Self-balancing fruit tree picking device

Abstract

The invention relates to the technical field of fruit tree picking devices, in particular to a self-balancing fruit tree picking device.The self-balancing fruit tree picking device comprises a vehicle body, a lifting mechanism, an adjusting mechanism and a balancing mechanism, the lifting mechanism is fixedly installed on the upper portion of the vehicle body, and a column type support is additionally arranged on the lifting mechanism on the basis of a shear fork mechanical structure; the lifting mechanism is arranged, so that the lifting mechanism is more stable and safer during lifting, and the front end of the lifting mechanism can be lifted in a small range, so that the auxiliary balance effect is achieved; the adjusting mechanism is fixedly mounted above the lifting mechanism and is used for automatically adjusting the balance of the whole machine body of the picking device when the picking device inclines; the balance mechanism is fixedly installed on the adjusting mechanism, the balance mechanism detects whether the picking device is balanced or not in a ball balance mode, and when the balance mechanism is unbalanced, the balance mechanism is matched with the adjusting mechanism to adjust the picking device till the balance mechanism is balanced.

Description

Technical Field

[0001] This invention relates to the field of fruit tree harvesting devices, specifically to a self-balancing fruit tree harvesting device. Background Technology

[0002] When fruits and trees in orchards, forests, and farmlands ripen, manual harvesting or pruning is required. However, the height of the fruits or trees to be harvested varies. Conventional methods for solving this problem include manual climbing, setting up ladders, and using machinery such as tractors and cranes. However, manual climbing or setting up ladders requires highly skilled operators and is quite dangerous. Traditional lifting devices such as cranes are too large to be used in low-lying areas. Moreover, the loose soil in orchards and climbing too high can cause instability and lead to falls that can cause injury or death.

[0003] When fruit harvesting equipment moves across uneven farmland, it sways left and right, front and back, making it easy for operators to lose their balance and slip. To prevent accidents caused by instability and misoperation, the equipment often collidees with the fruit during transport in uneven orchards, reducing farmers' profits. Currently, ladders are commonly used for thinning flowers and fruits, bagging, harvesting, and pruning in orchards. However, the soft soil and excessive height can cause instability, leading to tipping over and injuries. Continuous transport... Ladders are inefficient. Picked fruit is often damaged when piled up unevenly on the ladder, and pruned branches need to be moved again, wasting manpower. Therefore, conventional fruit picking equipment is insufficient to meet the needs and may lead to injuries or fatalities. Even when using machinery to improve picking efficiency, traditional machinery is too large to be used in low-ceilinged and small spaces, and the instability of platforms on different terrains can also cause injuries or fatalities. Traditional machinery also has low load-bearing capacity, and when the machinery reaches its limit, people have to go up and down repeatedly, which reduces picking efficiency.

[0004] In view of the above, in order to overcome the above technical problems, the present invention designs a self-balancing fruit tree harvesting device to solve the above technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a self-balancing fruit tree harvesting device to improve the applicability of the self-balancing fruit tree harvesting device under different terrain and load conditions. By improving the stability of the balancing platform through the lifting device, the load-bearing capacity of the self-balancing fruit tree harvesting device is enhanced, and people are prevented from being injured or killed due to instability of the center of gravity caused by the unstable platform when people are in uneven areas.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] This invention provides a self-balancing fruit tree harvesting device, comprising a vehicle body, a lifting mechanism, an adjusting mechanism, and a balancing mechanism. Its key features are: the lifting mechanism is fixedly installed above the vehicle body using welding; the adjusting mechanism is fixedly installed above the lifting mechanism using welding; the lifting mechanism, by adding column supports to the scissor lift mechanical structure, becomes more stable and safer during lifting; and the front end of the lifting mechanism can be raised and lowered slightly to assist in balancing; the adjusting mechanism, by cooperating with the four sides of the lifting mechanism, enables the lifting mechanism to drive the adjusting mechanism's movement, thereby achieving self-balancing; and the balancing mechanism, during the lifting and adjusting process, ensures smoother movement of the balancing mechanism, preventing shaking and wobbling, thus improving operational stability and safety.

