A fruit leaf wrapping type fruit picking device

Abstract

The utility model belongs to picking device technical field, concretely relates to a fruit leaf wrapping formula fruit picking device, including primary positioning mechanism and cutting mechanism, primary positioning mechanism is used for inserting fruit to hold the fruit leaf when cutting fruit leaf to the fruit preliminary fixation of fruit, it includes first linear reciprocating drive mechanism and with the output end connection of first linear reciprocating drive mechanism's plug -in rod, cutting mechanism is used for cutting the fruit leaf for covering the fruit leaf of fruit and is used for cutting, it includes second linear reciprocating drive mechanism and with the output end connection of second linear reciprocating drive mechanism's cutting knife, the utility model discloses utilize plug -in rod and cut the fruit leaf and fruit in turn after cutting knife after preliminary fixation of fruit, fruit can be complete exposure after cutting the fruit leaf, it is convenient to cut, and the fruit still can keep the original posture under the action of plug -in rod after losing the support of fruit leaf to cut, to avoid cutting process and cut the knife to break down.

Description

Technical Field

[0001] This utility model belongs to the technical field of harvesting devices, specifically relating to a fruit harvesting device with a leaf-wrapped design. Background Technology

[0002] Palm fruits typically grow high up on palm trees, and are generally covered by upper and lower leaves, with the lower leaves providing support. Traditionally, harvesting involves manually cutting the palm fruits down using traditional tools (such as long-handled knives), which is inefficient and difficult. Furthermore, manual harvesting cannot be done completely, leading to resource waste and the risk of fruit falling from heights, scattering and injuring people. Later, automated harvesting equipment emerged, such as the mobile harvesting device disclosed in Chinese patent CN211831950U. The palm fruit harvesting platform includes a moving platform, a cutter guide rail, and a cutter assembly. The cutter guide rail is mounted on the moving platform. The cutter assembly includes a cutter base, a disc-shaped cutter, and a drive motor. The cutter base is mounted on the cutter guide rail and can move along the guide rail. The cutter is mounted on the cutter base, and the drive motor drives the cutter to rotate. However, the palm fruit is blocked by the external leaves, so the cutter cannot effectively cut the fruit when rotating. Furthermore, after the external leaves are cut, the palm fruit hangs down directly, which may cause it to hit the cutter and damage it. Utility Model Content

[0003] The technical problem to be solved by this utility model is: in order to solve the problem that when the palm fruit is picked by the existing picking equipment, the palm fruit is blocked by the external fruit leaves, the cutting blade cannot effectively cut the palm fruit when rotating, and after the external fruit leaves are cut, the palm fruit hangs down directly, which may cause it to hit the cutting blade and damage it. The present invention provides a fruit picking device with fruit leaves wrapped around it.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a fruit-leaf-wrapped fruit-picking device, wherein the fruit is wrapped in fruit leaves, and the picking device is used to cut the fruit leaves supporting the fruit to be cut and then cut the fruit. The picking device includes:

[0005] The initial positioning mechanism is used to insert the fruit to initially fix the fruit supported by the leaves when cutting the leaves. It includes a first linear reciprocating drive mechanism and an insertion rod connected to the output end of the first linear reciprocating drive mechanism.

[0006] A cutting mechanism for cutting fruit and leaves used to cover the fruit, comprising a second linear reciprocating drive mechanism and a cutter connected to the output end of the second linear reciprocating drive mechanism.

[0007] Furthermore, the output end of the first linear reciprocating drive mechanism is connected to an output shaft, the axis of which is parallel to the axis of the insertion rod and the output shaft is fixed to the end of the insertion rod away from the fruit.

[0008] Furthermore, it also includes a base, and a correction mechanism is provided between the initial positioning mechanism and the base to allow the insertion rod and the fruit it is fixed to have a floating gap when cutting the fruit.

[0009] Furthermore, the correction mechanism includes two limiting arms extending from the base, a protrusion on the initial positioning mechanism and located between the two limiting arms, a through rod passing through the limiting arms and the protrusion, and a floating elastic element sleeved on the through rod and located between the limiting arms and the protrusion.

