Adjustable agricultural fruit picking device

Abstract

The utility model discloses adjustable agricultural fruit picking device, including mobile car, still including the comb tooth, the top of mobile car is provided with the collection mechanism, the top of mobile car still is provided with adjusting mechanism, and the protective shell is installed on adjusting mechanism, and the bottom of protective shell is connected with the blanking tube, and the inside fixed installation of protective shell has two sets of locating seat, and the rotatable joint of locating seat between every group has the pivot, and the outside fixed of two pivots has a plurality of flexible comb tooth, and the inside fixed installation of protective shell has the second drive motor, and the output of second drive motor is connected with first gear, and second drive motor is used for driving first gear rotation, and the rear end fixed of right side pivot has first transmission disc, the utility model discloses through double pivot linkage rotation design, has improved fruit picking efficiency significantly, and the surface flexible comb tooth forms the dense beating surface when high -speed operation, can act on the fruit of multiple parts of plant simultaneously, realizes large -area synchronous picking, and has improved work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of agricultural fruit harvesting technology, and in particular to an adjustable agricultural fruit harvesting device. Background Technology

[0002] Agricultural fruit harvesting devices are mechanical or robotic equipment used for automated harvesting of crops. They use visual recognition, robotic arms, or vibration technology to locate ripe fruits, achieving efficient and low-damage harvesting. Suitable for fruits such as apples and berries, they can improve harvesting efficiency, reduce labor costs, and meet the needs of large-scale agricultural production. Some models also have sorting and packaging functions.

[0003] Existing agricultural fruit harvesting devices typically rely on robotic arms to pick fruits, but can only pick one fruit at a time, resulting in low efficiency. This design is difficult to meet the needs of rapid harvesting when facing large orchards or high-density fruit distribution. The planning and positioning of the robotic arm's movement path is time-consuming and easily affected by branches and leaves or uneven fruit distribution, further reducing harvesting efficiency. In addition, the single-fruit harvesting mode requires frequent adjustments to the position of the robotic arm, increasing energy consumption and operational complexity, resulting in low overall operational efficiency and making it difficult to adapt to the production requirements of modern large-scale and intensive agriculture.

[0004] Therefore, in view of the problem that existing agricultural fruit picking devices usually rely on robotic arms to pick fruits, and can only pick one fruit at a time, resulting in low efficiency, an adjustable agricultural fruit picking device can be designed. Utility Model Content

[0005] To overcome the problem that existing agricultural fruit picking devices typically rely on robotic arms to pick fruits, which can only pick one fruit at a time and are therefore inefficient.

[0006] The technical solution of this utility model is as follows: an adjustable agricultural fruit harvesting device, including a mobile cart; and comb teeth. A collecting mechanism is provided on the top of the mobile cart, and an adjusting mechanism is also provided on the top of the mobile cart. A protective shell is installed on the adjusting mechanism, and a material discharge pipe is connected to the bottom of the protective shell. Two sets of positioning seats are installed inside the protective shell, and a rotating shaft is rotatably connected between each set of positioning seats. Multiple flexible comb teeth are fixed on the outer sides of the two rotating shafts. A second drive motor is fixed inside the protective shell, and a first gear is connected to the output end of the second drive motor. The second drive motor is used to drive the first gear to rotate. A first transmission disc is fixed to the rear end of the right rotating shaft. A first belt is sleeved on the outer side of the first transmission disc and the first gear. A second gear is fixed to the rear side of the first gear. A second transmission disc is rotatably connected to the rear side of the inside of the protective shell. A third gear is fixed to the front side of the second transmission disc. The third gear meshes with the second gear. A third transmission disc is installed at the rear end of the left rotating shaft. A second belt is sleeved on the outer side of the third transmission disc and the second transmission disc.

