotic arm 12, pressure detection component, and shearing component. The controller acts as a central control unit, controlling the robotic arm 12 to adjust the position of cylinder 11 so that it is positioned on the side with mature goji berries, allowing the shearing component to cut the berries. The controller simultaneously activates the negative pressure fan 24 to draw the cut fruit into the housing 21 through the hose 22, completing the integrated cutting and collection operation. Simultaneously, the air pressure detection component detects the air pressure inside the housing 11 and sends it to the controller. The controller adjusts the output frequency of the negative pressure fan 24 based on the detected air pressure. The suction force of the negative pressure fan 24 is related to the speed of the driving motor, which in turn controls the output frequency. A higher frequency results in a faster speed and greater suction pressure, while a lower frequency results in a slower speed, less suction pressure, and lower air pressure.

[0025] Based on the above working principle, this device first uses a shearing assembly with a robotic arm 12 to cut the goji berries off the branches. This method avoids direct vibration and impact on the branches, preventing damage to the branches and berries from significant impact. Secondly, the device collects the cut berries using a housing 21 and a negative pressure fan 24. Specifically, the negative pressure fan 24 uses suction to enclose the berries within the housing 11 during cutting, preventing leakage. Simultaneously, the negative pressure fan 24 operates, drawing the cut berries through the housing 11 and hose 22 into the housing 21, completing the integrated cutting and collection operation and preventing damage from falling berries. Finally, the device is equipped with an air pressure detection assembly. Excessive air pressure may damage the berries. This assembly monitors the air pressure inside the housing 11, prompting workers to collect the goji berries within a safe pressure range, further preventing damage during harvesting. This device avoids harvesting goji berries using impact-based methods, preventing damage to the branches and berries. For example... Figure 2 As shown, this embodiment also includes a depth camera 13. The depth camera 13 works in conjunction with the robotic arm 12 to move the cylinder 11 to the position where the fruit needs to be cut. The depth camera 13 stores images of mature goji berry fruits and can move. The depth camera 13 scans the goji berry plant, eliminates leaf occlusion interference through a multispectral fusion algorithm, and generates a harvesting coordinate queue, i.e., identifies which fruits need to be harvested. This information is fed back to the controller, which processes the information to determine an optimal harvesting path. Based on this path, the robotic arm 12 is driven to move, sequentially locating the target positions, dynamically compensating for plant swaying errors, and adjusting the cylinder 11 to the position where the fruit needs to be cut for harvesting. The controller has a built-in 17-bit absolute encoder, combined with an adaptive PID algorithm, to ensure that the trajectory tracking error of the cylinder 11 is ≤0.5mm and the dynamic response time is <0.1 seconds, meeting the requirements for high-speed continuous harvesting (single fruit harvesting cycle ≤0.8 seconds). The Depth Camera 13 uses an Intel RealSense D455 and 850nm structured light compensation, with an effective recognition distance of 0.3-1.2m. Based on a customized YOLOv8 model (input resolution 640×480), it achieves a recognition accuracy of ≥98% for mature fruits (R>200) through RGB-D data fusion, with a single frame processing time of ≤20ms.

[0026] This embodiment provides a specific structure for a barometric pressure detection component, such as... Figure 6 , Figure 7As shown, the air pressure detection component further includes: a supporting arc plate and an air pressure sensor 117. An arc-shaped groove is formed on the side wall of the cylinder 11, extending circumferentially along the cylinder 11, i.e., a small semi-circular groove is formed on the cylinder 11. The supporting arc plate matches the shape of the arc-shaped groove and is detachably connected to the side wall of the arc-shaped groove. Specifically, the supporting arc plate can be slightly larger than the arc-shaped groove and is fixed to the cylinder 11 with screws to seal the arc-shaped groove. The air pressure sensor 117 is mounted on the supporting arc plate and located inside the cylinder 11. The air pressure sensor 117 is used to detect the air pressure inside the cylinder 11. In this embodiment, the air pressure detection component uses the air pressure sensor 117 to achieve air pressure detection. The air pressure sensor 117 is selected with an accuracy level within ±0.1% FS (such as models GDY1121, AT22, etc.), so that the end of the cylinder 11 adsorbs the fruit with a negative pressure of 0.1MPa~0.3MPa, and the contact time is ≤0.3 seconds. The pressure sensor 117 monitors the adsorption pressure in real time and sends a feedback signal to dynamically adjust the airflow of the negative pressure fan 24. In addition, the pressure sensor 117 is detachably connected to the cylinder 11 via a support arc plate, which facilitates the installation and maintenance of the pressure sensor 117.

