Intelligent agricultural fruit picking device

Abstract

The invention relates to the technical field of fruit picking, and particularly discloses an intelligent agricultural fruit picking device which comprises a handheld rod, a vibration motor is fixedly connected to the outer surface of the upper end of the handheld rod, an occlusion part is arranged at the upper end of the vibration motor, and the occlusion part can occlude and fix branches of a fruit tree. Therefore, the vibration strength can be automatically adjusted according to the thickness of the branches, damage to fruit trees is reduced on the premise that the fruits are shaken off, the thickness of the fruit tree branches is detected in real time through the measuring part, the strength of the vibration motor is automatically adjusted, it is ensured that the fruits are shaken off efficiently, and meanwhile damage to the fruit tree branches is reduced; double optimization of picking efficiency and tree protection is achieved, the picking efficiency and fruit tree protection are both considered, the design that a driving motor is matched with a threaded rod to drive a lower closing plate to move is adopted, the self-locking function is combined, the device can adapt to branches of different thicknesses, stable meshing is achieved, vibration force is effectively transmitted, and the picking efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of fruit picking technology, specifically to an intelligent agricultural fruit picking device. Background Technology

[0002] Fruit harvesting is a crucial step in agricultural production, and its efficiency and quality directly impact the economic benefits for fruit farmers. For fruits like apples, pears, citrus, and dates that require vibration for harvesting, traditional vibratory harvesters typically employ large robotic arms or tractor-mounted equipment that clamps the tree trunk and applies vibration to dislodge the fruit. While these machines are highly efficient, they are bulky, expensive, and have specific requirements regarding orchard terrain and planting density, making them unsuitable for small or family-run orchards in complex terrains such as mountains and hills. To improve fruit picking efficiency, existing fruit pickers use electric fruit shakers. These shakers transmit vibration to the fruit trees via a vibrating motor, using inertia to shake the fruit off and onto a pre-laid carpet, thus increasing picking efficiency. However, these existing fruit shakers have limited functionality and their output power cannot be adjusted according to the thickness of the fruit tree branches. Excessive vibration during picking can easily damage the fruit tree branches and affect subsequent results. Therefore, we propose a smart fruit-picking device for agriculture. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent fruit-picking device for agriculture to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a smart agricultural fruit picking device, including a handheld stick; A vibration motor is fixedly connected to the upper outer surface of the handheld handle. The upper end of the vibration motor is provided with a biting part. The biting part can bite and fix the branches of the fruit tree. When the biting part bites the branches, it will trigger the measuring part located inside the biting part. The measuring unit can feed back signals to the vibration motor based on the size of the biting branches, thereby automatically adjusting the vibration intensity according to the thickness of the branches, reducing damage to the fruit trees while ensuring the fruit is shaken off.

[0005] The engagement part includes a connecting rod, an upper engagement plate is fixedly connected to the upper end of the connecting rod, a groove is formed on the annular outer surface of the connecting rod, a lower engagement plate is slidably connected inside the groove, a threaded groove is formed on the outer surface of the lower engagement plate, a drive motor is fixedly connected to the upper outer surface of the upper engagement plate, a threaded rod is fixedly connected to the output end of the drive motor, and the threaded rod extends into the groove and matches the threaded groove.

[0006] The lower plate, located inside the slide groove, corresponds to and matches the slide groove and has a rectangular structure design. The drive motor has a self-locking function.

[0007] The measuring unit includes a telescopic groove, and a telescopic rod is slidably connected inside the telescopic groove. There are several sets of telescopic rods, and a spring is fixedly connected between the telescopic rod and the telescopic groove. The telescopic rod faces the lower closing plate.

[0008] The telescopic rod has a T-shaped longitudinal section and is sealed to the telescopic groove. The end of the telescopic rod near the lower plate has a spherical opening.

[0009] The inner surface of the telescopic groove has a through hole at the upper end, and the upper plate also has a sliding cavity. The sliding cavity is connected to several sets of telescopic grooves through the through hole. A sliding plate is slidably connected inside the sliding cavity. A spring is fixedly connected between the upper outer surface of the sliding plate and the sliding cavity. The sliding plate and the sliding cavity are kept sealed.

[0010] The sliding cavity has a conductive groove at the upper end of its inner surface. A resistance plate is fixedly connected to both sides of the inner surface of the conductive groove. A connecting plate is slidably connected inside the conductive groove. A conductive plate is fixedly connected to the upper end of the connecting plate. The conductive plate is in contact with the resistance plate. The resistance of the resistance plate gradually decreases from bottom to top.

[0011] The sliding cavity, through hole, and telescopic groove are all filled with non-Newtonian fluid, which is a shear-thickening fluid. The upper part of the inner surface of the sliding cavity and the sliding plate are designed as a vacuum.