[0007] Preferably, by setting a second drive motor, the first gear can be rotated during operation. When the first gear rotates, it drives the first transmission disc to rotate through the linkage of the first belt. At the same time, it drives the second gear to rotate. When the second gear rotates, it drives the third gear meshing with it to rotate. When the third gear rotates, it drives the second transmission disc to rotate. The second transmission disc, under the linkage of the second belt, drives the third transmission disc to rotate, thereby realizing the relative rotation of the two shafts. When rotating, it drives the flexible comb teeth to rotate, thereby knocking the fruit off and improving the work efficiency. This solves the problem that existing agricultural fruit picking devices usually rely on robotic arms to pick fruits, and can only pick one fruit at a time, resulting in low efficiency.

[0008] Preferably, the collecting mechanism includes a storage component and a lifting component, wherein the storage component is used to collect the fruit and the lifting component is used to drive the storage component to tilt the fruit.

[0009] Preferably, the storage assembly includes two fixed beams mounted on the top of the mobile vehicle, each fixed beam having a hinged seat, and a collection box rotatably connected to the fixed beams via the hinged seats.

[0010] Preferably, the lifting assembly includes a first drive motor fixed on a mobile vehicle, the output end of the first drive motor is connected to a lead screw, the first drive motor is used to drive the lead screw to rotate, a threaded sleeve is threadedly connected to the outer side of the lead screw, a first connecting rod is rotatably connected to the collection box, a second connecting rod is rotatably connected to the first connecting rod, a slide block is slidably connected inside the slot of the second connecting rod, and the slide block is rotatably connected to the threaded sleeve.

[0011] Preferably, the adjustment mechanism includes a lifting component and a rotating component, wherein the lifting component is used to adjust the height of the protective shell and the rotating component is used to adjust the rotation angle of the protective shell.

[0012] Preferably, the lifting assembly includes a column fixed to the top of the mobile vehicle, with a telescopic rod installed on the top of the column.

[0013] Preferably, the rotating assembly includes a connector mounted on the top of the column, a connecting seat mounted on the rear side of the protective shell, the connector being rotatably connected to the connecting seat, and a fastening bolt being provided on the connecting seat.

[0014] Preferably, a push rod is fixed to the rear of the mobile vehicle, and two gripping rods are fixed on the push rod.

[0015] The beneficial effects of this utility model are:

[0016] The dual-shaft linkage rotation design significantly improves fruit harvesting efficiency. Its flexible comb teeth form a dense striking surface when rotating at high speed, which can simultaneously act on the fruit in multiple parts of the plant, achieving large-area synchronous harvesting and improving work efficiency. It is particularly suitable for large-scale orchard operations. The flexible striking method of the comb teeth can ensure that mature fruits fall off effectively while avoiding mechanical damage to the fruit peel, thus maintaining marketability. At the same time, the device can adapt to the harvesting needs of different tree shapes, enabling selective harvesting. Its high-efficiency operation characteristics can greatly reduce labor costs and solve the problem of labor shortage during the busy farming season. Attached Figure Description

[0017] Figure 1 The diagram shown is a three-dimensional structural schematic of this utility model;

[0018] Figure 2 The diagram shown is a three-dimensional structural schematic of the protective shell of this utility model;

[0019] Figure 3 The diagram shown is a three-dimensional structural schematic of the comb teeth of this utility model;

[0020] Figure 4 The diagram shown is a three-dimensional structural schematic of the second drive motor of this utility model.

[0021] Figure 5 The diagram shown is a three-dimensional structural schematic of the connector of this utility model;

[0022] Figure 6 The diagram shown is a three-dimensional structural schematic of the collection mechanism of this utility model.

