Bionic citrus picking mechanism
By using a biomimetic citrus harvesting mechanism to simulate human movements, it achieves efficient coverage of the citrus canopy area and controls the length of the fruit stalks, solving the problems of weak canopy penetration and poor fruit stalk control in existing technologies, thus improving harvesting efficiency and quality.
Patent Information
- Application Number
- CN202520467952.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-03-17
AI Technical Summary
Existing harvesters cannot effectively cover the fruit area on citrus trees, have weak canopy penetration ability, and poor control over fruit stalk length, leading to problems such as fruit peel scratches.
A biomimetic citrus harvesting mechanism was designed, including a rotation, telescopic, and pruning mechanism. It simulates human twisting, pulling, and cutting actions. The rotation mechanism rotates, the telescopic mechanism extends and retracts, and the pruning mechanism cuts the fruit stalk, thereby achieving efficient coverage of the fruit area and controlling the length of the fruit stalk.
It improves the harvesting range and efficiency, reduces manual re-harvesting, controls the length of fruit stalks, avoids fruit damage, and enhances harvesting quality.
Smart Images
Figure CN223872861U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to agricultural machinery technical field, concretely relates to a bionic citrus picking mechanism. BACKGROUND
[0002] The existing picker adopts a spherical envelope type structure, and the three spherical shell blades are controlled to separate or close to cut through the bottom slider lifting, or the toothed blade is closed to cut through by the crank rocker. But the structure of the above picking head cannot be adjusted, the crown penetration ability is weak, when operating in the standard citrus tree (crown width diameter 3-5m), only 65% of the fruit area can be covered, and the remaining 35% needs manual picking; at the same time, the fixed cutting device leads to large discrete degree of fruit stem residual length, and the fruit stem length cannot be effectively controlled, so that the fruit skin is scratched in the transportation link and other problems. SUMMARY
[0003] Therefore, the utility model provides a bionic citrus picking mechanism, which can greatly improve the picking range and pruning efficiency, reduce the labor cost, accurately and effectively control the fruit stem length error, improve the citrus picking quality, and avoid the skin scratch.
[0004] The bionic citrus picking mechanism of the utility model, comprising: base, telescopic mechanism, pruning mechanism, rotating mechanism and control unit;
[0005] The rotating mechanism is arranged at the lower end surface of the base and drives the base to rotate.
[0006] The telescopic mechanism is arranged at the upper end surface of the base and telescopes along the normal direction of the base.
[0007] The pruning mechanism comprises an inner spherical shell, an outer spherical shell and a cutting edge. The inner spherical shell and the outer spherical shell are arranged at the end of the telescopic mechanism through spherical shell pins, and are mutually enveloped. With the extension and shortening of the telescopic mechanism, the inner spherical shell and the outer spherical shell are opened and closed. The cutting edge is arranged on the inner spherical shell and the outer spherical shell, and is cut off with the closing of the inner spherical shell and the outer spherical shell.
[0008] The control unit is used for controlling the movement of the telescopic mechanism, the pruning mechanism and the rotating mechanism.
[0009] Preferably, the telescopic mechanism comprises a limiting rod, a sliding rod, a movable connecting rod I, a movable connecting rod II, a connecting rod, a transmission gear I, a transmission gear II and a motor I.
[0010] The both ends of the limiting rod are fixed on the base, a gear shaft is sleeved on the limiting rod, transmission gears II on the gear shaft are engaged with transmission gears I fixed on motor I, and are rotated under the driving of motor I; the both ends of the sliding rod are embedded in the two preset sliding grooves of the base, can move along the sliding grooves, and are limited through the open nut; the connecting rod I and the connecting rod II are in the scissors type structure, and the both ends and the middle part of the connecting rod I and the connecting rod II are connected through the connecting rods; the lower ends of the scissors type structure are connected with the fixed rod and the sliding rod, and the upper ends are connected with the pruning mechanism, and are telescopic up and down under the driving of motor I and the limitation of the sliding groove.
[0011] Preferably, a plurality of groups of scissors type structures are sequentially connected.
[0012] Preferably, the rotating mechanism comprises a bevel gear shaft I, a bevel gear shaft II, a bevel gear, a shaft coupling and a motor II.