[0008] Furthermore, the lifting mechanism can achieve more stable lifting while maintaining speed, making the lifting process safer. The lifting mechanism provides better load-bearing capacity and safety for the platform in the adjustment mechanism. The adjustment column in the lifting mechanism adjusts the balance platform in the balancing mechanism, which can quickly adjust the balance platform and better protect the safety of the workers. Even in bad weather, the lifting mechanism can still ensure the safety of the workers.

[0009] Preferably, the platform is fixedly installed above the lifting mechanism by welding. Four column holes are formed on the platform, and all four column holes are coaxially fixedly connected to the lifting mechanism. The guardrails are fixedly installed around the platform by welding or bolting. Two guardrails are fixedly installed on adjacent sides of the support assembly by bolting. The support assembly provides a fixing function for the guardrails. The platform has platform holes on its sides, and the rotating rod is fixedly installed on the support assembly. The system uses bolts for connection. The rotating rod transmits rotational power to the guardrail through its own rotation, causing the guardrail to swing left and right. The connecting rod is fixedly installed below the guardrail and connected by welding. The guardrail is fixedly installed above the guardrail and connected by welding. The pushing component is fixed inside the middle of the connecting rod and connected by hinge. When the balancing mechanism is adjusted, it exerts a thrust on the pushing component, which pushes the connecting rod, thereby moving the guardrail. When the guardrail is fixed by the support component, the guardrail can swing left and right.

[0010] Based on this solution, further steps are taken to create column holes on the platform, mainly to connect the lifting column in the lifting mechanism with the platform. This makes the platform more stable during the lifting process, thereby increasing the platform's load-bearing capacity. This allows for increased fruit harvesting during high-altitude operations, improving harvesting efficiency. The column holes also allow the adjusting column in the lifting mechanism to better connect with the balance platform, thus enabling adjustments to the balance platform.

[0011] Preferably, the support assembly includes a support column and a bearing. The support column is fixedly installed on the guardrail, and the bearing is fixedly installed on the support column. Two bearings are respectively fixed on one support column. When the pushing mechanism pushes the connecting rod, the bearing and the rotating rod cooperate with each other to realize the left and right swing of the guardrail.

[0012] Based on the above, the support component is designed as a pillar to better fix the guardrail and avoid safety hazards. The design of two gears on the pillar can ensure the safety of the guardrail while reducing the area occupied by the support component, thereby allowing for more usable platform space.

[0013] Preferably, the pushing assembly includes a piston, a piston pin, a piston rod, and a cam gear. The piston is fixedly mounted on the connecting rod, the piston pin is fixedly mounted on the other end of the piston, and the piston pin is fixedly mounted on the piston rod. The piston and the piston rod are fixed by the piston pin. The piston can reduce the pressure on both ends and itself, and has an up-and-down swinging effect on the piston rod. The other end of the piston rod is fixedly mounted on the cam gear. The design of pistons at both ends and cam gear in the middle avoids damage to the piston. The design of the cam gear can make the structure compact and highly reliable.

[0014] The cam gears in the piston are directly mounted on the piston, occupying relatively little space. They can perform multiple functions within a small space. The design of the cam gears in the piston makes their movement highly efficient, achieving complex motion trajectories through simple rotation. Due to the design of the cam gears, the movement trajectory and speed of the piston can be controlled very precisely, thus achieving accurate actions. Because the cam gears in the piston are directly mounted on the piston, they are very robust and not easily affected by external interference, thus having high reliability. Since the cam gears in the piston are located in the middle of the piston, maintenance and repair can be carried out very conveniently without disassembling the entire machine.

[0015] Preferably, the balancing mechanism includes a balancing platform, a disc assembly, a balancing ball, and a contact conductor. The balancing platform is fixedly installed above the adjusting column, and the balancing platform and the adjusting column are connected by a hinge. The balancing platform is tangent to the platform, which makes the entire device more compact and reduces the shaking and instability of the device. The disc assembly is fixedly installed directly below the balancing platform, and the disc assembly is connected to the balancing platform by welding. The balancing ball is inside the disc assembly, and the contact conductor is fixedly installed inside the disc assembly and connected to the disc assembly by welding. The offset of the balancing platform causes the balancing ball inside the disc assembly to move, thereby pressing the contact conductor. The pressure is transmitted to the adjusting column through the contact conductor, and the adjustment is achieved by raising and lowering the adjusting column, thereby bringing the balancing platform to a horizontal position.