[0023] Explanation of reference numerals in the attached drawings: 1. Moving vehicle; 21. Fixed beam; 22. Hinge seat; 23. Collection box; 24. First drive motor; 25. Lead screw; 26. Threaded sleeve; 27. First connecting rod; 28. Second connecting rod; 29. ​​Slide seat; 31. Column; 32. Telescopic rod; 33. Connector; 34. Connecting seat; 35. Fastening bolt; 4. Protective shell; 5. Material drop pipe; 6. Positioning seat; 7. Rotating shaft; 8. Comb teeth; 9. Second drive motor; 10. First gear; 11. First transmission disc; 12. First belt; 13. Second gear; 14. Second transmission disc; 15. Third gear; 16. Third transmission disc; 17. Second belt; 18. Push rod; 19. Grip rod. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Behind the sweet taste of summer fruits lies the dedication of countless hands over many years. These hands, which once directly touched the fruit, are now gradually retreating into the background. Fruit cultivation, this ancient life-giving endeavor, started from simple farming experience, slowly climbing the foothills of technology, and finally reaching the peak of automated harvesting. A quiet agricultural revolution is replacing all the hardships of the past.

[0026] Humans' earliest cultivation of fruit relied heavily on the natural endowments of climate and soil. Examples include fruit orchards thriving in the mild climate of the Mediterranean coast, and banana communities nourished by fertile tropical soils. These crops are subtly sensitive to temperature, water, and sunlight: a late cold snap can destroy a citrus tree's blossoms, and a sudden downpour can cause plump cherries to crack open. The management of traditional orchards further reveals the close interplay between nature and humankind: thinning flowers and fruits ensures the quality of the remaining fruit; bagging prevents pesticide contamination; and drip irrigation systems precisely manage every drop of water. This meticulous cultivation, especially during harvest season, transforms into the arduous labor of fruit farmers under the scorching sun, squatting and bending among the branches—a posture of deep bowing to the land that humanity has maintained for far too long.

[0027] Because the fruit ripening period is short and concentrated, manual harvesting has become the most stressful and expensive part of orchard management. The shortage of manpower is a constant concern for farmers: it is estimated that harvesting costs can reach nearly half of the total cost for some fruits. Even with sufficient manpower, fruit damage is unavoidable during harvesting, especially for delicate fruits like grapes and strawberries. A slight misstep by the harvester's fingers can leave scratches or even mold. Harvesters carrying loads on their shoulders and backs, trudging back and forth through the orchard, are undeniably inefficient. Furthermore, with changing population structures and the outflow of rural labor, orchard owners are finding it increasingly difficult to afford rising labor costs. In many places, orchards have faced the predicament of "ripe fruit unharvested," with the fruit simply rotting on the branches.

[0028] Harvesting operations have begun exploring semi-mechanized tools to enhance efficiency. In vineyards, small tracked vehicles equipped with harvesting platforms have appeared, allowing workers to operate standing up and avoiding the arduous task of bending over all day. In orchards, lightweight lifting platforms have extended the working height range for harvesters. Harvesters are also equipped with convenient shoulder-mounted harvesting bags, saving them the physical exertion of frequently carrying fruit baskets. However, these tools ultimately cannot be separated from human hands; they merely alleviate the burden of carrying but have not addressed the core challenges of harvesting itself: the limitations of human fingers remain, making it difficult to quickly and accurately perceive the ripeness and location of fruit, and still difficult to ensure gentle and damage-free harvesting.

[0029] A true breakthrough requires the dual empowerment of visual perception and dexterous manipulation, giving rise to intelligent robotic arm harvesting technology. The first step in visual perception empowerment relies on high-resolution cameras and depth sensors to scan the layers of branches and leaves of fruit trees, like a pair of discerning eyes piercing through the dense foliage. Next, algorithms take center stage. A deep learning-based recognition model (convolutional neural network) precisely locates individual fruits amidst the complex visual field, its ripeness assessment ability even surpassing that of the human eye. Subtle color changes around the apple stem, or barely perceptible softening spots on a strawberry, cannot escape the algorithm's scrutiny. After determining ripeness, the robotic arm plans the optimal harvesting trajectory in three-dimensional space. Finally, the execution stage employs exquisite skill: a dexterous end effector, either like a pneumatic gripper or using a flexible biomimetic structure, gently grasps the fruit and, with precise rotational torque, separates it from the branch with the precision and lightness of a skilled pianist's fingertips.