[0013] The bevel gear shaft I is fixed on the bottom of the base, the bevel gear shaft II is fixedly connected with the motor II through the shaft coupling, and the bevel gears on the bevel gear shaft I and the bevel gear shaft II are engaged.
[0014] Preferably, a speed reducer is arranged on the base, and is used for reducing the rotating speed.
[0015] Beneficial effects:
[0016] The pruning mechanism of the utility model is designed by imitating the action of human picking, the rotating mechanism imitates the action of human twisting, the telescopic mechanism imitates the action of human pulling, the tree crown penetration ability is greatly improved, the damage to the fruits caused by mechanical picking is reduced, the picking coverage is large, the length of the fruit stem can be controlled, and the main stem is prevented from being damaged. BRIEF DESCRIPTION OF DRAWINGS
[0017] Fig. 1 It is a structure schematic view of the bionic citrus picking mechanism of the utility model;
[0018] Fig. 2 It is a left view structure schematic view of the bionic citrus picking mechanism of the utility model;
[0019] Fig. 3 It is a structure schematic view of the telescopic mechanism in the utility model;
[0020] Wherein: 1 - inner spherical shell, 2 - outer spherical shell, 3 - spherical shell pin, 4 - connecting rod I, 5 - sliding rod, 6 - connecting rod, 7 - connecting rod II, 8 - motor I, 9 - gear shaft, 10 - gear I, 11 - gear II, 12 - base rotating part, 13 - open nut, 14 - bevel gear shaft I, 15 - bevel gear shaft II, 16 - bevel gear, 17 - shaft coupling, 18 - motor II, 19 - cutting edge. DETAILED DESCRIPTION
[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0022] This utility model provides a biomimetic citrus harvesting mechanism, such as Figs. 1 to 3 As shown, it includes a base 12, a telescopic mechanism, a trimming mechanism, a rotating mechanism, and a control unit;
[0023] One end of the telescopic mechanism is fixed to the upper surface of the base 12, and the other end is connected to the trimming mechanism. The telescopic mechanism can extend and retract along the normal direction of the base 12. In this embodiment, the telescopic mechanism includes a limiting rod, a sliding rod 5, a movable connecting rod I 4, a movable connecting rod II 7, a connecting rod 6, a transmission gear I 10, a transmission gear II 11, and a motor I 8. The limiting rod has both ends fixed to the base 12, and a gear shaft 9 is fitted onto it. The transmission gear II 11 on the gear shaft 9 meshes with the transmission gear I 10 fixed to the motor I 8, causing the rod to rotate under the drive of the motor I 8. The sliding rod 5 has both ends embedded in two pre-set grooves on the base 12, allowing it to move along the grooves and be limited by an open nut 13. The connecting rods I 4 and II 7 have a scissor-like structure, with both ends and the middle of each connected by the connecting rod 6. The lower end of the scissor-like structure is connected to the fixed rod and the sliding rod 5, and the upper end is connected to the trimming mechanism, allowing it to extend and retract vertically under the drive of the motor I 8. Multiple sets of scissor-like structures can be connected sequentially to increase the telescopic size.
[0024] The pruning mechanism includes a cutting blade and a wrapping chamber. The wrapping chamber is formed by an inner spherical shell 1 and an outer spherical shell 2 that enclose each other. The inner spherical shell 1 and the outer spherical shell 2 are respectively fixed to the ends of the scissor-type structure of the telescopic mechanism by spherical shell pins 3. The inner spherical shell 1 and the outer spherical shell 2 open / close as the telescopic mechanism rises / falls down, and are used to wrap the citrus. The cutting blade 19 is fixed on the inner spherical shell 1 and the outer spherical shell 2. As the inner spherical shell 1 and the outer spherical shell 2 close, they interlock and cut the fruit stem.
[0025] The rotating mechanism includes a bevel gear shaft I14, a bevel gear shaft II15, a bevel gear 16, a coupling 17, and a motor II. The bevel gear shaft I14 is fixed to the bottom of the base 12. The bevel gear shaft II15 is fixedly connected to the motor II via the coupling 17, and the bevel gears on the bevel gear shaft I14 and bevel gear II15 mesh. The motor II18 drives the bevel gear shaft II15 to rotate, which in turn drives the bevel gear shaft I14 to rotate, thereby causing the base 12, along with the telescopic mechanism and the shearing mechanism, to rotate together.
