A picking device for continuously picking fruit

Abstract

The utility model belongs to picking device technical field, concretely relates to a picking device for continuous picking fruit, including arc base, cutting mechanism, translation drive mechanism and swing mechanism, cutting mechanism is arranged on the arc base to cut off the fruit of different positions in the extension locus of arc base with sliding, translation drive mechanism is used for driving cutting mechanism reciprocating movement along arc base, swing mechanism is used for driving arc base swing to make arc base and fruit distribution locus match, cutting mechanism can continuously cut along arc base with sliding arrangement on the arc base, the utility model provides stable support for cutting mechanism through arc base gripping tree trunk, and utilizes swing mechanism to drive arc base swing to match with fruit distribution locus, makes cutting mechanism realize the continuous cutting of fruit in the process of moving along arc base, improves picking efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of harvesting devices, specifically relating to a harvesting device for continuous fruit harvesting. Background Technology

[0002] Most fruits (such as palm fruits) are distributed in a spiral pattern along the trunk, either left-handed or right-handed, rather than in a uniform circle around the trunk. Therefore, the location needs to be constantly changed during harvesting. Traditional harvesting usually involves manual cutting of fruits from higher up using long-handled knives. However, manually holding long-handled knives is laborious and inefficient, and the longer the knives, the more laborious it becomes. Fruits that exceed the length of the knives cannot be harvested, leading to resource waste. In addition, fruits cut by long-handled knives can fall from a height, causing fruit to scatter and injuring people. Therefore, machine harvesting is necessary.

[0003] Chinese patent CN117616997A discloses a harvesting machine for precise harvesting by tracking the growth cycle of palm fruits. The machine includes a body with tracked wheels at the bottom and a robotic arm mounted on it. One end of the robotic arm is equipped with a pneumatic gripper and an image recognition module. Harvesting is performed through the cooperation of the robotic arm and the pneumatic gripper. During harvesting, the robotic arm brings the pneumatic gripper to the location of the fruit, then the pneumatic gripper opens to allow the fruit to enter, and then the pneumatic gripper closes to hold the fruit tightly. The fruit is then picked by twisting or pulling. However, this twisting or pulling process can damage the stems and leaves. Furthermore, each fruit requires the robotic arm to drive the pneumatic gripper in three dimensions to reach its location before the pneumatic gripper opens or closes, resulting in low harvesting efficiency. Utility Model Content

[0004] The technical problem this invention aims to solve is: to address the issue that existing harvesting equipment relies on the cooperation of a robotic arm and pneumatic grippers for harvesting. The pneumatic grippers grasp the fruit and then twist or pull it off, which damages the stems and leaves. Furthermore, each fruit harvest requires the robotic arm to drive the pneumatic grippers in three dimensions to reach the fruit's location before the grippers open or close, resulting in low harvesting efficiency. Therefore, this invention provides a harvesting device for continuous fruit harvesting, which can not only harvest fruits continuously but also accurately harvest individual fruits.

[0005] The technical solution adopted by this utility model to solve its technical problem is: a harvesting device for continuous fruit harvesting, the harvesting device comprising:

[0006] An arc-shaped base is used to encircle the tree trunk;

[0007] A cutting mechanism, which is slidably mounted on the arc-shaped base, cuts off fruits located at different positions along the extended trajectory of the arc-shaped base;

[0008] A translation drive mechanism is used to drive the cutting mechanism to reciprocate along the arc-shaped base;

[0009] The system includes a swinging mechanism that drives the arc-shaped base to swing so that the arc-shaped base matches the distribution trajectory of the fruit, and a cutting mechanism that is slidably mounted on the arc-shaped base to make continuous cuts along the arc-shaped base.

[0010] Furthermore, the translation drive mechanism includes a translation base connected to the cutting mechanism, a first rotational power source mounted on the translation base, a drive gear connected to the output end of the first rotational power source, and an arc-shaped rack fixed on the arc-shaped base and meshing with the drive gear.

[0011] Furthermore, the swing mechanism includes a second rotational power source, a drive gear connected to the output end of the second rotational power source, and a driven gear connected to the arc-shaped base and meshing with the drive gear.

[0012] Furthermore, the arc-shaped base is formed with an arc-shaped track, and the bottom of the cutting mechanism is provided with several rollers that cooperate with the arc-shaped track.

[0013] Furthermore, the arc-shaped base protrudes to form abutment protrusions for abutting against the tree trunk to fix itself to the tree trunk.

[0014] Furthermore, the cutting mechanism includes a saw blade and a linear reciprocating drive mechanism for driving the saw blade closer to the fruit to perform cutting.

[0015] Furthermore, the saw blade is tilted upwards in a direction that gradually approaches the fruit.

[0016] Furthermore, the cutting mechanism also includes a blade holder, a blade support for mounting the saw blade, a slide rail disposed at the bottom of the blade support, and a slider fixed on the blade holder and cooperating with the slide rail.

[0017] Furthermore, the arc-shaped base is provided with multiple hanging holes for hanging fruit collection containers.

[0018] Furthermore, a platform extends from the center of the arc-shaped base, and the platform is fixed to the swing seat of the swing mechanism, with an upper stiffening plate and a lower stiffening plate connecting the two.

[0019] The beneficial effects of this utility model are: This utility model uses an arc-shaped base to grip the tree trunk to provide stable support for the cutting mechanism, and uses a swing mechanism to drive the arc-shaped base to swing to match the fruit distribution trajectory, so that the cutting mechanism can continuously cut the fruit while moving along the arc-shaped base, which improves the harvesting efficiency. At the same time, the translation drive mechanism and the linear reciprocating drive mechanism can also achieve precise harvesting of individual fruits.

[0020] 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

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a three-dimensional schematic diagram of the present invention from a first-person perspective;

[0023] Figure 2 This is a three-dimensional schematic diagram of the present invention from a second perspective;

[0024] Figure 3 This is a three-dimensional schematic diagram of the present invention from a third-person perspective;

[0025] Figure 4 This is a top view of the present invention;

[0026] Figure 5 This is a side view of the present invention;

[0027] Figure 6 This is the front view of this utility model;

[0028] In the picture:

[0029] 1. Arc-shaped base; 101. Arc-shaped track; 102. Abutment protrusion; 103. Hanging hole; 104. Platform; 105. Protective part;

[0030] 2. Cutting mechanism; 201. Saw blade; 202. Linear reciprocating drive mechanism; 203. Blade holder; 204. Blade post; 205. Slide rail; 206. Slider; 207. Blade pad; 208. Hydraulic motor;

[0031] 3. Translation drive mechanism; 301. Translation base; 302. First rotational power source; 303. Drive gear; 304. Arc rack; 305. Roller;

[0032] 4. Swinging mechanism; 401. Second rotational power source; 402. Driving gear; 403. Driven gear; 404. Swing seat; 405. Upper stiffener; 406. Lower stiffener. Detailed Implementation

[0033] 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.

[0034] like Figure 1-6 As shown, a harvesting device for continuous fruit harvesting includes:

[0035] The arc-shaped base 1 has an arc-shaped concave surface, which is used to hug the tree trunk, increase the friction between the harvesting device and the tree trunk, and thus improve the stability of the entire harvesting device during the harvesting process.

[0036] The cutting mechanism 2 is slidably mounted on the arc-shaped base 1 to cut fruits located at different positions along the extended trajectory of the arc-shaped base 1. The arc-shaped base 1 has limiting structures (not shown in the figure) at both ends to limit the movement of the cutting mechanism 2. When the cutting mechanism 2 moves to the end of the arc-shaped base 1, the limiting structures can block the cutting mechanism 2 to prevent it from falling off the arc-shaped base 1. The arc-shaped base 1 can guide the movement of the cutting mechanism 2 on the one hand, and support the cutting mechanism 2 on the other hand, so as to improve the stability of the cutting process.

[0037] Translation drive mechanism 3 is used to drive the cutting mechanism 2 to reciprocate along the arc-shaped base 1;

[0038] The swing mechanism 4 drives the arc-shaped base 1 to swing so that the arc-shaped base 1 matches the distribution trajectory of the fruit. The cutting mechanism 2, which is slidably set on the arc-shaped base 1, can continuously cut along the arc-shaped base 1. Under the action of the swing mechanism 4, the arc-shaped base 1 can form an inclined structure with one end high and the other end low, which can be tilted to the left or right to match the left or right rotation of the distribution trajectory of the fruit.

[0039] During operation, the conveying mechanism (which may be, but is not limited to, a robotic arm) first transports the harvesting device to the location of the fruit to be harvested. Then, the swinging mechanism 4 drives the arc-shaped base 1 to rotate, so that its tilt direction matches the fruit distribution trajectory. Then, the tilted arc-shaped base 1 holds the trunk, and the translation drive mechanism 3 drives the cutting mechanism 2 to move from one end of the arc-shaped base 1 to the other end to continuously cut the fruit located on the extended trajectory of the arc-shaped base 1. When the fruit on one side of the trunk is harvested, the conveying mechanism transports the harvesting device to the other side of the trunk and repeats the above process. In this embodiment, the arc-shaped base 1 grips the trunk to provide stable support for the cutting mechanism 2, and the swinging mechanism 4 drives the arc-shaped base 1 to swing to match the fruit distribution trajectory, so that the cutting mechanism 2 can continuously cut the fruit while moving along the arc-shaped base 1, thereby improving the harvesting efficiency.

[0040] In some examples, the translation drive mechanism 3 includes a translation seat 301 connected to the cutting mechanism 2, a first rotary power source 302 mounted on the translation seat 301, a drive gear 303 connected to the output end of the first rotary power source 302, and an arc-shaped rack 304 (tooth profile not shown in the figure) fixed on the arc-shaped base 1 and meshing with the drive gear 303. The first rotary power source 302 can be an electric motor or a hydraulic motor, preferably a hydraulic motor. When the hydraulic motor is started, it drives the drive gear 303 to rotate. The drive gear 303 meshes with the arc-shaped rack 304, thereby driving the cutting mechanism 2 to reciprocate along the arc-shaped base 1.

[0041] In some examples, the swing mechanism 4 includes a second rotary power source 401, a drive gear 402 connected to the output end of the second rotary power source 401, and a driven gear 403 connected to the arc-shaped base 1 and meshing with the drive gear 402. The swing mechanism 4 is connected to a conveying mechanism, which can drive the arc-shaped base 1 and the cutting mechanism 2 to any position through the swing mechanism 4. The second rotary power source 401 can be an electric motor or a hydraulic motor, preferably a hydraulic motor. When the hydraulic motor is started, it drives the drive gear 402 to rotate. The drive gear 402 meshes with the driven gear 403, which drives the driven gear 403 and the arc-shaped base 1 connected to it to rotate.

[0042] In some examples, the arc-shaped base 1 is formed with an arc-shaped track 101, and the bottom of the cutting mechanism 2 is provided with a plurality of rollers 305 that cooperate with the arc-shaped track 101. The cooperation between the track 205 and the rollers 305 can provide guidance for the movement of the cutting mechanism 2. The arc-shaped track 101 has two sections, which are respectively formed on the concave and convex surfaces of the arc-shaped base 1 to form a double track structure. Correspondingly, there are also two sets of rollers 305, which correspond one-to-one with the two arc-shaped tracks 101. Each set of rollers 305 All of them roll within their corresponding arc-shaped tracks 101. The double slide rail 205 structure can improve the connection strength between the cutting mechanism 2 and the arc-shaped base 1, and avoid the two from separating unexpectedly. The concave surface of the arc-shaped base 1 has a protective part 105. The protective part 105 protrudes slightly from the roller 305 on the concave side to avoid the roller 305 interfering with the tree trunk during rolling and causing it to stop. At the same time, it provides a reference point for the movement of the saw blade 201 and prevents the saw blade 201 from advancing too far and damaging the tree trunk.

[0043] In some examples, the arc-shaped base 1 protrudes with a plurality of abutting protrusions 102 for abutting against the tree trunk to fix itself to the tree trunk. These protrusions increase the friction between the arc-shaped base 1 and the tree trunk when the arc-shaped base 1 swings, thereby fixing the arc-shaped base 1 and reducing mechanical vibration when the cutting mechanism 2 is cutting, thereby reducing cutting deviation and improving cutting stability. The shape of the abutting protrusions 102 can be, but is not limited to, various structures such as cones, pyramids, combinations of cylinders and cones, or combinations of prisms and pyramids, as long as they have a pointed tip that abuts against the tree trunk.

[0044] The number of abutting protrusions 102 can be, but is not limited to, one, two or three, and can be located at any position of the arc-shaped base 1. Preferably, the abutting protrusions 102 are distributed at both ends of the arc-shaped base 1, and each end has a number of them. The abutting protrusions 102 are integrally formed with the arc-shaped base 1 or fixed by bolts.

[0045] In some examples, the cutting mechanism 2 includes a saw blade 201 and a linear reciprocating drive mechanism 202 for driving the saw blade 201 closer to the fruit for cutting. The linear reciprocating drive mechanism 202 can be, but is not limited to, a cylinder, an electric cylinder, a telescopic rod, or a linear module. The translation drive mechanism 3 moves the saw blade 201 to the vicinity of the fruit, and the linear reciprocating drive mechanism 202 drives the saw blade 201 closer to the fruit to cut off the fruit stem, thereby achieving precise cutting of a single fruit. The saw blade 201 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 208.

[0046] In some examples, the saw blade 201 is tilted upwards towards the fruit, thus forming an inclined cutting surface during cutting. When it rains, rainwater can slide down the inclined cutting surface without accumulating at the cutting part and causing it to rot. When the swing mechanism 4 is not activated, the arc-shaped base 1 is in a horizontal state and the cutting surface is tilted in one direction. When the swing mechanism 4 is activated, the arc-shaped base 1 itself is in an inclined state, and the cutting surface can tilt in two directions at the same time.

[0047] In some examples, the cutting mechanism 2 further includes a blade holder 203, a blade support 204 for mounting the saw blade 201, a slide rail 205 disposed at the bottom of the blade support 204, and a slider 206 fixed on the blade holder 203 and cooperating with the slide rail 205. The blade holder 203 is fixed above the translation seat 301 and extends in the direction away from the fruit to form a gradually downward inclined portion. A linear reciprocating drive mechanism 202 is mounted on the inclined portion to provide an inclination angle for the saw blade 201. A blade pad 207 is provided between the saw blade 201 and the blade support 204. All three are fixed and connected to the output end of the linear reciprocating drive mechanism 202. The slide rail 205 and the slider 206 cooperate to provide guidance for the movement of the saw blade 201. In this embodiment, two slide rails 205 are provided, and correspondingly, two sets of sliders 206 are also provided. The two slide rails 205 correspond one-to-one with the two sets of sliders 206, and each slider 206 slides on its corresponding slide rail 205.

[0048] In some examples, the arc-shaped base 1 is provided with a plurality of hanging holes 103 for hanging fruit collection containers. The plurality of hanging holes 103 are spaced apart along the extension direction of the arc-shaped base 1. The fruit collection container can be, but is not limited to, a collection bag, a collection frame or a collection net, etc., and can hold the fruits of durian trees, date palm trees or coconut trees, etc., within the operating height of the picking device.

[0049] In some examples, a platform 104 extends from the middle of the arc-shaped base 1. The platform 104 is fixed to the swing seat 404 of the swing mechanism 4 and the two are connected by an upper stiffener 405 and a lower stiffener 406. That is, the connection point between the swing mechanism 4 and the arc-shaped base 1 is located in the middle of the arc-shaped base 1, thereby improving the stability of the swing of the arc-shaped base 1.

[0050] Working principle:

[0051] During operation, the conveying mechanism first transports the harvesting device to the location of the fruit to be harvested. Then, the second rotary power source 401 is activated, driving the drive gear 402 to rotate. The drive gear 402 meshes with the driven gear 403, driving the driven gear 403 and the arc-shaped base 1 connected to it to rotate, so that the tilt direction of the arc-shaped base 1 matches the distribution trajectory of the fruit. Then, the tilted arc-shaped base 1 hugs the trunk, and the first rotary power source 302 is activated, driving the drive gear 303 to rotate. The drive gear 303 meshes with the arc-shaped rack 304, thereby driving the saw blade 201 to move along one end of the arc-shaped base 1 to the other end to continuously cut the fruit located on the extended trajectory of the arc-shaped base 1. When the fruit on one side of the trunk is harvested, the conveying mechanism transports the harvesting device to the other side of the trunk and repeats the above process.

[0052] 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 picking device for the continuous picking of fruit, characterized in that: include: Arc-shaped base (1), which is used to encircle the tree trunk; A cutting mechanism (2) is slidably disposed on the arc-shaped base (1) to cut off fruits located at different positions on the extended trajectory of the arc-shaped base (1); Translation drive mechanism (3) is used to drive the cutting mechanism (2) to reciprocate along the arc-shaped base (1); And a swing mechanism (4), which is used to drive the arc-shaped base (1) to swing so that the arc-shaped base (1) matches the fruit distribution trajectory, and a cutting mechanism (2) slidably set on the arc-shaped base (1) can continuously cut along the arc-shaped base (1).

2. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The translation drive mechanism (3) includes a translation seat (301) connected to the cutting mechanism (2), a first rotational power source (302) mounted on the translation seat (301), a drive gear (303) connected to the output end of the first rotational power source (302), and an arc-shaped rack (304) fixed on the arc-shaped base (1) and meshing with the drive gear (303).

3. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The swing mechanism (4) includes a second rotary power source (401), a drive gear (402) connected to the output end of the second rotary power source (401), and a driven gear (403) connected to the arc-shaped base (1) and meshing with the drive gear (402).

4. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The arc-shaped base (1) has an arc-shaped track (101), and the bottom of the cutting mechanism (2) is provided with several rollers (305) that cooperate with the arc-shaped track (101).

5. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The arc-shaped base (1) has several abutting protrusions (102) for abutting against the tree trunk to fix itself to the tree trunk.

6. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The cutting mechanism (2) includes a saw blade (201) and a linear reciprocating drive mechanism (202) for driving the saw blade (201) close to the fruit to make a cut.

7. A picking apparatus for the continuous picking of fruit as claimed in claim 6 wherein: The saw blade (201) is tilted upwards in a direction that gradually approaches the fruit.

8. A picking apparatus for the continuous picking of fruit as claimed in claim 6 wherein: The cutting mechanism (2) further includes a blade holder (203), a blade support (204) for mounting the saw blade (201), a slide rail (205) disposed at the bottom of the blade support (204), and a slider (206) fixed on the blade holder (203) and cooperating with the slide rail (205).

9. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The arc-shaped base (1) has multiple hanging holes (103) for hanging fruit collection containers.

10. A picking apparatus for the continuous picking of fruit as claimed in claim 1 wherein: The arc-shaped base (1) extends to form a platform (104) in the middle. The platform (104) is fixed to the swing seat (404) of the swing mechanism (4) and the two are connected by an upper stiffener (405) and a lower stiffener (406).

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