[0012] The connecting rod includes two ends, a and b, which are rotatably connected by a conductive shaft.

[0013] This invention has at least the following beneficial effects: 1. The measuring unit detects the thickness of the fruit tree branches in real time and automatically adjusts the intensity of the vibration motor to ensure efficient fruit shaking while minimizing damage to the branches, thus achieving a dual optimization of harvesting efficiency and tree protection.

[0014] 2. The interlocking part design, which uses a drive motor and threaded rod to move the lower plate, combined with a self-locking function, can adapt to branches of different thicknesses, achieve stable interlocking, effectively transmit vibration force, and improve harvesting efficiency.

[0015] 3. When the telescopic rod is engaged, it fits tightly against the surface of the branch, which not only acts as teeth to prevent the branch from slipping, but also reflects the size of the branch in real time through its displacement. It converts the physical size into a detectable electrical signal, providing an accurate basis for vibration intensity control and realizing the integration of anti-slip and intelligent control.

[0016] 4. By combining the sliding plate, conductive plate and resistive plate, the changes in branch size are converted into continuously changing electrical signals, which automatically control the current input of the vibration motor and achieve precise and adaptive adjustment of vibration intensity.

[0017] 5. Fill the measurement and transmission structure with a non-Newtonian fluid (shear-thickening fluid). The fluid hardens under vibration and impact, suppressing unnecessary structural shaking, ensuring a firm engagement and stable signal, and at the same time, not affecting the normal movement of the telescopic rod during slow engagement.

[0018] 6. The connecting rod adopts a rotatable structure, which allows the interlocking part to be adjusted to a horizontal position perpendicular to the branch during use, avoiding accidental triggering due to deviation of the center of gravity or tilting of the branch, and improving operating comfort and accuracy.

[0019] 7. Powered by a built-in lithium battery, combined with a controller to achieve coordinated control of the entire system, it has a compact structure, is easy to operate by hand, and is suitable for diverse orchard picking scenarios. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the interlocking part of the present invention; Figure 3 This is a cross-sectional structural diagram of the upper plate of the present invention; Figure 4 This is a schematic diagram of the sliding plate and sliding cavity of the present invention; Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 This is an exploded structural diagram of the measuring section of the present invention; Figure 7 This is a schematic diagram of the structure of the measuring part after the branches are bitten in this invention; Figure 8 This is a schematic diagram of the telescopic rod of the present invention.

[0021] In the diagram: 1. Handheld rod; 2. Vibration motor; 3. Engaging part; 30. Upper plate; 31. Drive motor; 32. Threaded rod; 33. Slide groove; 34. Lower plate; 35. Connecting rod; 36. Sliding cavity; 37. Spring 1; 38. Sliding plate; 39. Telescopic groove; 40. Spring 2; 41. Telescopic rod; 42. Through hole; 43. Connecting plate; 44. Conductive groove; 45. Conductive plate; 46. Resistance plate; 47. Threaded groove; 48. Opening; 5. Measuring part. Detailed Implementation

[0022] 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, and 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.

[0023] Please see Figure 1-8 The present invention provides a technical solution: a smart agricultural fruit picking device, including a handheld rod 1, which is equipped with a lithium battery to ensure power supply for subsequent use; A vibration motor 2 is fixedly connected to the upper outer surface of the handheld rod 1. The vibration motor 2 is controlled by a controller installed inside the handheld rod 1. The upper end of the vibration motor 2 is provided with a biting part 3. The biting part 3 can bite and fix the branches of the fruit tree. When the biting part 3 bites the branches, it will trigger the measuring part 5 installed inside the biting part 3. By biting the branches of the fruit tree, the force is transmitted to the branches of the fruit tree more effectively during vibration, which is conducive to the rapid fall of the fruit. The measuring unit 5 can feed back signals to the vibration motor 2 according to the size of the biting branches, so that the vibration intensity can be automatically adjusted according to the thickness of the branches, reducing damage to the fruit trees while ensuring the fruit is shaken off, thus achieving the effect of ensuring fruit picking efficiency and protecting the branches of the fruit trees.

[0024] The interlocking part 3 includes a connecting rod 35, the upper end of which is fixedly connected to an upper mating plate 30. A groove 33 is formed on the annular outer surface of the connecting rod 35. A lower mating plate 34 is slidably connected inside the groove 33. A threaded groove 47 is formed on the outer surface of the lower mating plate 34. A drive motor 31 is fixedly connected to the upper outer surface of the upper mating plate 30. A threaded rod 32 is fixedly connected to the output end of the drive motor 31. The threaded rod 32 extends into the groove 33 and matches the threaded groove 47. The drive motor 31 is a self-locking motor. The drive motor 31 drives the threaded rod 32 to rotate, causing the lower mating plate 34 to move upward, thereby interlocking and fixing the branches of the fruit tree. With the above structure, it can stably interlock with the fruit tree when facing branches of different thicknesses, effectively transmitting force to the branches of the fruit tree.