[0030] In farms, apple-picking robots move slowly through the orchards, significantly improving efficiency compared to manual harvesting. In strawberry fields, robotic arms gently pick up the fruit with sophisticated end effectors, significantly reducing strawberry damage. Some pioneering orchards have begun introducing drones for aerial monitoring, combining them with underground sensor networks to collect soil and plant information. This data is then fed into the cloud, forming an intelligent brain for orchard management. This system can predict the optimal picking window based on fruit ripening models and direct robotic arms to execute tasks precisely. However, the road to intelligent harvesting is not smooth. Identifying and picking densely growing, hidden fruits like strawberries still presents numerous challenges; high costs remain a significant obstacle for small orchards; and a more profound challenge lies in the fact that robotic arms still cannot fully replicate the agility and judgment of human harvesters when facing complex terrain and plants with different growth postures. In vineyards, traditional growers have always believed that the warmth and experience of human hands give wine its soul. Today, however, sharp-eyed harvesting robots are silently moving among rows of grapevines. Using precise algorithms, they identify the ripening curve of each bunch of grapes and harvest them with the gentlest movements, avoiding damage to the berries and ruining their flavor. This heralds a new era in agriculture: harvesters no longer need to bend over and exhaust themselves under the scorching sun; the data flow and precise movements of the orchard have replaced the sweat and toil of the past.

[0031] The leap from primitive harvesting to intelligent machinery is not merely an iteration of tools, but represents a profound integration of data and algorithms into agricultural wisdom, moving beyond pure experience. The orchards of the future will be a symphony of robots, sensors, and intelligent algorithms, with humans becoming the designers, maintainers, and decision-makers. The reshaping of our farming methods will unfold quietly through the precise calculations of algorithms and the dexterous movements of robotic arms. Technology is making the process of fruit trees yielding fruit to humanity lighter and more efficient. When the touch of robotic arms replaces the warmth of the harvester's fingertips, a silent agricultural revolution has already been announced amidst the abundant harvest. It is not only a conquest of efficiency, but also a profound dialogue between human wisdom and algorithms and the fruit itself.

[0032] Please see Figures 1-5 This utility model provides an embodiment of an adjustable agricultural fruit harvesting device, including a mobile cart 1 and comb teeth 8. A collecting mechanism is provided on the top of the mobile cart 1, and an adjusting mechanism is also provided on the top of the mobile cart 1. A protective shell 4 is installed on the adjusting mechanism, and a material discharge pipe 5 is connected to the bottom of the protective shell 4. Two sets of positioning seats 6 are installed inside the protective shell 4, and a rotating shaft 7 is rotatably connected between each set of positioning seats 6. Multiple flexible comb teeth 8 are fixed to the outer sides of both rotating shafts 7. A second drive motor 9 is fixed inside the protective shell 4, and a first gear 10 is connected to the output end of the second drive motor 9. The second drive motor 9 drives the first gear 10 to rotate. A first transmission disc 11 is fixed to the rear end of the right rotating shaft 7. A first belt 12 is sleeved on the outer side of the first transmission disc 11 and the first gear 10. A second gear 13 is fixed to the rear side of the first gear 10. The second transmission disc 14 is rotatably connected to the rear side of the shell 4. A third gear 15 is fixed to the front side of the second transmission disc 14. The third gear 15 meshes with the second gear 13. A third transmission disc 16 is installed at the rear end of the left rotating shaft 7. A second belt 17 is sleeved on the outer side of the third transmission disc 16 and the second transmission disc 14. The first gear 10 is driven to rotate by the second drive motor 9. The first gear 10 drives the first transmission disc 11 to rotate through the first belt 12. At the same time, it drives the second gear 13, which meshes with it, to rotate. The second gear 13 drives the third gear 15 to rotate. The third gear 15 drives the second transmission disc 14 to rotate. The second transmission disc 14 is linked to the third transmission disc 16 through the second belt 17, so that the two rotating shafts 7 can rotate relative to each other. The rotating shaft 7 drives the flexible comb teeth 8 to rotate. The striking action of the comb teeth 8 is used to achieve efficient fruit removal and significantly improve work efficiency.