[0016] Several points are worth noting:

[0017] Firstly, the balancing platform can be flexibly moved up and down as needed. The hinge between the balancing platform and the adjusting column ensures smoother movement, reducing shaking and swaying, and improving work stability and safety. The hinged section also allows adjustment of the angle between the balancing platform and the adjusting column to adapt to different work scenarios and needs. This enables the support column, lifting column, and adjusting column to better cooperate with other equipment and tools, improving work efficiency and flexibility. The hinged section also prevents damage or safety hazards caused by bending or deformation of the lifting platform during lifting. The hinged connection strengthens the platform's load-bearing capacity, ensuring work safety and reliability, while also saving costs and improving the economics and practicality of the device. The platform hinge makes the entire device more stable on uneven terrain, reducing the risk of tilting and swaying. The support column, lifting column, and adjusting column can precisely control the platform height, making the harvesting process more convenient and efficient. They can also adapt to fruit trees of different heights, increasing the applicability and efficiency of harvesting. This structure also reduces instability and safety hazards caused by varying balancing platform heights, improving the safety of the harvesting process.

[0018] Secondly, the reason for choosing a balance ball is that when the balance ball rolls inside the disc assembly, it is very stable due to its low center of gravity and small area, which can keep the disc assembly balanced. The design of the balance ball rolling inside the disc assembly allows for the adjustment of parameters such as the size and type of the balance ball as needed, thereby achieving flexible adjustment and control of the self-balancing mechanism.

[0019] Thirdly, the surface of the contact conductor undergoes special treatment to achieve better contact performance, ensuring signal transmission quality and good corrosion resistance. Contact conductors typically withstand frequent contact and disconnection operations, thus requiring excellent wear resistance and corrosion resistance to extend their service life. The surface of the contact conductor is usually coated with a material with good corrosion resistance, such as gold or silver plating, which can effectively resist the effects of environmental factors such as oxidation and corrosion. If a problem occurs with the contact conductor, maintenance or replacement is usually easy to achieve, and the normal operation of the equipment or line can be quickly restored.

[0020] The disc assembly includes a circular groove and a baffle. The circular groove is fixedly installed at the center of the disc assembly and connected by welding or hinge. The baffle is fixedly installed above the bottom of the disc assembly and connected by welding. When the disc assembly is horizontally fixed, the balance ball returns to the inside of the circular groove. When the disc assembly is tilted, the baffle restricts the balance ball, giving it better stability. The balance ball's rolling prevents it from rolling uncontrollably during movement, thereby increasing the stability of the entire assembly. By limiting the direction and distance of the balance ball's rolling, the movement and position of the balance ball can be controlled more precisely, improving the system's positioning accuracy. Limiting the balance ball's rolling reduces wear and friction, extending the system's service life.

[0021] As described above, the design of the central circular groove is mainly to make it easier for the balance ball to return to the center position when the balance platform is stable, preventing the balance ball from rolling around randomly, thereby enhancing the stability of the balance platform. The design of the baffle is mainly to restrict the balance ball, giving it better stability. The rolling of the balance ball can prevent it from rolling uncontrollably during the movement, thereby increasing the stability of the entire component. By restricting the direction and distance of the balance ball's rolling, the movement and position of the balance ball can be controlled more precisely, improving the positioning accuracy of the system. Restricting the rolling of the balance ball can reduce the wear and friction of the balance ball, extending the service life of the system.

[0022] Preferably, the contact conductor is made of an elastic material and is fan-shaped. When the contact conductor is compressed, the other end of the contact conductor can rotate by an angle of 1-3°. The main design feature is that when the balance ball rolls, it can better contact the conductor and the balance ball. When the balance ball moves to the contact conductor, it has more time to react to it.

