Fruit picking device
By combining a three-rotation drive structure with a clamping closed loop and a cooperative motion structure, a fruit picking device was designed, which solves the problems of fruit stalk damage and fruit peel breakage in the existing technology, and achieves low-damage and high-efficiency fruit picking effect.
Patent Information
- Application Number
- CN202511748051.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-26
- Publication Date
- 2026-03-06
AI Technical Summary
Existing harvesting mechanisms are prone to damaging fruit stems, clamping mechanisms are prone to causing fruit peel damage, and traditional robotic arms have a large range of motion, making them difficult to adapt to harvesting scenarios with clustered growth and diverse postures, resulting in a high fruit drop rate.
Design a fruit-picking device that employs a three-rotation drive structure. This structure connects to a clamping closed-loop structure and a cooperative motion structure, enabling precise fruit picking. The device consists of a base, a first main drive structure, a first secondary drive structure, a second main drive structure, and a second secondary drive structure. Multiple connecting pairs and rods work together to clamp and pick the fruit.
It achieves low damage during fruit harvesting, adapts to harvesting scenarios with clustered growth and diverse postures, reduces branch and leaf tremors, and significantly reduces fruit drop rate.
Smart Images
Figure CN121605855A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of agricultural harvesting robot technology, and in particular relates to a fruit harvesting device. Background Technology
[0002] With the large-scale development of the fruit industry, mechanized harvesting has become a key requirement for improving production efficiency. The commercialization of fruits such as pears and apples has strict requirements for the integrity of the fruit stem and the absence of damage to the peel. Missing or broken fruit stems will lead to water loss and a decline in quality, directly affecting the economic value of the fruit.
[0003] Existing harvesting mechanisms have many shortcomings. For example, shearing mechanisms easily damage fruit stems, clamping mechanisms are prone to fruit peel damage due to rigid contact, and suction mechanisms require air pumps, making them complex and susceptible to environmental interference. Traditional robotic arms have large ranges of motion, which can easily cause branches and leaves to vibrate, leading to fruit drop, and are difficult to adapt to harvesting scenarios where fruit grows in clusters and has diverse postures. At the same time, existing mechanisms focus more on harvesting efficiency, neglecting the core requirements of stem retention and low damage, and lack an integrated design that takes into account both precise harvesting and flexible protection.
[0004] Therefore, there is an urgent need to design a fruit-picking device to solve the problem of easy damage during fruit picking mentioned above. Summary of the Invention
[0005] To address the technical problems mentioned in the background art regarding the high rate of fruit stem damage and the large range of motion leading to fruit drop in existing harvesting mechanisms, a fruit harvesting device is provided to solve the problem of harvesting fruits with the stem intact and with minimal damage.
[0006] To achieve the above objectives, the specific technical solution of the fruit harvesting device of the present invention is as follows: A fruit picking device has a three-rotation drive structure connected to a motion gripping structure through a clamping closed-loop structure and a cooperative motion structure, which drives the motion gripping structure to pick fruit. The three-rotation drive structure consists of a base, a first main drive structure and a first secondary drive structure. The first main drive structure is hinged to the clamping closed-loop structure through a second main drive structure, and the first secondary drive structure is hinged to the cooperative motion structure through a second secondary drive structure. Rotating the first main drive structure and the first secondary drive structure causes the motion gripping structure to rotate up and down. Rotating the second main drive structure and the second slave drive structure drives the motion clamping structure to rotate left and right. The second main drive structure is rotatably connected to the third main drive structure. Rotating the third main drive structure drives the motion clamping structure to rotate. The clamping drive, which has a clamping closed-loop structure, slides on the third main drive structure. The clamping drive moves so that the motion clamping structure can clamp the fruit.
[0007] Furthermore, the first main drive structure and the first slave drive structure are spaced apart on the base, and the center of the first main drive structure and the first slave drive structure are respectively rotatably connected to the second main drive structure and the second slave drive structure.
[0008] Furthermore, the second main drive structure has a slot on the side away from the first main drive structure, and the third main drive structure is rotatably disposed in the slot of the second main drive structure.