[0026] The control unit is used for the control and drive of motor I and motor II.
[0027] In the process of picking citrus, the citrus fruit is firstly recognized and positioned, the motor II drives the base 12 and the telescopic mechanism to rotate together, and the motor I drives the telescopic mechanism to extend and the inner spherical shell 1 and the outer spherical shell 2 to open; when the fruit successfully enters the envelope structure, the motor II drives the base 12 and the telescopic mechanism to rotate together, and the motor I drives the telescopic mechanism to retract and the inner spherical shell 1 and the outer spherical shell 2 to close, the cutting blades are engaged with each other and cut off the fruit stem, and the picking action of "twisting-pulling-cutting" similar to human beings is realized. In the face of hard branches and clustered fruits, the utility model can wrap the citrus in the wrapping warehouse while avoiding the branches and other fruits through "twisting" and "pulling", more easily cutting off the branches, avoiding the damage to the fruits, improving the picking coverage and picking efficiency.
[0028] The whole picking process only needs two motor drives, and the control is convenient. By adjusting the mechanical arm and the scissor type structure, the fruit stem cutting point is controlled to be close to the fruit, and the overlong fruit stem is avoided from scratching other fruits in the transportation process.
[0029] In conclusion, the above is only a preferred embodiment of the utility model, and is not used for limiting the protection scope of the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A bionic citrus picking mechanism, characterized in that, The utility model relates to a pruning machine, including: Base (12), telescopic mechanism, pruning mechanism, rotating mechanism and control unit; Wherein, rotating mechanism sets up at the lower end surface of base (12), drives base to rotate; Telescopic mechanism sets up at the upper end surface of base (12), and telescopic mechanism is along the normal of base (12) telescopic; Pruning mechanism includes inner spherical shell (1), outer spherical shell (2) and cutting edge (19);Wherein, inner spherical shell (1) and outer spherical shell (2) are set up at the end of telescopic mechanism through spherical shell pin (3), and are mutually enveloped, and with the extension and shortening of telescopic mechanism, inner spherical shell (1) and outer spherical shell (2) open and close each other;Cutting edge (19) is set up on inner spherical shell (1) and outer spherical shell (2), and with the closure of inner spherical shell (1) and outer spherical shell (2), occlusion cuts off fruit stem; Control unit is used to control the movement of telescopic mechanism, pruning mechanism and rotating mechanism.
2. The bionic citrus picking mechanism of claim 1, wherein, Telescopic mechanism includes limiting rod, slide bar (5), movable connecting rod I (4), movable connecting rod II (7), connecting rod (6), transmission gear I (10), transmission gear II (11) and motor I (8); Wherein, the both ends of limiting rod are fixed on base (12), and gear shaft (9) is sleeved on limiting rod, and transmission gear II (11) on gear shaft (9) is engaged with transmission gear I (10) fixed on motor I (8), and rotates under the driving of motor I (8);The both ends of slide bar (5) are respectively embedded in the 2 slide grooves of base (12) and can move along the slide groove and are positioned through open nut (13);Connecting rod I (4) and connecting rod II (7) are in scissor type structure, and the both ends and middle part of connecting rod I (4) and connecting rod II (7) are connected through connecting rod (6);The lower end of scissor type structure is connected with fixed rod and slide bar (5) respectively, and the upper end is connected with pruning mechanism, and under the driving of motor I (8) and the limitation of slide groove, it is telescopic up and down.
3. The bionic citrus picking mechanism of claim 2, wherein, Adopt a plurality of groups of scissor type structure and connect in turn.
4. The bionic citrus fruit picking mechanism according to claim 1, wherein, Rotating mechanism includes bevel gear shaft I (14), bevel gear shaft II (15), bevel gear (16), shaft coupling (17) and motor II; Wherein bevel gear shaft I (14) is fixed at the bottom of base (12), bevel gear shaft II (15) is fixed through shaft coupling (17) and motor II, and the bevel gears on bevel gear shaft I (14) and bevel gear shaft II (15) are engaged.
5. The bionic citrus picking mechanism according to claim 4, wherein, The base (12) is equipped with a speed reducer for reducing the rotation speed.