[0023] It is worth noting that the contact conductor is made of elastic material. When the balance ball contacts the contact conductor, it can transmit information to the adjusting column more quickly. The rotation angle is designed to be 1-3°, so that when the balance platform is stable, the balance ball can quickly return to the center position and stop the adjustment column from rising and falling. When it is higher than 3°, the balance ball is difficult to return to the center position because the rotation angle of the contact conductor is too large. The fan-shaped design maximizes the contact conductor area, which can more efficiently and smoothly adjust the balance platform, thereby improving the safety of operation.

[0024] Preferably, the scissor lift assembly on the lifting mechanism is fixedly installed above the vehicle body. Four support columns are added to the scissor lift assembly. The support columns are fixedly installed on the four sides above the vehicle body. The lifting column is fixedly installed at the center of the support columns. The adjusting column is fixedly installed at the center of the lifting column. The upper end of the adjusting column is designed with a lubricating material to reduce friction during the adjustment of the balance platform.

[0025] Based on this design, the height adjustability of the lifting mechanism is enhanced. The scissor lift mechanism allows for fine-tuning of the height through manual operation, while the support column, lifting column, and adjusting column can achieve precise height adjustment through hydraulic control. The combination of the two enables more comprehensive height adjustment. The scissor lift can achieve rapid lifting and lowering in a short time, while the support column, lifting column, and adjusting column can achieve stable lifting and lowering over a wide height range. The combination of the two ensures both speed and more stable lifting and lowering, making the lifting process safer. The scissor lift, support column, lifting column, and adjusting column all have good stability and safety. Their combination complements each other, further ensuring the safety of the lifting process. The scissor lift, support column, lifting column, and adjusting column are all mature technologies, easy to maintain and repair, and have a long service life, reducing later maintenance costs. The working environment of the harvesting device is complex and variable, sometimes requiring rapid adjustments. The combination of scissor lift and hydraulic lift can better adapt to different working environments.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. To improve the adaptability of self-balancing fruit tree harvesting devices to different terrains, the scissor lift mechanism can achieve fine-tuning of height through manual operation, while the support column, lifting column, and adjusting column can achieve precise height adjustment through hydraulic control. The combination of the two can achieve more comprehensive height adjustment. The scissor lift can achieve rapid lifting and lowering in a short time, while the support column, lifting column, and adjusting column can achieve stable lifting and lowering within a large height range. The combination of the two can achieve more stable lifting and lowering while ensuring speed, and the lifting and lowering process is safer.

[0028] 2. By setting up a balancing mechanism, the problems of tipping over and accidental injuries caused by improper work or unfavorable environment are solved, improving work safety. It can maintain stable balance on uneven ground, enabling workers to complete tasks more efficiently, reducing misoperation caused by platform shaking, thereby improving work efficiency. Moreover, it can reduce platform shaking and vibration, reducing fatigue and discomfort caused by long-term work, and improving work comfort. When the balancing platform is tilted, the instability or height difference that causes instability and safety hazards is ensured by the balancing ball in the disc assembly. Attached Figure Description

[0029] The structures, proportions, and sizes illustrated in this specification are merely for illustrative purposes and to aid those skilled in the art in understanding and reading the invention. They are not intended to limit the implementation of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and objectives of the invention, should still fall within the scope of the technical content disclosed in this invention. The accompanying drawings described below illustrate some embodiments of the invention. Those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0030] Figure 1 This is an overall diagram of a self-balancing fruit tree harvesting device; Figure 2 This is a schematic diagram of the lifting mechanism; Figure 3 This is a schematic diagram of the adjustment mechanism; Figure 4 This is a schematic diagram of the balancing mechanism; Figure 5 A schematic diagram of the internal disk assembly of the balancing mechanism; Figure 6 A structural schematic diagram of the guardrail, support assembly, railing, rotating rod, pushing assembly, and guardrail; Figure 7 This is a cross-sectional view of the disk assembly. Figure 8 A schematic diagram of the component structure; Figure 9 This is a structural diagram of a rising bollard; Figure 10 This is a structural schematic diagram of the support assembly.