[0010] Furthermore, the correction mechanism also includes a waist-shaped groove formed on the base and a limiting rod fixed to the initial positioning mechanism and slidably disposed in the waist-shaped groove to limit the floating gap.

[0011] Furthermore, the correction mechanism also includes a rotating shaft passing through the base and fixed to the initial positioning mechanism, a pressure cap covering the rotating shaft, and fasteners for fixing the pressure cap to the rotating shaft. The rotating shaft is located between the limiting rod and the floating elastic element.

[0012] Furthermore, the cutter gradually tilts upwards along the direction close to the fruit to form an inclined cut surface during cutting.

[0013] Furthermore, the cutting mechanism also includes a blade holder, a pad placed between the blade holder and the cutting blade, a slider disposed on the blade holder, and a slide rail disposed on the base to cooperate with the slider. The cross-sectional area of ​​the pad gradually decreases along the direction closer to the fruit.

[0014] Furthermore, the initial positioning mechanism also includes a plurality of guide blocks spaced apart along the axial direction of the insertion rod for the insertion rod to pass through and guide the insertion rod.

[0015] Furthermore, the base includes a bottom plate, a top plate spaced apart from the bottom plate, and two vertical plates supported between the bottom plate and the top plate. The initial positioning mechanism is installed on the top plate, and the cutting mechanism is installed on the bottom plate.

[0016] The top plate extends to form an extension for inserting between the two limiting arms to fix the two limiting arms, and the bottom plate extends in the direction away from the fruit to form an inclined portion for mounting the second linear reciprocating drive mechanism.

[0017] The beneficial effects of this utility model are: This utility model uses a stick to initially fix the fruit and then cuts the fruit leaves and fruit in sequence with a cutter. After the fruit leaves are cut, the fruit can be completely exposed, which is convenient for cutting. Moreover, after the fruit leaves lose their support, the fruit can still maintain its original posture for cutting under the action of the stick, thereby avoiding damage to the cutter during the cutting process.

[0018] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a three-dimensional schematic diagram of the present invention from a first-person perspective;

[0021] Figure 2 This is a three-dimensional schematic diagram of the present invention from a second perspective;

[0022] Figure 3 This is the front view of this utility model;

[0023] Figure 4 This is a top view of the present invention;

[0024] Figure 5 This is a three-dimensional schematic diagram of the cooperation between the initial positioning mechanism and the correction mechanism in this utility model;

[0025] Figure 6 This is a top view of the initial positioning mechanism and the correction mechanism working together in this utility model;

[0026] Figure 7 yes Figure 6 A cross-sectional view along the AA direction;

[0027] Figure 8 yes Figure 6 Cross-sectional view along the BB direction;

[0028] Figure 9 This is a three-dimensional schematic diagram of the cutting mechanism in this utility model;

[0029] In the picture:

[0030] 1. Initial positioning mechanism; 101. First linear reciprocating drive mechanism; 102. Insert rod; 103. Output shaft; 104. Protrusion; 105. Guide block; 106. Connecting plate; 107. Fixing block; 108. Linear bearing;

[0031] 2. Cutting mechanism; 201. Second linear reciprocating drive mechanism; 202. Cutting blade; 203. Blade holder; 204. Pad block; 205. Slide rail; 206. Slider; 207. Hydraulic motor;

[0032] 3. Base; 301. Limiting arm; 302. Waist-shaped groove; 303. Base plate; 3031. Inclined part; 304. Top plate; 3041. Extension part; 305. Vertical plate;

[0033] 4. Correction mechanism; 401. Through rod; 402. Floating elastic element; 403. Limiting rod; 404. Rotating shaft; 405. Pressure cap; 406. Fastener. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention. Therefore, they only show the components, orientations, and references (e.g., up, down, left, right, etc.) relevant to the present invention and are intended only to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be limiting, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0035] like Figure 1-9 As shown, a fruit-leaf-wrapped fruit-harvesting device is disclosed. The fruit is covered by fruit leaves, but this "covering" is not a complete wrapping; part of the fruit remains exposed beneath the upper and lower fruit leaves. The harvesting device is used to cut the fruit leaves supporting the fruit and then to cut the fruit itself. The harvesting device includes:

[0036] The initial positioning mechanism 1 is used to insert the fruit to initially fix the fruit supported by the leaves when cutting the leaves. The insertion depth does not need to be too deep, only to achieve the initial fixing effect. It is generally less than half the diameter of the fruit. The initial positioning mechanism 1 includes a first linear reciprocating drive mechanism 101 and an insertion rod 102 connected to the output end of the first linear reciprocating drive mechanism 101. The insertion rod 102 includes a rod body and a pointed cone located at the end of the rod body. The pointed cone makes it easier for the insertion rod 102 to be inserted into the fruit. The first linear reciprocating drive mechanism 101 can be, but is not limited to, a cylinder, a telescopic rod, etc. The insertion rod 102 can extend or retract under the action of the first linear reciprocating drive mechanism 101 to insert or remove the fruit.

[0037] The cutting mechanism 2 is used to cut the fruit and the leaves used to cover the fruit. It includes a second linear reciprocating drive mechanism 201 and a cutter 202 connected to the output end of the second linear reciprocating drive mechanism 201. The second linear reciprocating drive mechanism 201 can be, but is not limited to, a cylinder, an electric cylinder, a telescopic rod, or a linear module. The cutter 202 can extend under the action of the second linear reciprocating drive mechanism 201 to cut the fruit or leaves. The cutter 202 has a number of spaced serrations on both sides. It can be a chainsaw, such as a gasoline saw, an electric saw, a pneumatic saw, or a hydraulic saw, preferably a hydraulic saw, which is driven by a hydraulic motor 207.

[0038] During harvesting, the harvesting device is first transported to the cutting area by a conveying device, which can be, but is not limited to, a robotic arm with six degrees of freedom. Then, the insertion rod 102 is inserted into the fruit under the action of the first linear reciprocating drive mechanism 101. Then, the cutter 202 extends under the action of the second linear reciprocating drive mechanism 201 to cut off the fruit leaves and fruit in sequence. In this embodiment, the insertion rod 102 is used to initially fix the fruit before the cutter 202 cuts off the fruit leaves and fruit in sequence. After the fruit leaves are cut, the fruit can be completely exposed, which is convenient for cutting. Moreover, after the fruit leaves are lost, the fruit can still maintain its original posture for cutting under the action of the insertion rod 102, thereby avoiding damage to the cutter 202 during the cutting process.

[0039] In some examples, the output end of the first linear reciprocating drive mechanism 101 is connected to an output shaft 103. The axis of the output shaft 103 is parallel to the axis of the insertion rod 102, and the output shaft 103 and the end of the insertion rod 102 away from the fruit are fixed by a fixing block 107. That is, the insertion rod 102 and the output shaft 103 are not coaxially arranged. As a result, when the insertion rod 102 is inserted into the fruit, the force between the two is almost entirely applied to the insertion rod 102. Compared with direct drive through the first linear reciprocating drive mechanism 101, this embodiment has less impact on the first linear reciprocating drive mechanism 101 and can improve the service life of the first linear reciprocating drive mechanism 101.

[0040] In some examples, a base 3 is also included. A correction mechanism 4 is provided between the initial positioning mechanism 1 and the base 3 to allow the insertion rod 102 and the fruit it is fixed to have a floating gap when cutting the fruit. The fruit leaves and the fruit are connected by a fruit stalk (i.e., "stem"). Cutting the fruit means cutting off the fruit stalk. When cutting the fruit leaves or cutting the fruit stalk, the fruit stalk will shake, and the fruit connected to the fruit stalk will also tend to shake. If the insertion rod 102 completely fixes the fruit, the fruit is subjected to the forces of the fruit stalk and the insertion rod 102 respectively. The fruit stalk exerts a force on the fruit to drive it to move, while the insertion rod 102 exerts a force on the fruit to block its movement, which may damage the fruit or even cause the fruit to loosen.