[0009] Furthermore, the clamping closed-loop structure includes a first parallel four-bar linkage, the lower end of which is connected to the second main drive structure, and the upper end of which is connected to the clamping drive, so that the clamping drive drives the upper end of the first parallel four-bar linkage to move closer to or away from the second main drive structure.
[0010] Furthermore, the first parallel four-bar is connected to the first closed-loop link and the third closed-loop link on both sides through the first connecting pair and the third connecting pair, respectively. The upper end of the first parallel four-bar is connected to the second closed-loop link through the second connecting pair, so that the first closed-loop link and the third closed-loop link are closer to or further away from the second closed-loop link.
[0011] Furthermore, the cooperative motion structure includes a second parallel four-bar linkage, the lower end of which is connected to a second driven structure, and the upper end of which is connected to a seventh connecting pair, which is connected to the fifth connecting pair of the second closed-loop link through the seventh connecting pair.
[0012] Furthermore, the two sides of the second parallel four-bar are connected to the first closed-loop link and the third closed-loop link respectively through the fourth connecting pair and the sixth connecting pair.
[0013] Furthermore, the ends of the first closed-loop link, the second closed-loop link, and the third closed-loop link are respectively connected to a first extension rod, a second extension rod, and a third extension rod, and are connected to the motion clamping structure through the first extension rod, the second extension rod, and the third extension rod.
[0014] Furthermore, the motion clamping structure includes a closed-loop structure and a third parallel four-bar linkage. The third parallel four-bar linkage is connected to the closed-loop structure via a first transmission rod and a second transmission rod. The two ends of the closed-loop structure are connected to a first extension rod and a second extension rod, respectively. An eighth connecting pair is connected to the upper end of the closed-loop structure, which is connected to the ninth connecting pair of the third extension rod via the eighth connecting pair.
[0015] Furthermore, a first rotating rod and a second rotating rod are rotatably connected to the first transfer rod. The first transfer rod is connected to the first extension rod through the first rotating rod and the second rotating rod. A third rotating rod and a fourth rotating rod are rotatably connected to the second transfer rod. The second transfer rod is connected to the second extension rod through the third rotating rod and the fourth rotating rod. The first transfer rod and the second transfer rod are respectively connected to the third parallel four rods through the tenth connecting joint and the eleventh connecting joint. The third parallel four rods are provided with clamping rods at intervals to harvest the fruit.
[0016] The fruit harvesting device of the present invention has the following advantages: The three-rotation drive structure drives the motion gripping structure to achieve alignment and harvesting. The three-rotation drive structure is sequentially connected to the clamping closed-loop structure and the cooperative motion structure, thereby transmitting the motion effect of the three-rotation drive structure to the motion gripping structure and completing the fruit harvesting process. This application features a compact overall structure with small movement amplitude, making it suitable for harvesting scenarios with clustered growth and diverse postures. The small-amplitude movement of the cooperative motion structure reduces branch and leaf vibration, significantly reducing the fruit drop rate. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the overall structure of the fruit picking device of the present invention; Figure 2 This is a schematic diagram of the overall structure of the three-rotation drive structure of the fruit picking device of the present invention; Figure 3 This is an exploded view of the three-rotation drive structure of the fruit picking device of the present invention; Figure 4 This is a schematic diagram of the connection of the clamping closed-loop structure of the fruit picking device of the present invention; Figure 5 This is an exploded view of the clamping closed-loop structure of the fruit picking device of the present invention; Figure 6 This is a schematic diagram showing the connection of the clamping closed-loop structure, the cooperative motion structure, and the motion clamping structure of the fruit picking device of the present invention. Figure 7 This is an exploded view of the clamping closed-loop structure and the cooperative motion structure of the fruit picking device of the present invention; Figure 8 This is a schematic diagram of the overall structure of the moving clamping structure of the fruit picking device of the present invention; Figure 9 This is an exploded view of the moving gripping structure of the fruit picking device of the present invention.