[0031] In the diagram: 1. Vehicle body; 2. Lifting mechanism; 21. Scissor lift assembly; 22. Support column; 23. Lifting column; 24. Adjusting column; 3. Adjusting mechanism; 31. Platform; 32. Column hole; 33. Platform hole; 34. Guardrail; 35. Guard bar; 36. Support assembly; 361. Support column; 362. Bearing; 37. Transmission rod; 38. Connecting rod; 39. Push assembly; 391. Piston; 392. Piston pin; 393. Piston rod; 394. Cam gear; 4. Balancing mechanism; 41. Balancing platform; 42. Disc assembly; 421. Baffle; 422. Circular groove; 43. Balancing ball; 44. Contact conductor. Detailed Implementation

[0032] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0033] like Figure 1 As shown, the lifting mechanism 2 is fixedly installed on the top of the vehicle body 1. The lifting mechanism 2 adds column support to the scissor lift mechanical structure, making it more stable and safer during lifting. The front end of the lifting mechanism 2 can be raised and lowered slightly to assist in balancing. The adjusting mechanism 3 is fixedly installed above the lifting mechanism 2. The adjusting mechanism 3 uses the lifting function of the lifting mechanism 2 to raise and lower itself, making it more stable during lifting. The balancing mechanism 4 is fixedly installed on the adjusting mechanism 3. When the balancing mechanism 4 is tilted, the front end of the lifting mechanism 2 raises and lowers the balancing mechanism 4 slightly to bring it to a horizontal position, making the balancing mechanism 4 move more smoothly without shaking or wobbling, thus improving the stability and safety of operation.

[0034] When the lifting mechanism 2 is activated, it raises the adjusting mechanism 3, and at the same time, the balancing mechanism 4 on the adjusting mechanism 3 also rises. When the lifting mechanism 2 stops rising, it adjusts the balancing mechanism 4 to make it more balanced, thus preventing people from standing on it from tilting and causing safety hazards.

[0035] When the lifting mechanism 2 retracts, the lifting mechanism 2 descends first, which drives the adjusting mechanism 3 to descend, and the balancing mechanism 4 on the adjusting mechanism 3 also descends.

[0036] like Figure 3 and Figure 6As shown, the adjustment mechanism 3 includes a platform 31, column holes 32, platform holes 33, guardrails 34, guardrails 35, support assembly 36, rotating rod 37, connecting rod 38, and pushing assembly 39. The platform 31 is fixedly installed above the lifting mechanism 2 and is connected by welding. The platform 31 has four column holes 32, and all four column holes 32 are coaxially fixedly connected to the lifting mechanism 2 by welding. The lifting is adjusted by the pressure transmission of the lifting mechanism 2, thereby realizing the free lifting of the platform 31. The platform 31 has platform holes 33, and the guardrails 34 are fixedly installed around the platform 31. The support assembly... Two guardrails 34 are fixedly installed on two adjacent sides of the support assembly 36. The guardrail 35 is fixedly installed between the two guardrails 34. The rotating rod 37 is fixedly installed on the support assembly 36 and connected by welding. The connecting rod 38 is fixedly installed below the guardrail 34 and connected by welding. The pushing assembly 39 is fixed in the middle of the connecting rod 38 and connected by hinge. When the balance mechanism 4 is adjusted, it exerts a thrust on the pushing assembly 39. The pushing assembly 39 pushes the connecting rod 38, thereby driving the guardrail 34. When the guardrail 34 is fixed by the support 34, the guardrail 34 can swing left and right.

[0037] When one end of the pushing component 39 is pushed by the balance platform 41, the other end of the pushing component 39 pushes the transmission rod 35. Since the transmission rod 35 is on the guardrail 34, the transmission rod 35 drives the guardrail 34 to rotate together. The support component 36 has a fixing effect on the guardrail 34, thereby realizing the adjustment of the guardrail 34 to be fixed vertically with the balance platform 41.

[0038] like Figure 10 As shown, the support assembly 36 includes a support column 341 and a bearing 342. The support column 341 is fixedly installed on the guardrail 34, and the bearing 342 is fixedly installed on the support column 341. The installation is connected by a hinge. Two bearings 342 are respectively fixedly installed on one support column 341 and are connected by welding. When the pushing mechanism pushes the connecting rod 38, the bearing 342 cooperates with the rotating rod to realize the left and right swing of the guardrail 34.

[0039] The support component 36 is designed as a pillar 341, which can better fix the guardrail 34 and avoid safety hazards. The two gears designed on the pillar can ensure the safety of the guardrail 34 and reduce the area occupied by the support component 36, thereby allowing more usable area of ​​the platform 31.