[0041] In some examples, the correction mechanism 4 includes two limiting arms 301 extending from the base 3, a protrusion 104 protruding from the initial positioning mechanism 1 and located between the two limiting arms 301, a through rod 401 passing through the limiting arms 301 and the protrusion 104, and a floating elastic element 402 sleeved on the through rod 401 and located between the limiting arms 301 and the protrusion 104. The through rod 401 can be a screw, and the nut and screw cap on the screw clamp the two limiting arms 301 between them. The floating elastic element 402 can be a spring, and there are two of them. Each floating elastic element 402 abuts against the protrusion 104 at one end and against the limiting arm 301 at the other end. The insertion rod 102 has a certain floating gap under the action of the two symmetrically arranged floating elastic elements 402, which can produce a certain degree of shaking.

[0042] In some examples, the correction mechanism further includes a waist-shaped groove 302 formed on the base 3 and a limiting rod 403 fixed to the initial positioning mechanism 1 and slidably disposed in the waist-shaped groove 302 to limit the floating gap. The limiting rod 403 may be a screw that passes through the waist-shaped groove 302 and is fixed to the initial positioning mechanism 1. The nut abuts against the base 3 and a gasket is installed between the two. The length of the waist-shaped groove 302 determines the stroke of the limiting rod 403, thereby determining the floating gap of the insertion rod 102.

[0043] In some examples, the correction mechanism 4 further includes a rotating shaft 404 passing through the base 3 and fixed to the initial positioning mechanism 1, a pressure cap 405 covering the rotating shaft 404, and a fastener 406 for fixing the pressure cap 405 to the rotating shaft 404. The fastener 406 may be a bolt. The outer edge of the pressure cap 405 extends radially to form a retaining ring. A rolling bearing is installed between the retaining ring and the rotating shaft. The rotating shaft 404 is located between the limiting rod 403 and the floating elastic element 402, which is equivalent to the swing center of the insertion rod 102. The insertion rod 102 swings around the rotating shaft 404. The combination of the waist-shaped groove 302 at both ends of the insertion rod 102 and the limiting rod 403, as well as the combination of the limiting arm 301, the protrusion 104 and the floating elastic element 402, can limit the swing of the insertion rod 102 and the fruit on it.

[0044] In some examples, the cutter 202 is gradually tilted upwards in the direction close to the fruit to form an inclined cut surface during cutting. After the fruit is cut, the inclined cut surface allows rainwater to slide off, preventing the fruit and leaves from rotting.

[0045] In some examples, the cutting mechanism further includes a blade holder 203, a pad 204 placed between the blade holder 203 and the cutter 202, a slider 206 disposed on the blade holder 203, and a slide rail 205 disposed on the base 3 to cooperate with the slider 206. When the second linear reciprocating drive mechanism 201 drives the cutter 202 to move toward the fruit, the slide rail 205 and the slider 206 cooperate to guide the movement of the cutter 202. In this embodiment, there are two sets of slide rail 205 and slider 206. The cross-sectional area of ​​the pad 204 gradually decreases along the direction closer to the fruit to avoid interfering with the cutting action of the cutter 202.

[0046] In some examples, the initial positioning mechanism 1 further includes a plurality of guide blocks 105 spaced apart along the axial direction of the insertion rod 102 for the insertion rod 102 to pass through and guide the insertion rod 102. A linear bearing 108 is provided between the guide block 105 and the insertion rod 102 to ensure the linear movement of the insertion rod 102. The number of guide blocks 105 can be one or more. When there are multiple guide blocks 105, the multiple guide blocks 105 are fixed by the connecting plate 106.

[0047] In some examples, the base 3 includes a base plate 303, a top plate 304 spaced apart from the base plate 303, and two vertical plates 305 supported between the base plate 303 and the top plate 304. A cavity is formed between the base plate 303, the top plate 304, and the two vertical plates 305. The insertion rod 102 and the cutter 202 can extend or retract into the cavity. The initial positioning mechanism 1 is installed on the top plate 304, and the cutting mechanism 2 is installed on the base plate 303.

[0048] The top plate 304 extends to form an extension 3041 for inserting between the two limiting arms 301 to fix the two limiting arms 301, which is equivalent to setting a rib between the two limiting arms 301, thereby improving the connection strength between the limiting arms 301 and the top plate 304. The bottom plate 303 extends in the direction away from the fruit to form an inclined portion 3031 for mounting the second linear reciprocating drive mechanism 201 to form an inclined setting of the cutter 202.