[0018] Explanation of markings in the diagram: 1. Three-rotation drive structure; 101. Base; 102. First main drive structure; 103. Second main drive structure; 104. Third main drive structure; 105. First driven structure; 106. Second driven structure; 2. Clamping closed-loop structure; 201. Clamping drive; 202. First connecting pair; 203. Second connecting pair; 204. Third connecting pair; 205. First parallel four-bar; 3. Cooperative motion structure; 301. First closed-loop connecting rod; 302. Second closed-loop connecting rod; 303. Third closed-loop connecting rod; 304. Fourth connecting pair; 305. Fifth connecting pair; 306. Sixth connecting pair; 307. Seventh connecting pair; 308. Second parallel four-bar; 309. First extension rod; 310. Second extension rod; 311. Third extension rod; 4. Motion gripping structure; 401. First rotating rod; 402. Second rotating rod; 403. Third rotating rod; 404. Fourth rotating rod; 405. Ninth connecting pair; 406. Eighth connecting pair; 407. Closed-loop structure; 408. First transmission rod; 409. Second transmission rod; 410. Tenth connecting pair; 411. Eleventh connecting pair; 412. Third parallel four-bar; 5. Fruit; 6. Gripping rod. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.
[0021] The following is a reference to the appendix. Figure 1 To be continued Figure 9 The fruit-picking apparatus of the present invention is described.
[0022] like Figures 1 to 3As shown, the fruit picking device of this invention has a three-rotation drive structure 1 connected to a motion gripping structure 4 via a clamping closed-loop structure 2 and a cooperative motion structure 3, driving the motion gripping structure 4 to pick the fruit 5. The three-rotation drive structure 1 consists of a base 101, a first main drive structure 102, and a first secondary drive structure 105. The first main drive structure 102 is hinged to the clamping closed-loop structure 2 via a second main drive structure 103, and the first secondary drive structure 105 is hinged to the cooperative motion structure 3 via a second secondary drive structure 106. Rotating the first main drive structure 105... The moving structure 102 and the first driven structure 105 cause the moving gripping structure 4 to rotate up and down; the second main drive structure 103 and the second driven structure 106 rotate to drive the moving gripping structure 4 to rotate left and right; a third main drive structure 104 is rotatably connected to the second main drive structure 103, and the third main drive structure 104 rotates to drive the moving gripping structure 4 to rotate; a clamping drive 201 of a clamping closed loop structure 2 is slidably provided on the third main drive structure 104, and the clamping drive 201 moves to make the moving gripping structure 4 grip the fruit 5.
[0023] The three-rotation drive structure 1 drives the motion clamping structure 4 to achieve alignment and picking. The three-rotation drive structure 1 is connected in sequence to the clamping closed-loop structure 2 and the cooperative motion structure 3, so that the motion effect of the three-rotation drive structure 1 is transmitted to the motion clamping structure 4, thereby completing the picking of fruit 5.
[0024] Furthermore, such as Figure 2 and Figure 3 As shown, the first main drive structure 102 and the first slave drive structure 105 are spaced apart on the base 101, and the second main drive structure 103 and the second slave drive structure 103 are rotatably connected to the center of the first main drive structure 102 and the first slave drive structure 105, respectively.
[0025] In this embodiment, preferably, the base 101 is U-shaped in general. A first main drive structure 102 and a first slave drive structure 105 are hinged at intervals in the U-shaped opening at the upper end of the base 101. When the first main drive structure 102 and the first slave drive structure 105 rotate around the hinge point on the base 101, the motion clamping structure 4 will rotate up and down around the center point accordingly.
[0026] In a preferred embodiment, motors are connected to the hinge positions of the first main drive structure 102 and the first driven structure 105 with the base 101, thereby causing the first main drive structure 102 and the first driven structure 105 to swing back and forth around the hinge point on the base 101; wherein, the center point can be regarded as the center position of the fruit 5. Since this application is to solve the problem of picking round fruits, the clamping structure 4 can achieve the alignment function with the fruit 5 by moving around the center point of the fruit 5.
