Fruit picking device for fruit trees
By installing air nozzles on the fruit-picking device to blow away the leaves and using a gripper to grab the fruit, the problem of leaves obstructing the view is solved, and efficient and damage-free fruit picking is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2026-03-27
AI Technical Summary
In existing technologies, when picking fruit, leaves can obstruct the view and easily enter the picking opening, making it difficult to locate the fruit and damaging the fruit tree, thus increasing the workload of subsequent sorting.
Design a fruit-picking device for fruit trees. The device uses an air nozzle at the top of the main stem to blow away the leaves and uses a ring seat and gripper assembly to grab the fruit. It also incorporates airflow-assisted positioning and prevents leaves from entering the gripper opening.
It enables fruit positioning and grasping under a clear field of vision, reduces leaf damage to fruit trees, and simplifies subsequent sorting work.
Smart Images
Figure CN224037947U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to fruit picking technical field, specifically point to a kind of fruit picking device of fruit tree. BACKGROUND
[0002] Fruit growing in high place of fruit tree, generally needs to use picking tool when picking, current picking tool is by mechanical type and manual type, the difference is that fruit and branch separation uses electric cutting or manual cutting or pulling.
[0003] In the above scheme, fruit needs to be positioned manually, workers need to find appropriate angle before picking, or remove the leaves that block the line of sight to put fruit into the grab of picking tool, the leaves around fruit will affect the judgment of fruit position, and when fruit is put into the grab, part of leaves will also enter the grab, that is, it will affect the cutting of fruit stem, and it may also pull the leaves in the grab while picking fruit, which not only damages the fruit tree, but also provides workload for subsequent sorting.
[0004] For the case that some branches and leaves are lush, fruit is easily blocked in leaves, and too many leaves are not desired to be pulled down during picking, a fruit picking device for fruit tree is designed, which can blow the leaves around fruit open through the gas nozzle provided on the external gas supply equipment, which not only facilitates the positioning of fruit, but also minimizes the entry of leaves into the grab. UTILITY MODEL CONTENTS
[0005] (I) Technical problem
[0006] The utility model aims to solve the problem of leaf blocking in fruit searching and picking in the prior art.
[0007] (II) Technical content
[0008] The present scheme provides a fruit picking device for fruit tree, which is achieved by the following specific technical means, including:
[0009] The main rod is designed with an open top and bottom, the top opening of the main rod is used as a gas nozzle, and the bottom opening is used with a hose to connect to a gas supply equipment to blow the leaves around the fruit;
[0010] The annular seat is fixedly sleeved on the top of the main rod;
[0011] The gripper is installed on the annular seat and used to grasp the fruit.
[0012] Preferred technical solution one: the gripper has multiple sets of clamping jaws, and the multiple sets of clamping jaws are evenly and spacedly distributed on the side of the annular seat, and the bottom end of each set of clamping jaws is fixedly sleeved on the convex shaft fixedly sleeved on the side of the annular seat;
[0013] The clamping jaw opening and closing assembly is arranged on the main rod and is used for controlling the synchronous movement of the multiple groups of clamping jaws to realize the opening and closing of the clamping jaw.
[0014] Preferably, vertical rods are uniformly and spacedly arranged on the top surface of the annular seat around the vertical rods, and the side edges of each group of vertical rods are fixed with vertical protruding vertical rods, and the multiple groups of vertical rods and vertical rods are cooperated to form a top open fruit holding cavity.
[0015] The top of the multiple groups of clamping jaws extends to the top opening of the fruit holding cavity, and when the multiple groups of clamping jaws are away from each other, the top opening of the fruit holding cavity is exposed, and when the multiple groups of clamping jaws are closed, the top of the clamping jaws extends to the fruit stem part.
[0016] Preferably, the clamping jaw is composed of a net rack fixedly connected with the shaft sleeve and a clamping head fixed on the top of the net rack, and the net rack is arranged outside or partially overlaps the fruit holding cavity, and the clamping head is arranged above the fruit holding cavity.