[0040] like Figure 8As shown, the pushing assembly 39 includes a piston 371, a piston pin 372, a piston rod 373, and a cam gear 374. The piston 371 is fixedly mounted on the connecting rod 38, and the mounting is connected by a hinge. The piston pin is fixedly mounted on the other end of the piston 371, and the mounting is connected by welding. The piston pin 372 is fixedly mounted on the piston rod 373, and the mounting is connected by a hinge. The piston 371 and the piston rod 373 are fixed by the piston pin 372. The piston 371 can reduce the pressure on both ends and itself, allowing the piston 371 and the piston rod 373 to function flexibly. The other end of the piston rod 373 is fixedly mounted on the cam gear 374. The design of using pistons 371 at both ends and the cam gear 374 in the middle avoids damage to the piston 371. The design of the cam gear 374 makes the structure compact and highly reliable.

[0041] Complex motion trajectories can be achieved through simple rotation. The cam gear 374 in piston 371 is directly mounted on piston 371, occupying relatively little space. Multiple functions can be completed in a small space. The design of the cam gear 374 in piston 371 makes their movement highly efficient. Due to the design of the cam gear 374, the movement trajectory and speed of piston 371 can be controlled very precisely, thereby achieving precise actions. Since the cam gear 374 in piston 371 is directly mounted on piston 371, they are very robust and not easily affected by external interference, thus having high reliability. Since the cam gear 374 in piston 371 is located in the middle of piston 371, maintenance and repair can be carried out very conveniently without disassembling the entire machine.

[0042] like Figure 4 , Figure 5 and Figure 10 As shown, the balancing mechanism 4 includes a balancing platform 41, a disc assembly 42, a balancing ball 43, and a contact conductor 44. The balancing platform 41 is fixedly installed above the platform 31 and connected by welding. The disc assembly 42 is fixedly installed directly below the balancing platform 41 and connected by welding. The balancing ball 43 is inside the disc assembly 42, and the contact conductor 44 is fixedly installed inside the disc assembly 42 and connected by welding. The balancing ball 43 inside the disc assembly 42 moves due to the offset of the balancing platform 41, thereby pressing the contact conductor 44. The pressure is transmitted to the adjusting column 24 through the contact conductor 44, and the balancing mechanism 41 is adjusted by raising and lowering the adjusting column 24, thereby bringing the balancing platform 41 to a horizontal position.

[0043] When the balance platform 41 in the balancing mechanism 4 tilts, it drives the disk assembly 42 and the balance ball 43 inside the disk assembly 42 to shift together. When the balance ball 43 touches the contact conductor 44, it connects the two contact components inside the contact conductor 44, thereby transmitting a signal to the adjustment column 24. By raising and lowering the adjustment column 24, the balance platform 41 is automatically balanced.

[0044] When the weight of the object being carried is small, the adjusting column 24 and the balance platform 41 are connected by a hinge. The hinged connection strengthens the load-bearing capacity of the platform 31, which is essential to prevent damage or safety hazards caused by bending or deformation of the balance platform 41 during lifting and lowering. This ensures the safety and reliability of the operation, saves costs, and improves the economy and practicality of the device.

[0045] When the load range is large, a spring 25 is added to the adjusting column 24. Adding a spring 25 can prevent the adjusting column 24 and the balance platform 41 from being damaged due to bending or deformation during the lifting process, which could lead to safety hazards. At the same time, it can also relieve the pressure on the balance platform 41 from people on it during the adjustment process, thereby reducing the damage between the adjusting column and the balance platform 41 and improving the reliability of the equipment.

[0046] like Figure 5 As shown, the disc assembly 42 includes a circular groove 422 and a baffle 421. The circular groove 422 is fixedly installed at the center of the disc assembly 42, and the baffle 421 is welded to the top of the bottom of the disc assembly 42. When the disc assembly 42 is horizontally fixed, the balance ball 43 returns to the inside of the circular groove 422. When the disc assembly 42 is tilted, the baffle 421 restricts the balance ball 43, giving it better stability. The rolling of the balance ball 43 can prevent it from rolling uncontrollably during movement, thereby increasing the stability of the entire assembly. By limiting the direction and distance of the rolling of the balance ball 43, the movement and position of the balance ball 43 can be controlled more precisely, improving the positioning accuracy of the system. Limiting the rolling of the balance ball 43 can reduce the wear and friction of the balance ball 43, extending the service life of the system.