[0027] Preferably, a second main drive structure 103 and a second slave drive structure 103 are vertically rotatably connected to the center of the first main drive structure 102 and the first slave drive structure 105, respectively, and a slot is provided on the side of the second main drive structure 103 away from the first main drive structure 102, and a third main drive structure 104 is rotatably disposed in the slot of the second main drive structure 103.
[0028] In a preferred embodiment, motors are connected to the rotational connection positions of the second main drive structure 103 and the second driven structure 106, thereby causing the second main drive structure 103 and the second driven structure 106 to rotate around the connection point. The rotation of the second main drive structure 103 and the second driven structure 106 in turn drives the motion gripping structure 4 to rotate left and right around the center point of the fruit 5.
[0029] Furthermore, a motor is also connected at the connection point between the third main drive structure 104 and the second main drive structure 103. The motor drives the third main drive structure 104 to rotate within the slot of the second main drive structure 103, thereby driving the motion gripping structure 4 to rotate around the center point of the fruit 5. This enables the motion gripping structure 5 to perform up-and-down rotation, left-and-right rotation, and rotation functions, thus completing the alignment of the fruit 5.
[0030] Furthermore, such as Figure 4 and Figure 5 As shown, the clamping closed-loop structure 2 consists of a clamping drive 201, a first connecting pair 202, a second connecting pair 203, a third connecting pair 204, and a first parallel four-bar 205. The lower end of the first parallel four-bar 205 is connected to the end of the second main drive structure 103 away from the first main drive structure 102, and the upper end of the first parallel four-bar 205 is connected to the clamping drive 201. The clamping drive 201 moves along the slide groove of the third main drive structure 104, thereby driving the upper end of the first parallel four-bar 205 to approach or move away from the second main drive structure 103.
[0031] Meanwhile, the first parallel four-bar 205 is connected to the first closed-loop connecting rod 301 and the third closed-loop connecting rod 303 on both sides through the first connecting pair 202 and the third connecting pair 204, respectively. The upper end of the first parallel four-bar 205 is connected to the second closed-loop connecting rod 303 through the second connecting pair 203. When the clamping drive 201 moves up and down, the first closed-loop connecting rod 301 and the third closed-loop connecting rod 303 move closer to or further away from the second closed-loop connecting rod 302.
[0032] In a preferred embodiment, the clamping drive 201 is connected to a motor, which is mounted on the third main drive structure 104, thereby causing the clamping drive 201 to move up and down along the slide groove of the third main drive structure 104; the first parallel four-bar 205 is a rectangular structure formed by four bars hinged together. When the clamping drive 201 moves up and down, the upper end of the first parallel four-bar 205 moves closer to or further away from the lower end of the first parallel four-bar 205. The first closed-loop connecting rod 301 connected to the first parallel four-bar 205 moves closer to the third closed-loop connecting rod 303 while moving further away from the second closed-loop connecting rod 302, thereby causing the motion clamping structure 4 to change accordingly and clamp the fruit.
[0033] Furthermore, such as Figures 6 to 9 As shown, the second parallel four-bar 308 has the same structure as the first parallel four-bar 205, and the shape of the second parallel four-bar 308 changes with the shape of the first parallel four-bar 205. Preferably, the lower end of the second parallel four-bar 308 is connected to the end of the second driven structure 106 away from the first driven structure 105, and the upper end of the second parallel four-bar 308 is connected to a seventh connecting pair 307, which is connected to the fifth connecting pair 305 of the second closed-loop connecting rod 302 through the seventh connecting pair 307.
[0034] Meanwhile, the two sides of the second parallel four-bar 308 are connected to the first closed-loop link 301 and the third closed-loop link 303 respectively through the fourth connecting pair 304 and the sixth connecting pair 306, thereby causing the movement of the first main drive structure 102 and the first driven structure 105, the second main drive structure 103 and the second driven structure 106 to act on the motion clamping structure 4 through the first closed-loop link 301, the second closed-loop link 302 and the third closed-loop link 303.
