Arbor fruit picking device

Abstract

The utility model relates to the technical field of picking devices, in particular to an arbor fruit picking device which can enable fruits to slowly fall onto the ground, prevents the fruits from being broken and is good in practicability. Comprising a control box, a mechanical arm and a manipulator part, a base part of the mechanical arm is installed on the control box, and the manipulator part is installed at the end of the mechanical arm; the hook is installed on the upper end face of the control box and used for hanging the control box on an arbor branch, the upper ring is installed on the mechanical arm part and is annular, a cutter is installed on the mechanical arm part and used for separating fruits from the branch, the fruit bag is located below the upper ring, and the fruit bag is located below the lower ring. The plurality of winders are installed on the upper ring, the upper ends of the plurality of pull ropes are respectively winded on the plurality of winders, the lower ends of the plurality of pull ropes are connected with the fruit bag, and the fruit bag is used for catching fruits.

Description

Technical Field

[0001] This utility model relates to the technical field of harvesting devices, and in particular to a harvesting device for tree fruits. Background Technology

[0002] Because of their height, harvesting the fruit of trees is difficult. Therefore, various tree fruit harvesting devices have been proposed in the prior art. For example, Chinese invention patent application CN117016199A discloses a tree seed harvesting device. This device keeps both the first and second air bladders inflated and in contact with the outer surface of the trunk, thus ensuring the cylinder remains stable as it continues to climb. This effectively avoids obstruction from tree knots and lateral branches. The stability of the cylinder during its ascent allows the electric mechanical claw to continue moving upwards to harvest the seed. The seed is surrounded by an electric slide rail and a sliding block for precise positioning. The edge of the inclined groove cuts the connection between the seed and the lateral branch, and then the electric mechanical claw operates to harvest the seed. This avoids the problem of the lateral branch breaking due to pulling during harvesting.

[0003] However, the existing technology described above, due to the slow-fall structure and function inside the fruit, makes it easy for the fruit to break if it is released directly after being picked, resulting in poor practicality. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a tree fruit picking device that can slowly lower the fruit to the ground to avoid damage to the fruit.

[0005] This utility model discloses a fruit-harvesting device for trees, comprising a control box, a robotic arm, and a robotic hand. The base of the robotic arm is mounted on the control box, and the robotic hand is mounted on the end of the robotic arm. It also includes a hook, an upper ring, a fruit bag, multiple retractors, and multiple pull ropes. The hook is mounted on the upper surface of the control box and is used to hang the control box on a tree branch. The upper ring is mounted on the robotic hand and is circular. A cutter is mounted on the robotic hand to separate the fruit from the branch. The fruit bag is located below the upper ring. Multiple retractors are mounted on the upper ring, and the upper ends of the multiple pull ropes are wound onto the fruit bag. On each retractor, the lower ends of multiple pull ropes are connected to the fruit bag, which catches the fruit. During operation, the multiple retractors tighten the multiple pull ropes, causing the fruit bag to be pressed against the lower part of the upper ring. The control box is hung on a tree branch via a hook. The robotic arm extends its robotic hand towards the fruit, positioning the upper ring directly below the fruit. The cutter severs the connection between the fruit and the branch, allowing the fruit to pass through the upper ring and fall into the fruit bag. The multiple retractors simultaneously release the pull ropes, causing the fruit bag to slowly descend to the ground, preventing the fruit from being damaged. This method is suitable for harvesting larger, fragile fruits from trees and is highly practical.

[0006] Preferably, the cutter is an electric scissor, which is mounted on the robotic arm and extends above the upper ring. The electric scissors close to cut off the fruit stem, causing the fruit to fall into the fruit pouch. This technology is mature and has high cutting efficiency.

[0007] Preferably, it also includes a lower ring and two positioning pins. The lower ring is installed at the upper end of the fruit bag, and the lower ends of multiple pull ropes are connected to the lower ring. Multiple positioning pins are installed on the lower ring, and multiple positioning holes matching the multiple lower rings are provided on the upper ring. When the multiple pull ropes are tightened by multiple retractors, the lower ring drives the fruit bag to rise, so that the lower ring is pressed against the lower end face of the upper ring, so that the multiple positioning pins are respectively inserted into the multiple positioning holes of the upper ring, thereby improving the accuracy and reliability of the connection between the fruit bag and the upper ring.