[0017] Preferably, an arc-shaped cover is arranged on the inner side of the top surface of the annular seat, the arc-shaped cover is arranged on the top opening of the air nozzle, and the arc-shaped structure of the outer wall provides an inclined arc for the fruit to slide along.
[0018] A window is arranged on the top wall of the arc-shaped cover opposite to the air nozzle, and an elastic layer is arranged on the outer wall of the arc-shaped cover.
[0019] Preferably, a torsion spring is arranged between the shaft sleeve and the wall of the annular seat.
[0020] Preferably, the clamping jaw opening and closing assembly comprises a group of sliding cylinders arranged on the middle and lower part of the main rod, and a rope is arranged between the top wall of the sliding cylinder and the end of the protruding rod of each shaft sleeve.
[0021] (Three) technical effects
[0022] The above structure makes the scheme have the following beneficial effects:
[0023] 1. The air nozzle arranged on the top of the main rod is used to blow the airflow to blow away the leaves of the fruit, so as to avoid the leaves from blocking the view or entering the clamping jaw to be grabbed.
[0024] 2. The airflow can also be used to blow the leaves when searching for the fruit, so as to help find the hidden fruit in the leaf cluster.
[0025] 3. The scheme can be used as a common fruit picking tool according to the needs, or can be used in cooperation with the airflow. DRAWINGS
[0026] The drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with the embodiments of the present application, and do not constitute a limitation on the present application. In the drawings:
[0027] Figure 1 is a closed state diagram of the clamping jaw of the present application;
[0028] Figure 2 is an open state diagram of the clamping jaw of the present application;
[0029] Figure 3 is an exploded view of the present application;
[0030] Figure 4 is a structural schematic view of the fruit holding cavity of the present application;
[0031] Figure 5 is a sectional view of the arc-shaped cover of the fruit holding cavity of the present application;
[0032] Figure 6 is a structural schematic view of the clamping jaw of the present application.
[0033] Wherein, 1, main rod, 11, air nozzle, 2, annular seat, 21, convex shaft, 3, grab hand, 31, clamping jaw, 311, net rack, 3111, horizontal rack, 3112, vertical rack, 31121, vertical rod, 312, chuck, 3121, comb tooth, 313, shaft sleeve, 4, clamping jaw opening and closing assembly, 41, sliding cylinder, 42, rope belt, 43, convex rod, 5, radial rod, 6, vertical rod, 7, fruit holding cavity, 8, arc-shaped cover, 81, window, 9, torsional spring. DETAILED DESCRIPTION
[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application; based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0035] Embodiment 1
[0036] Please refer to Figures 1-3 The fruit picking device for fruit trees comprises a main rod 1, an annular seat 2 and a grab hand 3. The main rod 1 is a pipe body with an upper opening and a lower opening. The top opening of the main rod 1 is used as an air nozzle 11. The bottom opening is used to be connected to the air outlet of a gas supply device (preferably a commercially available device with gas volume adjustment function and being movable) through a hose. The gas is sprayed out of the air nozzle 11 to blow open the leaves in front.
[0037] The annular seat 2 is fixedly sleeved on the top of the main rod 1. The grab hand 3 is installed on the annular seat 2 and is used to grab the fruit. Before grabbing, the gas flow sprayed out of the air nozzle 11 blows away the leaves around the fruit, which not only clears the field of view but also effectively avoids the leaves being grabbed together with the grab hand 3.