[0047] like Figure 6 and Figure 7 As shown, the contact conductor 44 is made of elastic material and is fan-shaped. When the contact conductor 44 is compressed, the other end of the contact conductor 44 can rotate by an angle of 1-3°. The main design feature is that when the balance ball 43 rolls, it can better contact the conductor 44 and the balance ball 43. When the balance ball 43 moves to the contact conductor 44, it has more time to react to it.

[0048] like Figure 2 As shown, the scissor lift assembly 21 on the lifting mechanism is fixedly installed above the vehicle body 1. Four support columns 22 are added to the scissor lift assembly 21. The support columns 22 are fixedly installed on the four sides above the vehicle body 1. The lifting column 23 is fixedly installed at the center of the support column 22. The adjusting column 24 is fixedly installed at the center of the lifting column 23. The upper end of the adjusting column 24 is designed with a lubricating material to reduce the friction of the adjusting column 24 during the adjustment of the balance platform 41.

[0049] When the lifting mechanism 2 is started, the lifting column 23 on the support column 22 and the scissor lift assembly 21 rise horizontally. When the lifting column 23 and the scissor lift assembly 21 reach the specified height, the adjusting column 24 adjusts the balancing mechanism 4, so that the balancing platform 41 in the adjusting mechanism 3 is adjusted to a horizontal position.

[0050] When the lifting mechanism 2 retracts, the lifting column 23 and the scissor lift assembly 21 descend horizontally simultaneously. When the lifting column 23 and the scissor lift assembly 21 reach their lowest point, the adjusting column 24 retracts after 3 seconds, thereby realizing the lifting and lowering of the adjusting mechanism 3 and the balancing mechanism 4, and adjusting the balance of the balancing mechanism 4.

[0051] During operation, when the device is started, the scissor lift assembly 21 and the lifting column 23 in the lifting mechanism 2 on the vehicle body 1 rise together. When the height reaches the designated point, the scissor lift assembly 21 and the lifting column 23 stop rising. At the same time, the scissor lift assembly 21 and the lifting column 23 drive the platform 31 to rise and stabilize. When the balance platform 41 tilts, the balance ball 43 in the disc assembly 42 rolls to the corresponding contact mechanism. The contact mechanism transmits information to the adjusting column 24. The adjusting column 24 adjusts the balance platform 41 by raising and lowering it, so that the balance platform 41 reaches a horizontal position. While adjusting the balance platform 41, the balance platform 41 triggers the pushing assembly 39 when it swings. The pushing assembly 39 pushes the transmission rod 3535, which drives the guardrail 34 to swing left and right, thereby making the guardrail 34 perpendicular to the balance platform 41.

[0052] The technical features disclosed above are not limited to combinations of the disclosed features with other features. Those skilled in the art may also make other combinations of the technical features according to the purpose of the disclosure in order to achieve the purpose of this disclosure.

Claims

1. A self-balancing fruit tree harvesting device, comprising a vehicle body (1), a lifting mechanism (2), an adjusting mechanism (3), and a balancing mechanism (4); characterized in that: The lifting mechanism (2) is fixedly installed on the top of the vehicle body (1). The lifting mechanism (2) is made more stable and safer when lifting by adding column support to the scissor lift mechanical structure. The front end of the lifting mechanism (2) can be raised and lowered slightly to achieve the function of assisting balance. The adjustment mechanism (3) is fixedly installed on the top of the lifting mechanism (2). The adjustment mechanism (2) is used to automatically adjust the balance of the entire body of the picking device when the picking device tilts, thereby improving the safety of the picking work. The balancing mechanism (4) is fixedly installed on the adjustment mechanism (3). The balancing mechanism (4) detects whether the picking device is balanced by ball bearing balancing. When the balancing mechanism (4) is unbalanced, it works with the adjustment mechanism (2) to adjust the picking device until the balancing mechanism (4) reaches balance and then stops.