[0033] Please see Figure 1 and Figure 6In this embodiment, the collection mechanism includes a storage component and a lifting component. The storage component is used to collect the fruit, and the lifting component is used to drive the storage component to tilt the fruit. The storage component includes two fixed beams 21 mounted on the top of the mobile vehicle 1. Each fixed beam 21 is equipped with a hinge seat 22. A collection box 23 is rotatably connected to the fixed beams 21 via the hinge seat 22. By setting the collection box 23, the picked fruit will fall into the collection box 23 through the discharge pipe 5. The lifting component includes a first drive motor 24 fixed on the mobile vehicle 1. The output end of the first drive motor 24 is connected to a lead screw 25. The first drive motor 24 is used to drive the lead screw 25 to rotate. A threaded sleeve 26 is threadedly connected to the outer side of the lead screw 25. A rotatable sleeve 26 is rotatably connected to the collection box 23. A first connecting rod 27 is rotatably connected to a second connecting rod 28. A slide block 29 is slidably connected inside the groove of the second connecting rod 28. The slide block 29 is rotatably connected to a threaded sleeve 26. By setting a first drive motor 24, the lead screw 25 can be driven to rotate during operation. When the lead screw 25 rotates, it can drive the threaded sleeve 26, which is limited by the slide block 29, to move back and forth. When the threaded sleeve 26 moves, it drives the slide block 29 to slide inside the groove of the second connecting rod 28. With the cooperation of the rotatable connection with the first connecting rod 27 and the hinge connection of the hinge seat 22, the collection box 23 can be driven to rotate around the hinge seat 22, thereby realizing the dumping of the fruit inside the collection box 23. A push rod 18 is fixed to the rear side of the mobile vehicle 1. Two gripping rods 19 are fixed on the push rod 18.

[0034] Please see Figure 1 and Figure 5 In this embodiment, the adjustment mechanism includes a lifting component and a rotating component. The lifting component is used to adjust the height of the protective shell 4, and the rotating component is used to adjust the rotation angle of the protective shell 4. The lifting component includes a column 31 fixed to the top of the mobile vehicle 1. A telescopic rod 32 is installed on the top of the column 31. By setting the telescopic rod 32, the picking height can be adjusted. The rotating component includes a connector 33 installed on the top of the column 31. A connecting seat 34 is installed on the rear side of the protective shell 4. The connector 33 is rotatably connected to the connecting seat 34. A fastening bolt 35 is provided on the connecting seat 34. By setting the fastening bolt 35, when it is loosened, the limitation on the connector 33 can be released, so that the connector 33 can rotate around the connecting seat 34, thereby adjusting the picking angle. After the adjustment is completed, the fastening bolt 35 is tightened to limit the position.