[0038] Specifically, the gripper 3 is composed of multiple sets of clamping jaws 31, which are evenly spaced around the side of the annular seat 2. The bottom end of each set of clamping jaws 31 is fixed to a shaft sleeve 313, which is rotatably sleeved on the convex shaft 21 fixed in the slot of the side of the annular seat 2. A clamping jaw opening and closing assembly 4 is also provided on the main rod 1 and connected to the multiple sets of clamping jaws 31, which is used to control the synchronous movement of the multiple sets of clamping jaws 31 to achieve the opening and closing of the clamping jaw. The clamping jaw opening and closing assembly 4 includes a set of sliding cylinders 41 slidably sleeved on the middle and lower parts of the main rod 1. A rope 42 is connected between the top wall of the sliding cylinder 41 and the end of the protruding rod 43 fixed on each shaft sleeve 313, i.e. the top end of the rope 42 is fixed on the end of the protruding rod 43, and the bottom end is fixed on the sliding cylinder 41. A torsional spring 9 is connected between the shaft sleeve 313 and the slot wall of the annular seat 2. The elastic force of the torsional spring 9 provides the force to push the shaft sleeve 313 to rotate on the convex shaft 21 to make the clamping jaw 31 open. When holding the sliding cylinder 41 and sliding it down, the protruding rod 43 can be pulled down to drive the shaft sleeve to rotate, deform the torsional spring 9, and close the clamping jaw 31 towards the air nozzle 11.
[0039] Example 2, based on example 1
[0040] Please refer to Figures 3-6 The fruit picking device is composed of multiple sets of radial rods 5 and vertical rods 6, which are fixed on the top surface of the annular seat 2 around the vertical rod 6. Each set of radial rods 5 has a vertical protruding vertical rod 6 fixed on the outer side. The multiple sets of radial rods 5 and vertical rods 6 cooperate to form a fruit holding cavity 7 with an open top, which is used to hold the picked fruits. The gaps between the radial rods 5 and the gaps between the vertical rods 6 are designed to avoid excessive obstruction of vision.
[0041] The top of the multiple sets of clamping jaws 31 extends to the top opening of the fruit holding cavity 7. When the multiple sets of clamping jaws 31 move away from each other, the top opening of the fruit holding cavity 7 is exposed, and the air nozzle 11 is also exposed. The fruit is blown in the direction of the air nozzle 11, and the surrounding leaves are blown away from the fruit until the fruit enters the fruit holding cavity 7. Then, the multiple sets of clamping jaws 31 are closed, the top of the clamping jaw 31 extends to the fruit stem part, and the fruit is blocked in the fruit holding cavity 7. Then, the main rod 1 is pulled to pull down the fruit.
[0042] The clamping jaw 31 is composed of a net frame 311 fixed to the shaft sleeve 313 at the middle and lower parts and a clamping head 312 fixed to the top of the net frame 311. The net frame 311 is composed of a horizontal frame 3111 fixed to the shaft sleeve 313 and a vertical frame 3112 fixed to the top of the outer side end of the horizontal frame 3111. The clamping head 312 is fixed to the top end of the vertical frame 3112.
[0043] The horizontal frame 3111 is located below the radial rods 5, and the vertical frame 3112 is also composed of a plurality of groups of vertical rods 31121 which are uniformly spaced, when the plurality of groups of clamping jaws 31 are closed, the horizontal frame 3111 is located below the radial rods 5 and is parallel to the radial rods 5, and each group of vertical rods 31121 is located in the gap between the adjacent two groups of vertical rods 6, the clamping heads 312 are located above the vertical rods 6, and the plurality of groups of clamping heads 312 are in close proximity to each other; when the plurality of groups of clamping jaws 31 are opened by the rebound of the torsional spring 9, the vertical rods 31121 swing to the outside of the vertical rods 6, and the clamping heads 312 are away from each other;
[0044] Wherein the requirements are that the width of the vertical rods 31121 is less than the spacing between the adjacent two groups of vertical rods 6, and the spacing between the adjacent two groups of vertical rods 31121 and the spacing between the adjacent two groups of vertical rods 6 are less than the diameter of the fruit, so that the line of sight penetrates the clamping jaw 31 and the fruit holding cavity 7;
[0045] Meanwhile, the caliber of the air nozzle 11 is smaller than the diameter of the fruit, so as to avoid the fruit falling into the air nozzle 11;
[0046] The annular seat 2 is fixed with the arc-shaped cover 8 on the inner side of the fruit holding cavity 7, the arc-shaped cover 8 is arranged at the top of the air nozzle 11, the arc-shaped structure of the outer wall provides the inclined arc for the fruit to slide along, so that the picked fruit slides along the outer wall of the arc-shaped cover 8 to the bottom of the fruit holding cavity 7 and is concentrated, the air nozzle is avoided to be shielded, and the top wall of the arc-shaped cover 8 is provided with a window 81 opposite the air nozzle 11, for the gas to be sprayed out.