[0008] Preferably, it also includes a push rod and a V-shaped support plate. The fixed end of the push rod is installed on the upper surface of the control box, and the V-shaped support plate is installed on the top of the piston rod of the push rod. The V-shaped support plate is pressed against the lower part of the branch. After the hook hangs the control box on the branch, the piston rod of the push rod extends to press the V-shaped support plate against the lower part of the branch, so that the push rod and the V-shaped support plate hold the branch tightly, improving the reliability of the control box mounting.

[0009] Preferably, the robotic arm includes multiple articulated arms, multiple end motors, multiple hinge assemblies, and multiple second motors. End motors are mounted on the outer ends of the multiple articulated arms, and hinge assemblies are mounted on the inner ends of the multiple articulated arms and on the output shafts of the multiple end motors. The multiple articulated arms are hinged together by the multiple hinge assemblies. Second motors are mounted on the multiple hinge assemblies mounted on the multiple end motors, and the output shafts of the multiple second motors are respectively connected to the multiple articulated arms for transmission. The multiple articulated arms, multiple end motors, and multiple hinge assemblies constitute a multi-joint robotic arm. Driven by the multiple end motors and second motors, the robotic arm achieves multi-degree-of-freedom movements, enabling it to pick fruits from different positions with high flexibility.

[0010] Preferably, it also includes a slot and a support rod. The slot is provided on the side wall of the control box, and the upper end of the support rod is inserted into the slot. This also makes it easy to remove the control box from the tree branch using the support rod, which is very practical.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: During operation, multiple retractors tighten multiple pull ropes, so that the fruit bag is close to the lower part of the upper ring. The control box is hung on the tree branch by a hook. The robotic arm moves to point the robotic hand towards the fruit, so that the upper ring is directly below the fruit. The cutter cuts the connection between the fruit and the branch, so that the fruit passes through the upper ring and falls into the fruit bag. Multiple retractors release the pull ropes at the same time, so that the fruit bag slowly falls to the ground, avoiding damage to the fruit. It is suitable for picking large and fragile fruits on trees and has good practicality. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model;

[0013] Figure 2 This is a front view structural diagram of the present invention;

[0014] Figure 3 It is a structural diagram of the robotic arm, robotic hand, upper ring, fruit bag, retractor and pull rope, etc.

[0015] Figure 4 It is a structural diagram of the upper ring, fruit bag, retractor, pull rope, electric shears, and lower ring, etc.

[0016] Figure 5 This is a structural schematic diagram of the present invention in its working state.

[0017] The following are labels in the attached diagram: 1. Control box; 2. Hook; 3. Robotic arm; 4. Robotic hand; 5. Upper ring; 6. Fruit bag; 7. Retractor; 8. Pull rope; 9. Electric scissors; 10. Lower ring; 11. Positioning pin; 12. Push rod; 13. V-shaped support plate; 14. Articulated arm; 15. End motor; 16. Hinge assembly; 17. Motor II; 18. Slot; 19. Support rod. Detailed Implementation

[0018] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. This utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.