2. The self-balancing fruit tree harvesting device according to claim 1, characterized in that: The adjusting mechanism (3) includes a platform (31), column holes (32), platform holes (33), guardrails (34), guard rods (35), support components (36), rotating rods (37), connecting rods (38), and pushing components (39). The platform (31) is fixedly installed above the lifting mechanism (2). The column holes (32) are opened on the platform (31). There are four column holes (32), and all four column holes (32) are coaxially fixedly connected to the lifting mechanism (2). The platform holes (33) are opened on the platform (31). The guardrails (34) are fixedly installed around the platform (31). The support components (36) are fixed on adjacent sides. Two guardrails (34) are installed. The guardrail (35) is fixedly installed between the two guardrails (34). The rotating rod (37) is fixedly installed on the support assembly (36). The connecting rod (38) is fixedly installed below the guardrail (34). The pushing assembly (39) is fixedly located inside the middle of the connecting rod (38). When the balancing mechanism (4) is adjusted, it exerts a thrust on the pushing assembly (39). The pushing assembly (39) pushes the connecting rod (38) to drive the guardrail (34). When the guardrail (34) is fixed by the support assembly (36), the guardrail (34) can swing left and right.

3. The self-balancing fruit tree harvesting device according to claim 2, characterized in that: The support assembly (36) includes a support column (341) and a bearing (342). The support column (341) is fixedly installed on the guardrail (34), and the bearing (342) is fixedly installed on the support column (341). Two bearings (342) are respectively fixed on one support column (341).

4. A self-balancing fruit tree harvesting device according to claim 2, characterized in that: The pushing assembly (39) includes a piston (371), a piston pin (372), a piston rod (373), and a piston pin (374). The piston (371) is fixedly mounted on the connecting rod (38). The piston pin (372) is fixedly mounted on the other end of the piston (371). The piston pin (372) is fixedly mounted on the piston rod (373). The piston (371) and the piston rod (373) are fixed by the piston pin (372). The other end of the piston rod (373) is fixedly mounted on the piston pin (374).

5. A self-balancing fruit tree harvesting device according to claim 1, characterized in that: The balancing mechanism (4) includes a balancing platform (41), a disc assembly (42), a balancing ball (43), and a contact conductor (44). The balancing platform (41) is fixedly installed above the platform (31), the disc assembly (42) is fixedly installed directly below the balancing platform (41), the balancing ball (43) is inside the disc assembly (42), and the contact conductor (44) is fixed inside the disc assembly (42). The ball inside the disc assembly (42) moves due to the offset of the balancing platform (41), thereby squeezing the contact conductor (44). The contact conductor (44) transmits the pressure to the adjusting column (24), and the adjustment is made by raising and lowering the adjusting column (24), so that the balancing platform (41) reaches a horizontal position.

6. A self-balancing fruit tree harvesting device according to claim 5, characterized in that: The disc assembly (42) includes a baffle (421) and a circular groove (422). The baffle (421) is fixedly installed above the bottom of the disc assembly (42), and the circular groove (422) is fixedly installed at the center of the disc assembly (42). When the disc assembly (42) is horizontally fixed, the balance ball (43) returns to the inside of the circular groove (422). When the disc assembly (42) is tilted, the baffle (421) restricts the balance ball (43), giving the balance ball (43) better stability.

7. A self-balancing fruit tree harvesting device according to claim 5, characterized in that: The contact conductor (44) is made of elastic material and is fan-shaped. The other end of the contact conductor (44) can rotate at an angle of 1-3°.

8. A self-balancing fruit tree harvesting device according to claim 1, characterized in that: The scissor lift assembly (21) on the lifting mechanism (2) is fixedly installed above the vehicle body (1). Four support columns (22) are added to the scissor lift assembly (21). The support columns (22) are fixedly installed on the four sides above the vehicle body (1). The lifting column (23) is fixedly installed at the center of the support column (22). The adjusting column (24) is fixedly installed at the center of the lifting column (23). The upper end of the adjusting column (24) is designed with a lubricating material to reduce the friction of the adjusting column (24) during the adjustment of the balance platform (41).

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