[0047] In example 3, on the basis of example 2
[0048] Please refer to Figure 1 、 Figure 6 The fruit picking device of the fruit tree, the direction of the clamping head 312 close to the main rod 1 is the structure of the comb tooth 3121, when the clamping jaw is closed, the fruit stem part of the fruit enters a group of comb teeth 3121, and the fruit is picked by pulling the main rod 1;
[0049] Or in the case where the comb tooth 3121 is not arranged, the spacing between the plurality of groups of clamping heads 312 is less than the diameter of the fruit when the plurality of groups of clamping jaws 31 are closed, and the fruit is directly pulled to separate the fruit stem from the branch during picking.
[0050] The unopened part in the utility model is the prior art, and the specific structure and working principle will not be repeated.
[0051] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.
Claims
1. A fruit picking device for fruit trees, characterized in that, Include: The main rod (1) is a pipe body, and the top opening is used as a gas nozzle (11); The annular seat (2) is fixedly sleeved on the top of the main rod (1); The grab hand (3) is installed on the annular seat (2) and is used for grabbing fruits; The grab hand (3) has a plurality of groups of clamping jaws (31), and the plurality of groups of clamping jaws (31) are uniformly and interval distributed on the side of the annular seat (2), the bottom end of each group of clamping jaws (31) is fixedly connected with the shaft sleeve (313), and the shaft sleeve (313) is rotatably sleeved on the convex shaft (21) fixedly connected with the side of the annular seat (2); The main rod (1) is also provided with a clamping jaw opening and closing assembly (4) connected with the plurality of groups of clamping jaws (31), which is used for controlling the synchronous movement of the plurality of groups of clamping jaws (31) to realize the opening and closing of the grab opening; The radial rods (5) are uniformly and interval fixed on the top surface of the annular seat (2) around the vertical rod (6), and the side of each group of radial rods (5) is fixedly connected with the vertical rod (6) protruding vertically, and the plurality of groups of radial rods (5) and vertical rods (6) are matched to form the fruit containing cavity (7) with an open top; The top of the plurality of groups of clamping jaws (31) extends to the top opening of the fruit containing cavity (7); The clamping jaw (31) is composed of the net rack (311) fixedly connected with the shaft sleeve (313) and the clamping head (312) fixedly connected with the top of the net rack (311); The annular seat (2) is fixedly connected with the arc-shaped cover (8) covering the top opening of the gas nozzle (11), the arc-shaped structure of the outer wall of the arc-shaped cover (8) facilitates the sliding of the fruit along the arc-shaped cover (8), and the window (81) is arranged on the top wall of the arc-shaped cover (8) opposite the gas nozzle (11); The outer wall of the arc-shaped cover (8) is covered with an elastic layer. The clamping head (312) is close to the central axis of the main rod (1) and has a comb tooth (3121) structure.
2. A fruit picking apparatus for fruit trees as claimed in claim 1, wherein: The shaft sleeve (313) and the annular seat (2) are connected with the torsion spring (9).
3. A fruit picking apparatus as claimed in claim 1, wherein: The clamping jaw opening and closing assembly (4) includes a group of sliding cylinders (41) slidably sleeved on the lower part of the main rod (1), and the top wall of the sliding cylinder (41) is connected with the end of the convex rod (43) on each group of shaft sleeves (313) through the rope (42).
4. A fruit picking device for fruit trees as claimed in claim 1, characterized in that: