A low-damage high-effect real recovery machine

Abstract

The utility model provides a kind of high effect real picker of low damage, for cutting large fruit, including picking platform, control system and be set on the dynamic arm mechanism of the picking platform, the end of dynamic arm mechanism is fixedly connected with guide cylinder, the import end of guide cylinder is obliquely cut and is set, to form the opening of oblique upward, to facilitate the reception of fruit, the outlet end of guide cylinder is communicated with the collection frame on picking platform, to guide the fruit after cutting into collection frame by guide cylinder in this way;Cutting mechanism is connected and set in the import end below guide cylinder, can cut the leaf root fruit stem of fruit, separate it from plant after harvesting, the picker has higher harvesting efficiency, simultaneously does not need manual high-altitude operation, avoids safety problem, compared with the mode of clamping, can avoid damage to fruit.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, and more specifically, to a low-damage, high-efficiency fruit harvester. Background Technology

[0002] Harvesting large fruits such as oil palm fruit traditionally relies heavily on manual labor. During the harvest season, there is a significant labor shortage, high costs, and high operational risks. Therefore, various automated harvesting machines have emerged on the market, such as a fruit-harvesting robot (publication number CN102672712B). This robot includes a hand, specifically a three-bar spherical coordinate arm. The hand includes a support plate mounted on the wrist. Fingers and their connecting rods are hinged to both sides of the front end of the support plate. A pull rod, driven by a lever mechanism on the support plate, guides the movement of the fingers. The key feature is that the inner sides of the fingertips are each provided with concave, oppositely oriented arc-shaped clamps, allowing for fruit harvesting through clamping. However, large fruits are unstable when held radially, easily falling and getting damaged. Excessive clamping pressure can also cause fruit damage.

[0003] In view of this, the applicant hereby submits this application after studying the existing technology. Utility Model Content

[0004] This invention provides a low-damage, high-efficiency fruit harvester, aimed at improving at least one of the aforementioned technical problems.

[0005] To solve the above-mentioned technical problems, this utility model provides a low-damage, high-efficiency fruit harvester, including a harvesting platform, a control system, and a boom mechanism set on the harvesting platform. A guide cylinder is fixedly connected to the end of the boom mechanism. The inlet end of the guide cylinder is obliquely cut to form an upwardly inclined opening. The outlet end of the guide cylinder is connected to a collection frame on the harvesting platform. A cutting mechanism is connected below the inlet end of the guide cylinder for cutting the fruit.

[0006] As a further optimization, the guide cylinder includes a receiving part and a flexible hose part, the flexible hose part being connected to the lower end of the receiving part.

[0007] As a further optimization, the receiving part is arranged in an arc shape.

[0008] As a further optimization, a first robotic arm is provided on the picking platform, and the end of the first robotic arm is fixedly connected to the bottom end of the hose.

[0009] As a further optimization, the cutting mechanism includes a telescopic hydraulic cylinder, a moving block, a guide rail, a connecting rod, and a saw blade. The guide rail is fixedly connected to the guide cylinder, and the output end of the telescopic hydraulic cylinder is fixedly connected to the moving block to drive the moving block to move back and forth on the guide rail. The connecting rod is connected and disposed between the moving block and the saw blade.

[0010] As a further optimization, the connecting cylinder is equipped with an identification module capable of identifying fruits, and the identification module is electrically connected to the control system.

[0011] As a further optimization, the guide cylinder is also provided with an auxiliary cutting mechanism, which includes a second robotic arm and a sickle.

[0012] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0013] 1. By controlling the boom mechanism through the control system to raise and adjust the position of the picking end, combined with the observation of the recognition module, the operator can monitor the operation from the ground throughout the process, eliminating the safety risks of manual climbing;

[0014] 2. The continuous harvesting method provides greater stability during harvesting, avoiding the instability and damage problems caused by traditional clamping harvesting methods;

[0015] 3. The harvesting platform can be used with various tractor platforms, which is highly versatile and facilitates fruit transfer during vehicle-mounted operations;

[0016] 4. Mechanical harvesting can significantly optimize the efficiency of harvesting operations. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a low-damage, high-efficiency fruit harvester according to this utility model;

[0019] Figure 2 This is a partial side view of the guide cylinder in one embodiment of the present invention;

[0020] Figure 3 This is a partial structural diagram of the bottom side of the guide cylinder in one embodiment of the present invention;

[0021] The diagram shows the following components: 1. Harvesting platform; 2. Boom mechanism; 3. Guide cylinder; 4. Opening; 5. Collection frame; 6. Cutting mechanism; 7. Receiving part; 8. Hose part; 9. First robotic arm; 10. Telescopic hydraulic cylinder; 11. Moving block; 12. Guide rail; 13. Connecting rod; 14. Saw blade; 15. Infrared camera; 16. Camera; 17. Second robotic arm; 18. Sickle. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] Depend on Figures 1 to 3 As shown, this embodiment of the invention provides a low-damage, high-efficiency fruit harvester, mainly used for harvesting large fruits, such as large oil palm fruits, durians, and coconuts. The fruit harvester includes a harvesting platform 1, a control system, and a boom mechanism 2 mounted on the harvesting platform 1. In this embodiment, the harvesting platform 1 is a trolley, such as a tractor, to facilitate movement and transportation after harvesting. The trolley is equipped with a control system (not shown in the figure) to control the various power components in this embodiment. For example, it hydraulically controls the angles of the boom and forearm in the boom mechanism 2, thereby controlling the height and position of the end effector. Simultaneously, the forearm can control the tilt angle of the end effector to adjust the tilt angle of the harvesting part. This is prior art and will not be elaborated upon here.

[0024] Preferably, a guide cylinder 3 is fixedly connected to the end of the boom mechanism 2. The inlet end of the guide cylinder 3 is obliquely cut to form an upwardly inclined opening 4. The outlet end of the guide cylinder 3 is connected to the collection frame 5 on the harvesting platform 1. A cutting mechanism 6 is connected below the inlet end of the guide cylinder 3 for cutting the fruit. During harvesting, the position and tilt angle of the guide cylinder 3 are adjusted by the boom mechanism 2 so that the inlet end gradually approaches the fruit. Since the opening 4 is upwardly inclined, when it approaches the fruit, the bottom end of the opening 4 can gradually support part of the fruit. At this time, the cutting mechanism 6 below cuts the root of the fruit, and the fruit can enter the collection frame 5 through the opening 4 and the guide cylinder 3.

[0025] Furthermore, the guide cylinder 3 includes a receiving part 7 and a flexible hose part 8, with the flexible hose part 8 connected to the lower end of the receiving part 7. The receiving part 7 is a stainless steel arc-shaped cylindrical structure, with its rear end fixedly connected to the end of the boom mechanism 2. It is coated with a wear-resistant coating. The inclined opening 4 at its front end reduces interference from branches above the fruit and facilitates fruit collection. After the fruit is cut and separated from the tree, it enters the flexible hose part 8 along the arc-shaped inner channel, and then, guided and buffered by the flexible hose part 8, enters the collection frame 5. In a preferred embodiment, a buffer pad can be further placed inside the collection frame 5 to enhance the buffering effect; details will not be elaborated here.

[0026] The picking platform 1 is equipped with a first robotic arm 9, which is controlled by a control system. Its end is fixedly connected to the bottom of the flexible tube section 8. The end of the first robotic arm is connected to the bottom of the flexible tube section 8 via a steel ring structure. By adjusting the position of the first robotic arm, the outlet end of the flexible tube section 8 can be directed towards various positions within the collection frame 5, thus ensuring even fruit distribution and reducing the labor required for manual handling. The specific structure of the robotic arm will not be detailed here.

[0027] In one embodiment, the cutting mechanism 6 includes a telescopic hydraulic cylinder 10, a moving block 11, a guide rail 12, a connecting rod 13, and a saw blade 14. The guide rail 12 and the telescopic hydraulic cylinder 10 are fixed to the lower end of the receiving part 7. The output end of the telescopic hydraulic cylinder 10 is fixedly connected to the moving block 11 to drive the moving block 11 to move back and forth on the guide rail 12. Thus, the moving block 11 can maintain stability during movement by being limited by the guide rail 12. The connecting rod 13 is connected between the moving block 11 and the saw blade 14. When the telescopic hydraulic cylinder 10 drives the moving block 11 to move back and forth towards the front end of the opening 4, the connecting rod 13 drives the saw blade 14 at the front end to extend from the end of the opening 4. Thus, when the opening 4 is close to the fruit, the saw blade 14 can cut to the leaf root and fruit stalk, separating it from the tree. In a preferred embodiment, the saw blade 14 is a circular saw blade 14, which is rotated by a motor to improve cutting efficiency. In other embodiments, a vibration motor can be used for high-frequency vibration cutting, which will not be elaborated here.

[0028] Preferably, the guide tube 3 is also equipped with an auxiliary cutting mechanism, which includes a second robotic arm 17 and a sickle 18. The second robotic arm is positioned above the opening 4. For example, if the stem of a durian is at the top, during harvesting, the opening 4 is positioned below the durian, and the second robotic arm 17 controls the sickle 18 to cut the stem, thus completing the harvest. When the connecting end of the fruit is at the bottom, such as in the case of an oil palm fruit, after the opening 4 is close to the fruit, the second robotic arm 17 can be used to support and stabilize the fruit before the cutting mechanism 6 cuts it. After cutting, the fruit partially supported by the opening 4 can be pulled into the pipe.

[0029] Furthermore, the connecting cylinder is equipped with an identification module capable of recognizing the fruit, which is electrically connected to the control system. In this embodiment, the identification module consists of an infrared camera 15 and a camera 16. The infrared camera 15 determines the positional relationship between the opening 4 and the fruit, while the camera 16 transmits the image to the control system for display on a screen, facilitating operation by the operator using the cutting mechanism 6. Specifically, the external camera 15 is mounted on the cutting mechanism 6, and the camera 16 is mounted on the auxiliary cutting mechanism.

[0030] As one implementation method, a sensor can also be set at the connecting end of the saw blade 14. Through force feedback, combined with the software built into the control system, automatic cutting can be achieved. This will not be elaborated on here.

[0031] Compared to traditional clamping and harvesting, the receiving method avoids damaging the small fruits on the oil palm by clamping and squeezing. Automated operation also allows operators to monitor the entire process from the ground, avoiding climbing and ensuring safety.

[0032] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A low-damage, high-efficiency fruit harvester, comprising a harvesting platform, a control system, and a boom mechanism mounted on the harvesting platform, characterized in that, The boom mechanism is fixedly connected to a guide cylinder at its end. The inlet end of the guide cylinder is obliquely cut to form an upwardly inclined opening. The outlet end of the guide cylinder is connected to a collection frame on the harvesting platform. A cutting mechanism is connected below the inlet end of the guide cylinder for cutting the fruit.

2. The low-damage, high-efficiency fruit harvester according to claim 1, characterized in that... The guide cylinder includes a receiving part and a flexible hose part, the flexible hose part being connected to the lower end of the receiving part.

3. The low-damage, high-efficiency fruit harvester according to claim 2, characterized in that... The receiving part is arranged in an arc shape.

4. A low-damage, high-efficiency fruit harvester according to claim 2, characterized in that... The harvesting platform is equipped with a first robotic arm, the end of which is fixedly connected to the bottom end of the hose.

5. A low-damage, high-efficiency fruit harvester according to claim 1, characterized in that... The cutting mechanism includes a telescopic hydraulic cylinder, a moving block, a guide rail, a connecting rod, and a saw blade. The guide rail is fixedly connected to the guide cylinder, and the output end of the telescopic hydraulic cylinder is fixedly connected to the moving block to drive the moving block to move back and forth on the guide rail. The connecting rod is connected between the moving block and the saw blade.

6. The low-damage, high-efficiency fruit harvester according to claim 1, characterized in that... The guide cylinder is equipped with an identification module capable of identifying fruits, and the identification module is electrically connected to the control system.

7. A low-damage, high-efficiency fruit harvester according to claim 1, characterized in that... The guide cylinder is also equipped with an auxiliary cutting mechanism, which includes a second robotic arm and a sickle.

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