[0019] Example 1

[0020] like Figures 1 to 5 As shown, a tree fruit harvesting device includes a control box 1, a robotic arm 3, and a robotic hand 4. The base of the robotic arm 3 is mounted on the control box 1, and the robotic hand 4 is mounted on the end of the robotic arm 3. It also includes a hook 2, an upper ring 5, a fruit bag 6, multiple retractors 7, and multiple pull ropes 8. The hook 2 is mounted on the upper surface of the control box 1 and is used to hang the control box 1 on a tree branch. The upper ring 5 is mounted on the robotic hand 4 and is annular. A cutter is mounted on the robotic hand 4 to separate the fruit from the branch. The fruit bag 6 is located below the upper ring 5. Multiple retractors 7 are mounted on the upper ring 5. The upper ends of the multiple pull ropes 8 are wound onto the multiple retractors 7, and the lower ends of the multiple pull ropes 8 are connected to the fruit bag 6, which catches the fruit. The cutter is an electric scissor 9, which is mounted on the robotic hand 4. The upper ring 5 includes an electric scissors 9 extending above the upper ring 5; it also includes a lower ring 10 and two positioning pins 11. The lower ring 10 is installed at the upper end of the fruit bag 6, and the lower ends of multiple pull ropes 8 are connected to the lower ring 10. Multiple positioning pins 11 are installed on the lower ring 10, and multiple positioning holes matching the multiple lower rings 10 are provided on the upper ring 5; the robotic arm 3 includes multiple articulated arms 14, multiple end motors 15, multiple hinge assemblies 16, and multiple motors 17. The outer ends of the multiple articulated arms 14 are all equipped with end motors 15, and the inner ends of the multiple articulated arms 14 and the output shafts of the multiple end motors 15 are all equipped with hinge assemblies 16. The multiple articulated arms 14 are respectively hinged through multiple hinge assemblies 16. The multiple hinge assemblies 16 installed on the multiple end motors 15 are all equipped with motors 17, and the output shafts of the multiple motors 17 are respectively connected to the multiple articulated arms 14 for transmission.

[0021] During operation, multiple retractors 7 tighten multiple pull ropes 8, and the lower ring 10 raises the fruit pouch 6, causing the lower ring 10 to press against the lower end face of the upper ring 5. This allows multiple positioning pins 11 to be inserted into multiple positioning holes of the upper ring 5, improving the accuracy and reliability of the connection between the fruit pouch 6 and the upper ring 5. The fruit pouch 6 is then pressed against the lower part of the upper ring 5. The control box 1 is hung on a tree branch via a hook 2. Multiple articulated arms 14, multiple end motors 15, and multiple hinge components 16 constitute a multi-joint robotic arm. The robotic arm is driven by multiple end motors 15 and motor 17, enabling multi-degree-of-freedom movements. It can extend the robotic arm 4 to fruits in different positions, so that the upper ring 5 is directly below the fruit. The electric scissors 9 close and cut the fruit stem, allowing the fruit to pass through the upper ring 5 and fall into the fruit pouch 6. Simultaneously, multiple retractors 7 release the pull ropes 8, causing the fruit pouch 6 to slowly descend to the ground, preventing the fruit from being damaged. This method is suitable for picking larger, fragile fruits from trees and is highly practical.

[0022] Example 2

[0023] like Figure 1 , Figure 2 and Figure 5 As shown, based on Embodiment 1, it also includes a push rod 12 and a V-shaped support plate 13. The fixed end of the push rod 12 is installed on the upper surface of the control box 1, and the V-shaped support plate 13 is installed on the top of the piston rod of the push rod 12. The V-shaped support plate 13 is pressed against the lower part of the branch. It also includes a slot 18 and a support rod 19. The slot 18 is provided on the side wall of the control box 1, and the upper end of the support rod 19 is inserted and matched with the slot 18.

[0024] After the upper end of the support rod 19 is inserted into the slot 18, the control box 1 is raised by the support rod 19 and hung on the tree branch by the hook 2. After the hook 2 hangs the control box 1 on the tree branch, the piston rod of the push rod 12 extends and presses the V-shaped support plate 13 tightly on the lower part of the tree branch, so that the push rod 12 and the V-shaped support plate 13 hold the tree branch tightly, improving the reliability of the control box 1 hanging. After the harvest is completed, the control box 1 is removed from the tree branch by the support rod 19.

[0025] like Figures 1 to 5As shown, this utility model discloses a tree fruit harvesting device. During operation, multiple retractors 7 first tighten multiple pull ropes 8, causing the lower ring 10 to rise and press against the lower end face of the upper ring 5. Multiple positioning pins 11 are then inserted into multiple positioning holes in the upper ring 5. Next, the upper end of the support rod 19 is inserted into the slot 18, raising the control box 1 and hanging it on a branch via a hook 2. The piston rod of the push rod 12 extends, pressing the V-shaped support plate 13 against the lower part of the branch, thus holding the branch tightly. Then, the robotic arm 3 extends its robotic hand 4 towards the fruit, positioning the upper ring 5 directly below the fruit. Electric scissors 9 cut the connection between the fruit and the branch, allowing the fruit to pass through the upper ring 5 and fall into the fruit bag 6. Finally, multiple retractors 7 simultaneously release the pull ropes 8, causing the fruit bag 6 to slowly descend to the ground, preventing damage to the fruit.