[0035] Furthermore, a first extension rod 309, a second extension rod 310, and a third extension rod 311 are respectively inserted into the ends of the first closed-loop connecting rod 301, the second closed-loop connecting rod 302, and the third closed-loop connecting rod 303. These extension rods are connected to the motion clamping structure 4, thereby changing the overall length of the device to match the fruits 5 growing at different heights.
[0036] Preferably, the motion clamping structure 4 is composed of a closed-loop structure 407 and a third parallel four-bar 412. The third parallel four-bar 412 is connected to the closed-loop structure 407 through a first transmission rod 408 and a second transmission rod 409. The two ends of the closed-loop structure 407 are respectively connected to a first extension rod 309 and a second extension rod 310. An eighth connecting pair 406 is connected to the upper end of the closed-loop structure 407, and the eighth connecting pair 406 is connected to the ninth connecting pair 405 of the third extension rod 311.
[0037] In a preferred embodiment, the closed-loop structure 407 consists of two hinged rotating rods. The ends of the two rotating rods are rotatably connected to the first extension rod 309 and the second extension rod 310, respectively. An eighth connecting pair 406 is connected to the hinged position of the two rotating rods. The eighth connecting pair 406 is connected to the ninth connecting pair 405 of the third extension rod 311, thereby realizing that the closed-loop structure 407 changes with the position of the first extension rod 309, the second extension rod 310 and the third extension rod 311.
[0038] Meanwhile, the third parallel four-bar 412 has the same structure as the second parallel four-bar 308 and the first parallel four-bar 205, and the shape of the third parallel four-bar 412 changes with the shape of the first parallel four-bar 205, thereby making the effects of the three-rotation drive structure 1 and the clamping closed-loop structure 2 reflected in the motion clamping structure 4.
[0039] Furthermore, a first rotating rod 401 and a second rotating rod 402 are rotatably connected at intervals on the first transmission rod 408. The first transmission rod 408 is connected to the first extension rod 309 through the first rotating rod 401 and the second rotating rod 402. Similarly, a third rotating rod 403 and a fourth rotating rod 404 are rotatably connected at intervals on the second transmission rod 409. The second transmission rod 409 is connected to the second extension rod 310 through the third rotating rod 403 and the fourth rotating rod 404, thereby enabling the third parallel four rods 412 to move closer to or further away from the closed-loop structure 407.
[0040] The ends of the first transmission rod 408 and the second transmission rod 409 are respectively connected to the two ends of the third parallel four rods 412 through the tenth connecting pair 410 and the eleventh connecting pair 411, so that the effects of the three-rotation drive structure 1 and the clamping closed-loop structure 2 are reflected in the third parallel four rods 412.
[0041] Preferably, the end of the third parallel four-bar 412 away from the first transmission bar 408 and the second transmission bar 408 is vertically connected to a clamping bar 6, and the four clamping bars 6 clamp and pick the fruit 5 according to the shape change of the third parallel four-bar 412.
[0042] In a preferred embodiment, a 3D recognition camera is provided on the third hexagonal four-bar 412. While acquiring the size of the fruit 5, it can also determine whether the fruit is ripe. The 3D recognition camera transmits the fruit information and position to the controller. The controller controls the rotation of the first main drive structure 102, the first slave drive structure 105, the second main drive structure 103, the second slave drive structure 106, and the third main drive structure 104 and the movement of the clamping drive 201, thereby achieving the positioning of the fruit 5. At the same time, the base 101 of this application can be connected to other devices for cooperative use, increasing the application scenarios.
[0043] The 3D recognition camera, controller, and various motors in this application are all existing structures, so they are not described in detail here. Any device that can achieve the same function can be used as a replacement.
[0044] Based on the fruit picking device, the present invention has a compact overall structure and small range of motion, which is suitable for picking scenarios with clustered growth and diverse postures. The small-amplitude movement of the coordinated movement structure reduces the vibration of branches and leaves, and significantly reduces the fruit drop rate.
[0045] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.
Claims
1. A fruit picking device, its three rotation driving structure is connected with the motion clamping structure through the clamping closed loop structure and the cooperative motion structure, and the motion clamping structure is driven to pick the fruit, characterized in that, The three-rotation driving structure is composed of a base, a first main driving structure and a first slave driving structure, the first main driving structure is hinged to the clamping closed-loop structure through a second main driving structure, the first slave driving structure is hinged to the cooperative motion structure through a second slave driving structure, the first main driving structure and the first slave driving structure are rotated to drive the motion clamping structure to rotate up and down; The second main driving structure and the second slave driving structure are rotated to drive the motion clamping structure to rotate left and right; The second main driving structure is rotationally connected with a third main driving structure, the third main driving structure is rotated to drive the motion clamping structure to rotate; A clamping driving of the clamping closed-loop structure is slidably arranged on the third main driving structure, the clamping driving is moved to enable the motion clamping structure to clamp fruits.
2. The fruit picking device according to claim 1, characterized in that The first main driving structure and the first slave driving structure are arranged on the base in a spaced manner, and the first main driving structure and the first slave driving structure are respectively rotationally connected with the second main driving structure and the second slave driving structure at the center.
3. The fruit picking apparatus according to claim 1, characterized in that, The second main driving structure is provided with a notch on the side away from the first main driving structure, and the third main driving structure is rotationally arranged in the notch of the second main driving structure.
4. The fruit picking apparatus according to claim 1, characterized in that, The clamping closed-loop structure comprises a first parallel four-bar mechanism, the lower end of the first parallel four-bar mechanism is connected with the second main driving structure, and the upper end of the first parallel four-bar mechanism is connected with the clamping driving, so that the clamping driving drives the upper end of the first parallel four-bar mechanism to move close to or away from the second main driving structure.
5. The fruit picking apparatus according to claim 4, wherein The two sides of the first parallel four-bar mechanism are respectively connected with the first closed-loop connecting rod and the third closed-loop connecting rod through a first connecting pair and a third connecting pair, and the upper end of the first parallel four-bar mechanism is connected with the second closed-loop connecting rod through a second connecting pair, so that the first closed-loop connecting rod and the third closed-loop connecting rod move close to or away from the second closed-loop connecting rod.
6. The fruit picking apparatus according to claim 1, wherein The cooperative motion structure comprises a second parallel four-bar mechanism, the lower end of the second parallel four-bar mechanism is connected with the second slave driving structure, the upper end of the second parallel four-bar mechanism is connected with a seventh connecting pair, and the seventh connecting pair is connected with a fifth connecting pair of the second closed-loop connecting rod.
7. The fruit picking apparatus according to claim 6, characterized in that The two sides of the second parallel four-bar mechanism are respectively connected with the first closed-loop connecting rod and the third closed-loop connecting rod through a fourth connecting pair and a sixth connecting pair.
8. The fruit picking apparatus according to claim 7, characterized in that First, second and third elongated rods are respectively inserted into the ends of the first, second and third closed-loop connecting rods, and the first, second and third elongated rods are connected with the motion clamping structure.
9. The fruit picking apparatus according to claim 8, characterized in that The motion clamping structure comprises a closed-loop structure and a third parallel four-bar mechanism, the third parallel four-bar mechanism is connected with the closed-loop structure through first and second transmission rods, the two ends of the closed-loop structure are respectively connected with the first and second elongated rods, the upper end of the closed-loop structure is connected with an eighth connecting pair, and the eighth connecting pair is connected with a ninth connecting pair of the third elongated rod.
10. The fruit picking apparatus according to claim 9, wherein First and second rotating rods are rotationally connected with the first transmission rod, the first transmission rod is connected with the first elongated rod through the first and second rotating rods, third and fourth rotating rods are rotationally connected with the second transmission rod, the second transmission rod is connected with the second elongated rod through the third and fourth rotating rods, the first and second transmission rods are respectively connected with the third parallel four-bar mechanism through a tenth connecting pair and an eleventh connecting pair, and a clamping rod is arranged on the third parallel four-bar mechanism in a spaced manner to pick fruits.