[0049] The above description, based on the preferred embodiments of this utility model, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. A fruit-leaf-wrapped fruit-picking device, wherein the fruit is wrapped in fruit leaves, the picking device is used to cut the fruit leaves supporting the fruit to be cut and then cut the fruit, characterized in that: The harvesting device includes: The initial positioning mechanism (1) is used to insert the fruit to initially fix the fruit supported by the fruit leaf when cutting the fruit leaf. It includes a first linear reciprocating drive mechanism (101) and an insertion rod (102) connected to the output end of the first linear reciprocating drive mechanism (101). The cutting mechanism (2) is used to cut the fruit and the fruit leaves used to cover the fruit, and includes a second linear reciprocating drive mechanism (201) and a cutter (202) connected to the output end of the second linear reciprocating drive mechanism (201).

2. The fruit-leaf-wrapped fruit-picking device according to claim 1, characterized in that: The output end of the first linear reciprocating drive mechanism (101) is connected to an output shaft (103). The axis of the output shaft (103) is parallel to the axis of the insertion rod (102), and the output shaft (103) and the insertion rod (102) are fixed at the end away from the fruit.

3. The fruit-leaf-wrapped fruit-picking device according to claim 1, characterized in that: It also includes a base (3), and a correction mechanism (4) is provided between the initial positioning mechanism (1) and the base (3) to allow the insertion rod (102) and the fruit it is fixed to have a floating gap when cutting the fruit.

4. The fruit-leaf-wrapped fruit-picking device according to claim 3, characterized in that: The correction mechanism (4) includes two limiting arms (301) extending from the base (3), a protrusion (104) protruding from the initial positioning mechanism (1) and located between the two limiting arms (301), a through rod (401) passing through the limiting arms (301) and the protrusion (104), and a floating elastic element (402) sleeved on the through rod (401) and located between the limiting arms (301) and the protrusion (104).

5. A fruit-leaf-wrapped fruit-picking device according to claim 4, characterized in that: The correction mechanism also includes a waist-shaped groove (302) formed on the base (3) and a limiting rod (403) fixed to the initial positioning mechanism (1) and slidably disposed in the waist-shaped groove (302) to limit the floating gap.

6. A fruit-leaf-wrapped fruit-picking device according to claim 5, characterized in that: The correction mechanism (4) further includes a rotating shaft (404) passing through the base (3) and fixed to the initial positioning mechanism (1), a pressure cap (405) covering the rotating shaft (404), and a fastener (406) for fixing the pressure cap (405) to the rotating shaft (404). The rotating shaft (404) is located between the limiting rod (403) and the floating elastic element (402).

7. The fruit-leaf-wrapped fruit-picking device according to claim 1, characterized in that: The cutter (202) is gradually tilted upwards in the direction close to the fruit to form an inclined cutting surface during cutting.

8. A fruit-harvesting device with leaf wrapping as described in claim 3, characterized in that: The cutting mechanism also includes a blade holder (203), a pad (204) placed between the blade holder (203) and the cutter (202), a slider (206) placed on the blade holder (203), and a slide rail (205) placed on the base (3) to cooperate with the slider (206). The cross-sectional area of ​​the pad (204) gradually decreases along the direction closer to the fruit.

9. A fruit-harvesting device with leaf wrapping as described in claim 1, characterized in that: The initial positioning mechanism (1) further includes a plurality of guide blocks (105) spaced apart along the axial direction of the insertion rod (102) for the insertion rod (102) to pass through and guide the insertion rod (102).

10. A fruit-leaf-wrapped fruit-picking device according to claim 4, characterized in that: The base (3) includes a base plate (303), a top plate (304) spaced apart from the base plate (303), and two upright plates (305) supported between the base plate (303) and the top plate (304). The initial positioning mechanism (1) is installed on the top plate (304), and the cutting mechanism (2) is installed on the base plate (303). The top plate (304) extends to form an extension (3041) for inserting between two limiting arms (301) to fix the two limiting arms (301), and the bottom plate (303) extends in the direction away from the fruit to form an inclined portion (3031) for mounting the second linear reciprocating drive mechanism (201).

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