[0025] The portion of the lower plate 34 located inside the slide groove 33 corresponds to and matches the slide groove 33, and has a rectangular structure design. The drive motor 31 has a self-locking function.

[0026] The measuring unit 5 includes a telescopic groove 39, and a telescopic rod 41 is slidably connected inside the telescopic groove 39. There are several sets of telescopic rods 41, and a spring 40 is fixedly connected between the telescopic rod 41 and the telescopic groove 39. The telescopic rod 41 faces the lower plate 34. When the lower plate 34 moves upward, the fruit tree branches will fully contact the upper plate 30 and the lower plate 34. At this time, the lower end of the telescopic rod 41 of the upper plate 30 will also contact the branches of the fruit tree, playing a role similar to teeth, preventing the fruit tree branches from sliding.

[0027] The telescopic rod 41 has a T-shaped longitudinal section and is sealed to the telescopic groove 39. The end of the telescopic rod 41 near the lower plate 34 has a spherical opening 48. The T-shaped structure provides space for the second spring 40, ensuring that the second spring 40 has room to deform and apply elastic force to the surface of the fruit tree branches. The circular opening 48 in combination with the opening increases the friction on the fruit tree branches and further improves the stabilization effect.

[0028] The upper surface of the telescopic groove 39 has a through hole 42. The upper plate 30 also has a sliding cavity 36 inside. The sliding cavity 36 communicates with several sets of telescopic grooves 39 through the through hole 42. A sliding plate 38 is slidably connected inside the sliding cavity 36. A spring 37 is fixedly connected between the upper outer surface of the sliding plate 38 and the sliding cavity 36. The sliding plate 38 and the sliding cavity 36 remain sealed. When the upper plate 30 and the lower plate 34 engage the fruit tree branch, several sets of telescopic rods 41 will shift according to the shape of the branch, thereby recording the branch's dimensions in real time. The telescopic groove 39 is filled with liquid. The vibration is transmitted through the through-hole 42 to the inside of the telescopic groove 39, driving the sliding plate 38 to move. This converts the branch dimensions of the fruit tree into an observable displacement, allowing the controller to determine the vibration intensity of the vibrating motor 2. When dealing with thinner branches, fewer telescopic rods 41 displace, resulting in a smaller movement of the sliding plate 38. The controller then reduces the current input to the vibrating motor 2. Conversely, when dealing with thicker branches, more telescopic rods 41 displace after engagement, leading to a larger displacement of the sliding plate 38. The controller then increases the current input to the vibrating motor 2. The lower mating plate 34 will not contact the ends of the telescopic rods 41 during its maximum stroke, thus increasing structural stability. A conductive groove 44 is formed on the upper end of the inner surface of the sliding cavity 36. A resistor plate 46 is fixedly connected to both sides of the inner surface of the conductive groove 44. A connecting plate 43 is slidably connected inside the conductive groove 44. A conductive plate 45 is fixedly connected to the upper end of the connecting plate 43. The conductive plate 45 is in contact with the resistor plate 46. The resistance of the resistor plate 46 gradually decreases from bottom to top. The movement of the sliding plate 38 drives the conductive plate 45 to slide inside the conductive groove 44 and contact the resistor plate 46 through the connecting plate 43, thereby changing the electrical signal input to the controller. The resistance of the resistor plate 46 gradually decreases from bottom to top. When the displacement of the sliding plate 38 is larger, it indicates that the branch is thicker. At this time, the conductive plate 45 contacts the resistor plate 46 and slides upward. The resistance of the resistor plate 46 decreases and the current increases, thereby increasing the electrical signal input to the controller.

[0029] The sliding cavity 36, through hole 42, and telescopic groove 39 are all filled with non-Newtonian fluid, which is a shear-thickening fluid. When the vibration motor 2 starts, the branch is impacted, causing the telescopic rod 41 to also be impacted inside the telescopic groove 39. When the non-Newtonian fluid is subjected to rapid impact or shear force, the viscosity increases sharply and hardens, further ensuring the stability of the structure. During the meshing stage, the speed of the lower mating plate 34 is slow, and the non-Newtonian fluid is in a state of slow force, which will not hinder the movement of the telescopic rod 41. The upper end of the inner surface of the sliding cavity 36 and the sliding plate 38 are designed with a vacuum to facilitate the sliding of the sliding plate 38.

[0030] The connecting rod 35 includes two ends, a and b. The connecting rod 35a and the connecting rod 35b are rotatably connected by a conductive shaft. Since the biting part 3 is C-shaped, when the user lifts it, the biting part 3 hangs vertically to the ground, and the center of gravity deviates from the connecting rod 35. The rotatable design is suitable for use to keep the upper plate 30 and the lower plate 34 of the biting part 3 horizontal and vertical to the branch as much as possible, and to avoid the branch tilting too much and triggering the telescopic rod 41 to slide, causing structural accidental contact.