[0027] This embodiment provides a specific structure for a shearing component, such as... Figure 6 , Figure 7 As shown, the shearing assembly further includes: a drive unit 112, a rotating shaft, a first gear 113, a second gear 114, and a blade 116. A driving component 112 is disposed on the side wall of the cylinder 11, and the driving component 112 has an output end; a rotating shaft is disposed at the output end of the driving component 112, and the driving component 112 is used to drive the rotating shaft to rotate. The driving component 112 can be a motor, a servo motor, or other rotary drive structure; a first gear 113 is mounted and fixed circumferentially on the rotating shaft, and the axial directions of the first gear 113 and the rotating shaft are consistent with the axial direction of the cylinder 11; a second gear 114 is coaxially disposed at the end of the cylinder 11, and the axial direction of the second gear 114 is consistent with the axial direction of the cylinder 11, and the second gear 114 is rotatably connected to the cylinder 11, that is, the cylinder 11 supports the second gear 114, and the second gear 114 can rotate relative to the cylinder 11. The second gear 114 meshes with the first gear 113, and the axial direction of the first gear 113 is obtained by limiting the axial direction of the second gear 114 based on the meshing relationship between the second gear 114 and the first gear 113; for example Figure 8As shown, the multiple blades 116 are fan-shaped, and the multiple blades 116 as a whole form a circle. This means that when the multiple blades 116 are closed during cutting, they form a circle. The multiple blades 116 seal the open end of the cylinder 11. During cutting, the fruit enters the open end of the cylinder 11, and the fruit stem is located between the centers of the multiple blades 116. The opposite sidewalls of the multiple blades 116 are the tips, that is, the sidewalls of the blades 116 opposite the radius of the fan shape are the cutting edges. When closed, the cutting edges contact each other to cut the fruit stem. The two included angles between the two ends of the arc of the fan shape and the two radii are the first angle and the second angle, respectively. The first angle of the blade 116 is hinged to the second gear 114, and the second angle of the blade 116 is hinged to the end of the cylinder 11. Figure 8 That is, at both ends of the fan-shaped arc, one end is hinged to the second gear 114, and the other end is hinged to the cylinder 11. The working principle of the shearing assembly in this embodiment is as follows: the driving component 112 drives the rotating shaft to rotate, which drives the first gear 113 to rotate synchronously. The second gear 114 meshes with the first gear 113, so the second gear 114 rotates. When the second gear 114 rotates, the multiple blades 116 hinged to it open with the rotation, which facilitates the fruit to enter the cylinder 11. The fruit stalk is aligned with the center of the multiple blades 116. Then the driving shaft reverses, which finally drives the multiple blades 116 to rotate in the opposite direction to close and cut the fruit stalk, thereby completing the fruit harvesting.

[0028] This embodiment provides a connection method between the second gear 114 and the cylinder 11. Further, as... Figure 8 As shown, the rotational connection structure between the second gear 114 and the cylinder 11 includes: multiple sliders 119 disposed at the end of the cylinder 11, the cylinder 11 having a certain thickness, the sliders 119 fixed to the annular wall at the end of the cylinder 11, and multiple arc-shaped grooves extending through the middle of the second gear 114. The arc-shaped grooves are circumferentially arranged along the second gear 114, forming a ring. The multiple sliders 119 are slidably connected to the multiple arc-shaped grooves one-to-one. When the first gear 113 drives the second gear 114 to rotate, the positions of the multiple arc-shaped grooves also change, causing the sliders 119 to slide within the arc-shaped grooves. The multiple sliders 119 support the second gear 114, and the rotational connection between the second gear 114 and the cylinder 11 is achieved by the sliders 119 sliding within the arc-shaped grooves. In addition, the arc groove also serves as a limit, so that the slider 119 can only slide within the arc groove, which limits the rotation angle of the second gear 114. It can only rotate within the range of the central angle opposite to the arc groove. When the slider 119 rotates to one end of the arc groove, it drives multiple blades 116 to open. When the slider 119 rotates to the other end of the arc groove, it drives multiple blades 116 to close.

[0029] Furthermore, the blade 116 is connected to the second gear 114 via a crank 115. One end of the crank 115 is hinged to one side of the second gear 114, and the other end is hinged to the blade 116. When the first gear 113 drives the second gear 114 to rotate, the position of the crank 115 changes, while the length of the crank 115 remains constant, thereby causing the first corner of the blade 116 to rotate. Simultaneously, the second corner of the blade 116 rotates synchronously relative to the cylinder 11, causing multiple blades 116 to open or close. Figure 8 As shown, when the second gear 114 rotates clockwise, it drives the crank 115 to rotate clockwise, thereby causing the second corner of the blade 116 to rotate relative to the cylinder 11, opening the multiple blades 116; conversely, when the second gear 114 rotates counterclockwise, it ultimately drives the multiple blades 116 to rotate and close. Figure 8 As shown, in this embodiment, there are three blades 116. When opened, the goji berries are sucked into the cylinder 11 by air suction. The three blades 116 then cut off the goji berry stems. The berries with stems then enter the box 21 through the channel, completing the harvesting of one goji berry. The berries with stems can be preserved for a longer time and have better commercial value.

[0030] Example 2 As a further improvement based on Example 1, such as Figure 5 As shown, this embodiment provides a specific method for providing a robotic arm 12. Further, the robotic arm 12 includes: a first support base 121, multiple sets of drive rods, and a second support base 125. The first support base 121 is disposed on the side wall of the housing and is a static platform with a large surface area, fixed in place during use. The multiple sets of drive rods are arranged in a circular array on the first support base 121, and each set of drive rods is electrically connected to a controller, which can individually control the movement of a single set of drive rods. The second support base 125 is circular and is fitted and fixed around the circumference of the cylinder 11, achieving connection with the cylinder 11. One end of each set of drive rods facing away from the first support base 121 is disposed on the second support base 125. The second support base 125 is a moving platform with a small surface area, and the total mass of the moving platform is controlled within 300g to reduce inertial load. In use, the first support seat 121 is fixed to the side wall of the box for support. The controller controls one or more sets of drive rods to move and change position, thereby causing the second support seat 125 to change position, driving the cylinder 11 to change position to the side of the fruit to be cut, thereby realizing the adjustment of the position of the cylinder 11.

[0031] Furthermore, in this embodiment, the drive rod assembly structure includes: a motor 123, a first connecting rod 122, and a second connecting rod 124. The motor 123 is mounted on the first support base 121, specifically, the base of the motor 123 is fixed to the first support base 121; one end of the first connecting rod 122 is connected to the output shaft of the motor 123, and the motor 123 drives the first connecting rod 122 to rotate; one end of the second connecting rod 124 is hinged to the first connecting rod 122, and the other end is hinged to the side wall of the second support base 125. In specific operation, the controller individually controls the motor 123 in one or more drive rod assemblies to rotate, driving the first connecting rod 122 to rotate. Since the second connecting rod 124 is hinged to the first connecting rod 122, it synchronously drives the second connecting rod 124 to rotate, ultimately acting on the second support base 125, causing the position of the second support base 125 to change, thereby changing the position of the cylinder 11 and achieving position adjustment of the cylinder 11. Figure 5 As shown, in this embodiment, the drive rod assembly structure has three sets, which are connected in parallel. The controller can control the operation of each drive rod assembly structure individually. The three drive rod assemblies can stably drive the cylinder 11 to move and change position. Three symmetrically distributed first connecting rods 122 (carbon fiber upper arm) and second connecting rods 124 (aluminum alloy lower arm) are combined and synchronously driven by motor 123 to achieve three-degree-of-freedom spatial motion (X / Y / Z translation) of the second support base 125. The aforementioned individual control refers to the ability to control its working state, speed, and rotation direction as needed.

[0032] Furthermore, the second link 124 is longer than the first link 122. The first link 122 is the upper arm and the second link 124 is the lower arm. The longer second link 124 can achieve a greater range of rotation, that is, a greater range of positional movement.

[0033] like Figure 6 , Figure 7As shown, further, the cylinder 11 is connected to the hose 22 through the interface 111. The two ends of the interface 111 are respectively connected to the end of the cylinder 11 and the end of the hose 22. The interface 111 can be fixed to the end of the hose 22, so that the interface 111 is threaded to one end of the cylinder 11, or both ends of the interface 111 are threaded to the cylinder 11 and the hose 22. Currently available interfaces for connecting two pipe openings can be used in this embodiment. The driving component 112 is fixed to the side wall of the cylinder 11 through the connecting plate. In this embodiment, the driving component 112 is a driving motor. The base of the driving motor is fixed to the connecting plate, and the connecting plate is fixed to the side wall of the cylinder 11. The driving component 112 is fixedly supported on the cylinder 11 through the connecting plate. A first spring and a second spring 118 are fitted on the cylinder 11. The first spring is disposed between one side of the second support seat 125 and the interface 111, and the second spring 118 is disposed between the other side of the second support seat 125 and the connecting plate. In other words, springs are installed on both sides of the second support seat 125. By setting the first spring and the second spring 118, shock absorption and buffering can be performed, so that the impact when the second support seat 125 moves the cylinder 11 is reduced, and damage to the goji berry fruit is further avoided.

[0034] In this embodiment, the other structures are the same as in embodiment 1, except that optimizations have been made to embodiment 1.

[0035] Example 3 As a further improvement based on Example 1, such as Figure 9 As shown, furthermore, the housing 21 has an air vent 214 and a feed inlet 215. The output end of the negative pressure fan 24 is connected to the air vent 214, thus connecting the negative pressure fan 24 to the housing 21. The hose 22 is connected to the feed inlet 215, thus connecting the hose 22 to the housing 21. The air vent 214 is higher than the feed inlet 215. Figure 11 As shown, a screen 216 is installed inside the housing 21. The screen 216 is located below the air vent 214 and above the feed inlet 215. In this embodiment, the air vent 214 is positioned higher than the feed inlet 215, and the screen 216 is placed between the air vent 214 and the feed inlet 215 to block the flow, thus achieving gas-solid separation. The diameter of the sieve holes on the screen 216 is smaller than the diameter of the goji berry fruit. When the negative pressure fan 24 provides negative pressure suction, to prevent the fruit from being attracted to the air vent 214, the screen 216 is used to block the flow, ensuring that the fruit remains in the lower half of the housing 21, preventing it from being attracted to the air vent 214. The screen 216 can be made of 304 stainless steel or plastic. Using plastic further prevents the fruit from being damaged by contact with the screen 216.

[0036] like Figure 10As shown, the bottom opening of the box 21 is a discharge port, and a door 213 is connected to the discharge port. One side of the door 213 is hinged to the side wall of the discharge port by a spring hinge 219. It also includes a tie wire 218 and an electric push rod 23. One end of the tie wire 218 is connected to the other side of the hatch 213. The electric push rod 23 is mounted on the side wall of the box 21 via the electric push rod bracket 217 and is fastened to the electric push rod bracket 217 with M6 bolts. The output end of the electric push rod 23, which is also the free extension end, is connected to the other end of the tie wire 218. The electric push rod 23 is electrically connected to the controller. When the box 21 is full of fruit, the fruit needs to be removed to facilitate continued harvesting. Specifically, the controller controls the extension of the electric push rod 23, which drives the hatch 213 to rotate relative to the discharge port, thereby opening the discharge port and allowing the fruit to fall. After the box 21 is empty, the controller controls the retraction of the electric push rod 23, which drives the hatch 213 to rotate relative to the discharge port, closing the discharge port and facilitating continued harvesting of goji berries. In this embodiment, the electric push rod 23 has a thrust of 50N and a stroke of 150mm. It is flexibly connected to the hatch 213 via the stainless steel tie wire 218 to avoid rigid impact. The spring hinge 219 is an automatic closing hinge, providing a preload (5 N·m) to ensure airtightness (leakage rate <0.5 L / min) when the hatch is normally closed. This allows the hatch 213 to tightly seal the discharge port, preventing fruit from leaking out during harvesting. Simultaneously, its preload also slows the opening speed of the discharge port when the hatch 213 is opened, allowing the fruit to slowly fall out and reducing impact on the fruit's skin. For example... Figure 9 As shown, the box 21 is equivalent to a compartment. The inner wall of the compartment 211 is lined with a buffering and hydrophobic material for cushioning and protection to prevent damage to the fruit skin. The top of the box 21 is also open, and a cover 212 is detachably connected to the top. By opening the cover 212, it is easy to see the internal condition of the box 21, which is convenient for maintenance or to check if there are any problems during operation.

[0037] In the above scheme, the condition for triggering the electric push rod 23 to open the hatch 213 can be mass. Specifically, a gravity sensor can be installed on the side of the hatch 213 facing the inside of the box 21. When the cumulative weight of the fruit picked inside the box 21 reaches 1kg, the controller controls the electric push rod 23 to stretch, driving the hatch 213 to open and trigger unloading.

[0038] In addition, a conveyor belt 34 is located at the bottom of the discharge port. When the discharge port is open, the goji berries can fall onto the conveyor belt 34, facilitating their transport to the final collection point. This makes it easier for workers to pack the berries into boxes. The berries are transported to the final collection box via the conveyor belt 34, with no manual intervention required throughout the entire process. Meanwhile, as... Figure 1 , Figure 4As shown, the conveyor belt 34 is mounted on the conveyor belt support and also includes a support structure 3. The support structure 3 includes a fan support 31, a housing support 32, and a camera support 33. The housing support 32 includes two support arms, which are respectively mounted on both sides of the conveyor belt support. The housing 21 is mounted between the two support arms. The fan support 31 is mounted on one of the support arms and is used to support and fix the negative pressure fan 24. The camera support 33 is mounted on the other support arm and is used to support and fix the depth camera 13. The support structure 3 connects the conveyor belt support and the housing 21 and other structures on it to achieve stable support for the device.

[0039] In this embodiment, the other structures are the same as in embodiment 1, except that optimizations have been made to embodiment 1.

[0040] The advantages of this invention are as follows: First, the device uses a shearing assembly with a robotic arm to cut the goji berries, avoiding direct vibration and impact on the branches, thus preventing damage to the branches and berries from significant impact. Second, the device collects the cut berries using a housing and a negative pressure fan. Specifically, the negative pressure fan draws the berries into the housing during cutting, preventing leakage. Simultaneously, the fan draws the cut berries through the housing and hoses into the housing, completing the integrated cutting and collection operation and preventing damage from falling berries. Finally, the device includes a pressure detection component. Excessive pressure may damage the berries; this component monitors the pressure inside the housing, prompting workers to collect the goji berries within a safe pressure range, further preventing damage during harvesting. This device avoids impact-based harvesting of goji berries, preventing damage to the branches and berries.

[0041] The above-disclosed embodiments are merely a few specific examples of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An integrated wolfberry harvesting apparatus, comprising: The utility model relates to a fruit picking device, including: a collecting structure (2) comprising a box (21) and a negative pressure fan (24), the output end of the negative pressure fan (24) being communicated with the side wall of the box (21); a picking structure (1) comprising a mechanical arm (12), a hose (22), a cylinder (11), a shearing assembly and a gas pressure detection assembly, the mechanical arm (12) being arranged on the side wall of the box (21), one end of the hose (22) being communicated with the side wall of the box (21), the cylinder (11) being communicated with the other end of the hose (22), the output end of the mechanical arm (12) being connected with the cylinder (11), the mechanical arm (12) being used for adjusting the position of the cylinder (11), the cylinder (11) being open at the end away from the hose (22), and the shearing assembly being arranged at the end of the cylinder (11) away from the hose (22), the shearing assembly being used for shearing fruits, the gas pressure detection assembly being arranged in the cylinder (11), and the gas pressure detection assembly being used for detecting the gas pressure in the cylinder (11); a controller being electrically connected with the negative pressure fan (24), the mechanical arm (12), the gas pressure detection assembly and the shearing assembly, the mechanical arm (12) adjusting the position of the cylinder (11), the shearing assembly shearing fruits, and the controller controlling the negative pressure fan (24) to start sucking the sheared fruits into the box (21) through the hose (22) at the same time, the gas pressure detection assembly detecting the gas pressure in the cylinder (11) and sending the gas pressure to the controller, and the controller regulating the output frequency of the negative pressure fan (24) according to the detected gas pressure.

2. The integrated wolfberry harvesting apparatus of claim 1, wherein, The gas pressure detection assembly comprises: a support arc plate, an arc-shaped groove being formed in the side wall of the cylinder (11), the arc-shaped groove being formed along the circumference of the cylinder (11), the support arc plate being matched with the arc-shaped groove, and the support arc plate being detachably connected with the side wall of the arc-shaped groove; a gas pressure sensor (117) being arranged on the support arc plate, the gas pressure sensor (117) being located in the cylinder (11), and the gas pressure sensor (117) being used for detecting the gas pressure in the cylinder (11).

3. The integrated wolfberry harvesting apparatus of claim 1, wherein, The shearing assembly comprises: a driving member (112) being arranged on the side wall of the cylinder (11), the driving member (112) having an output end; a rotating shaft being arranged at the output end of the driving member (112), the driving member (112) being used for driving the rotating shaft to rotate; a first gear (113) being fixedly sleeved around the circumference of the rotating shaft; a second gear (114) being coaxially arranged at the end of the cylinder (11), the second gear (114) being rotatably connected with the cylinder (11), and the second gear (114) and the first gear (113) being engaged with each other; A plurality of blades (116) are fan-shaped, the plurality of blades (116) are circular as a whole, two included angles between two ends of an arc of the fan-shaped and two radii are respectively a first angle and a second angle, the first angle of the blade (116) is hinged with the second gear (114), and the second angle of the blade (116) is hinged with an end of the cylinder (11).

4. The integrated wolfberry harvesting apparatus of claim 3, wherein, The rotation connection structure of the second gear (114) and the cylinder (11) comprises: A plurality of sliders (119) are arranged at the end of the cylinder (11), a plurality of arc-shaped grooves are arranged through the middle part of the second gear (114), the arc-shaped grooves are arranged along the circumference of the second gear (114), and the plurality of sliders (119) are in one-to-one sliding connection with the plurality of arc-shaped grooves.

5. The integrated wolfberry harvesting apparatus of claim 3, wherein, The blade (116) and the second gear (114) are connected through a crank (115), one end of the crank (115) is hinged with one side of the second gear (114), and the other end of the crank (115) is hinged with the blade (116).

6. The integrated wolfberry harvesting apparatus of claim 3, wherein, The mechanical arm (12) comprises: A first support seat (121) is arranged on the side wall of the box body; A plurality of groups of driving rods are arranged in an annular array on the first support seat (121), and the plurality of groups of driving rods are electrically connected with the controller; A second support seat (125) is annular, the second support seat (125) is fixedly sleeved on the circumference of the cylinder (11), and one end of the plurality of groups of driving rods away from the first support seat (121) is arranged on the second support seat (125).

7. The integrated wolfberry harvesting apparatus of claim 6, wherein, The driving rod group comprises: A motor (123) is arranged on the first support seat (121); A first connecting rod (122) has one end connected with the output shaft of the motor (123), and the motor (123) is used for driving the first connecting rod (122) to rotate; A second connecting rod (124) has one end hinged with the first connecting rod (122) and the other end hinged with the side wall of the second support seat (125).

8. The integrated wolfberry harvesting apparatus of claim 7, wherein, The second connecting rod (124) is longer than the first connecting rod (122).

9. The integrated wolfberry harvesting apparatus of claim 6, wherein, The cylinder (11) is in communication with the hose (22) through an interface (111), the driving piece (112) is fixed on the side wall of the cylinder (11) through a connecting plate, the cylinder (11) is sleeved with first and second springs (118), the first spring is arranged between one side of the second support seat (125) and the interface (111), and the second spring (118) is arranged between the other side of the second support seat (125) and the connecting plate.

10. The integrated wolfberry harvesting apparatus of claim 1, wherein, The box (21) is provided with an air inlet (214) and a feeding port (215), the output end of the negative pressure fan (24) is communicated with the air inlet (214), the hose (22) is communicated with the feeding port (215), the air inlet (214) is higher than the feeding port (215), and the mesh screen (216) is arranged in the box (21). The mesh screen (216) is located below the air inlet (214), and the mesh screen (216) is located above the feeding port (215).

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