[0026] The main functions achieved by this utility model are:

[0027] 1. It can slowly lower the fruit to the ground, preventing the fruit from breaking, making it highly practical;

[0028] 2. The robotic arm has multiple degrees of freedom of movement, enabling it to pick fruits from different positions, and it is highly flexible;

[0029] 3. It is easy to hang on tree branches and easy to remove from them.

[0030] The fruit-harvesting device of this utility model uses common mechanical methods for installation, connection, or setting. Any method that can achieve the desired beneficial effect can be implemented. The mechanical arm 3, hook 2, mechanical hand 4, retractor 7, pull rope 8, electric scissors 9, positioning pin 11, push rod 12, articulated arm 14, end motor 15, hinge assembly 16, and motor 17 of this fruit-harvesting device are commercially available. Technical personnel in this industry only need to install and operate it according to the accompanying instruction manual, without requiring any creative work from those skilled in the art.

[0031] All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A fruit-harvesting device for trees, comprising a control box (1), a robotic arm (3), and a robotic hand (4), wherein the base of the robotic arm (3) is mounted on the control box (1), and the robotic hand (4) is mounted on the end of the robotic arm (3); characterized in that, It also includes a hook (2), an upper ring (5), a fruit bag (6), multiple retractors (7) and multiple pull ropes (8). The hook (2) is installed on the upper surface of the control box (1) and is used to hang the control box (1) on the tree branch. The upper ring (5) is installed on the robot arm (4). The upper ring (5) is a ring. A cutter is installed on the robot arm (4) and is used to separate the fruit from the branch. The fruit bag (6) is located below the upper ring (5). Multiple retractors (7) are installed on the upper ring (5). The upper ends of multiple pull ropes (8) are wound on multiple retractors (7) respectively. The lower ends of multiple pull ropes (8) are connected to the fruit bag (6) and are used to catch the fruit.

2. The tree fruit harvesting device as described in claim 1, characterized in that, The cutter is an electric scissor (9), which is mounted on the robotic arm (4) and extends above the upper ring (5).

3. The tree fruit harvesting device as described in claim 1, characterized in that, It also includes a lower ring (10) and two positioning pins (11). The lower ring (10) is installed at the upper end of the fruit bag (6). The lower ends of multiple pull ropes (8) are connected to the lower ring (10). Multiple positioning pins (11) are installed on the lower ring (10). Multiple positioning holes matching the multiple lower rings (10) are provided on the upper ring (5).

4. The tree fruit harvesting device as described in claim 1, characterized in that, It also includes a push rod (12) and a V-shaped support plate (13). The fixed end of the push rod (12) is installed on the upper surface of the control box (1), and the V-shaped support plate (13) is installed on the top of the piston rod of the push rod (12). The V-shaped support plate (13) is pressed against the lower part of the branch.

5. The tree fruit harvesting device as described in claim 1, characterized in that, The robotic arm (3) includes multiple articulated arms (14), multiple end motors (15), multiple hinge assemblies (16), and multiple motors (17). The outer ends of the multiple articulated arms (14) are all equipped with end motors (15). The inner ends of the multiple articulated arms (14) and the output shafts of the multiple end motors (15) are all equipped with hinge assemblies (16). The multiple articulated arms (14) are respectively hinged through the multiple hinge assemblies (16). The multiple hinge assemblies (16) installed on the multiple end motors (15) are all equipped with motors (17). The output shafts of the multiple motors (17) are respectively connected to the multiple articulated arms (14) for transmission.

6. The tree fruit harvesting device as described in claim 1, characterized in that, It also includes a slot (18) and a strut (19). The slot (18) is provided on the side wall of the control box (1), and the upper end of the strut (19) is inserted into the slot (18).

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