[0031] How to use: The user turns on the device and then lifts the biting part 3 to align with the fruit tree branch. At this time, the hand lever 1 is tilted, and the biting part 3 hangs down naturally under the action of gravity. Then, the user clamps the biting part 3 in the middle of the branch and controls the drive motor 31 to force the lower clamping plate 34 to move upward to bite the branch. During the biting process, the branch comes into contact with the telescopic rod 41. The telescopic rod 41 moves into the telescopic groove 39 and transfers the displacement through the through hole 42 to the sliding cavity 36, forcing the sliding plate 38 to drive the conductive plate 45 to move inside the conductive groove 44. The displacement is converted into an electrical signal and the controller controls the output intensity of the vibration motor 2. While ensuring the fruit picking efficiency, the fruit tree branch is protected. After the fruit picking is completed, the user controls the lower clamping plate 34 to move downward to release the branch.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart agricultural fruit picking device, comprising a handheld pole (1), characterized in that: A vibration motor (2) is fixedly connected to the upper outer surface of the handheld rod (1). The upper end of the vibration motor (2) is provided with a biting part (3). The biting part (3) can bite and fix the branches of the fruit tree. When the biting part (3) bites the branches, it will trigger the measuring part (5) located inside the biting part (3). The measuring unit (5) can feed back the signal to the vibration motor (2) according to the size of the biting branch, so that the vibration intensity can be automatically adjusted according to the thickness of the branch, thereby reducing damage to the fruit tree while ensuring the fruit is shaken off.

2. The intelligent agricultural fruit picking device according to claim 1, characterized in that: The engagement part (3) includes a connecting rod (35), the upper end of which is fixedly connected to an upper mating plate (30). A groove (33) is provided on the annular outer surface of the connecting rod (35). A lower mating plate (34) is slidably connected inside the groove (33). A threaded groove (47) is provided on the outer surface of the lower mating plate (34). A drive motor (31) is fixedly connected to the upper outer surface of the upper mating plate (30). A threaded rod (32) is fixedly connected to the output end of the drive motor (31). The threaded rod (32) extends into the groove (33) and matches the threaded groove (47).

3. The intelligent agricultural fruit picking device according to claim 2, characterized in that: The portion of the lower plate (34) located inside the slide groove (33) corresponds to and matches the slide groove (33), and has a rectangular structure design. The drive motor (31) has a self-locking function.

4. The intelligent agricultural fruit picking device according to claim 2, characterized in that: The measuring part (5) includes a telescopic groove (39), and a telescopic rod (41) is slidably connected inside the telescopic groove (39). The number of telescopic rods (41) is several sets, and a spring (40) is fixedly connected between the telescopic rod (41) and the telescopic groove (39). The telescopic rod (41) faces the lower plate (34).

5. The intelligent agricultural fruit picking device according to claim 4, characterized in that: The telescopic rod (41) has a T-shaped cross-section and is sealed to the telescopic groove (39). The telescopic rod (41) has a spherical opening (48) at one end near the lower plate (34).

6. The intelligent agricultural fruit picking device according to claim 5, characterized in that: The inner surface of the expansion groove (39) is provided with a through hole (42) at the upper end. The upper plate (30) is also provided with a sliding cavity (36). The sliding cavity (36) is connected to several sets of expansion grooves (39) through the through hole (42). A sliding plate (38) is slidably connected inside the sliding cavity (36). A spring (37) is fixedly connected between the upper outer surface of the sliding plate (38) and the sliding cavity (36). The sliding plate (38) and the sliding cavity (36) are kept sealed.

7. The intelligent agricultural fruit picking device according to claim 6, characterized in that: A conductive groove (44) is provided on the upper end of the inner surface of the sliding cavity (36). A resistor plate (46) is fixedly connected to both sides of the inner surface of the conductive groove (44). A connecting plate (43) is slidably connected inside the conductive groove (44). A conductive plate (45) is fixedly connected to the upper end of the connecting plate (43). The conductive plate (45) is in contact with the resistor plate (46). The resistance value of the resistor plate (46) gradually decreases from bottom to top.

8. The intelligent agricultural fruit picking device according to claim 7, characterized in that: The sliding cavity (36), through hole (42) and expansion groove (39) are filled with non-Newtonian fluid, which is shear-thickening fluid. The upper end of the inner surface of the sliding cavity (36) and the sliding plate (38) are designed with a vacuum.

9. The intelligent agricultural fruit picking device according to claim 8, characterized in that: The connecting rod (35) includes two ends, a and b, and the a end and the b end of the connecting rod (35) are rotatably connected by a conductive shaft.

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