[0035] During operation, the second drive motor 9 starts and drives the first gear 10 to rotate. The first gear 10 drives the first transmission disc 11 to rotate via the first belt 12, thereby driving the right rotating shaft 7 to rotate. At the same time, the first gear 10 drives the second gear 13 to rotate. The second gear 13 meshes with the third gear 15, causing the third gear 15 to rotate. The third gear 15 drives the second transmission disc 14 to rotate. The second transmission disc 14 drives the third transmission disc 16 to rotate via the second belt 17, thereby driving the left rotating shaft 7 to rotate. The relative rotation of the two rotating shafts 7 causes the flexible comb teeth 8 to rotate, knocking the fruit down. The knocked-down fruit falls into the collection box 23 through the discharge pipe 5. When it is necessary to dump the fruit, the first drive motor 24 starts and drives the lead screw 25 to rotate. The lead screw 25 drives the threaded sleeve 26 to move back and forth. The threaded sleeve 26 drives the slide 29 to slide in the groove of the second connecting rod 28. When the slide 29 moves, it is connected by the rotation of the second connecting rod 28 and the first connecting rod 27, and the hinge of the hinge seat 22 on the fixed beam 21, so that the collection box 23 rotates around the hinge seat 22 to dump the fruit. The height of the device is adjusted by the telescopic rod 32 at the top of the column 31. The picking angle is adjusted by loosening the fastening bolt 35 on the connecting seat 34 to rotate the connecting head 33 around the connecting seat 34 to adjust the angle of the protective shell 4, and then tightening the fastening bolt 35 to fix it.

[0036] Through the above steps, after the second drive motor 9 starts, it drives the first gear 10 to rotate. The first gear 10 drives the first transmission disk 11 to rotate synchronously through the first belt 12. At the same time, it drives the second gear 13 to rotate through meshing transmission. The second gear 13 and the third gear 15 form a rigid transmission pair, driving the second transmission disk 14 to rotate coaxially. The second transmission disk 14 transmits power to the third transmission disk 16 through the second belt 17, causing the two rotating shafts 7 to rotate relative to each other. The flexible comb teeth 8 installed on the rotating shafts 7 form a reciprocating oscillation under the action of relative rotation, realizing effective striking of the fruit. Its multi-stage transmission structure ensures the reliability of power transmission and the high efficiency of harvesting operations, thereby solving the problem that existing agricultural fruit harvesting devices usually rely on robotic arms to harvest fruits, and can only harvest one fruit at a time, resulting in low efficiency.

Claims

1. An adjustable agricultural fruit picking device comprising a mobile vehicle (1); characterized in that: It also includes comb teeth (8), a collection mechanism is provided on the top of the mobile vehicle (1), an adjustment mechanism is also provided on the top of the mobile vehicle (1), a protective shell (4) is installed on the adjustment mechanism, a material drop pipe (5) is connected to the bottom of the protective shell (4), two sets of positioning seats (6) are installed inside the protective shell (4), a rotating shaft (7) is rotatably connected between each set of positioning seats (6), multiple flexible comb teeth (8) are fixed on the outer side of the two rotating shafts (7), a second drive motor (9) is fixed inside the protective shell (4), the output end of the second drive motor (9) is connected to the first gear (10), and the second drive motor (9) is used to drive the first gear (10). 0) Rotate, the rear end of the right shaft (7) is fixed with a first transmission disc (11), the first transmission disc (11) and the outer side of the first gear (10) are fitted with a first belt (12), the rear side of the first gear (10) is fixed with a second gear (13), the rear side of the inner side of the protective shell (4) is rotatably connected with a second transmission disc (14), the front side of the second transmission disc (14) is fixed with a third gear (15), the third gear (15) meshes with the second gear (13), the rear end of the left shaft (7) is installed with a third transmission disc (16), the outer side of the third transmission disc (16) and the second transmission disc (14) are fitted with a second belt (17).

2. The adjustable agricultural fruit picking device of claim 1, wherein: The collection mechanism includes a storage component and a lifting component. The storage component is used to collect the fruit, and the lifting component is used to drive the storage component to tilt the fruit.

3. The adjustable agricultural fruit picking device of claim 2, wherein: The storage assembly includes two fixed beams (21) mounted on the top of the mobile vehicle (1), each fixed beam (21) is equipped with a hinge seat (22), and a collection box (23) is rotatably connected to the fixed beams (21) via the hinge seat (22).

4. The adjustable agricultural fruit picking device of claim 3, wherein: The lifting assembly includes a first drive motor (24) fixed on the mobile vehicle (1), the output end of the first drive motor (24) is connected to a lead screw (25), the first drive motor (24) is used to drive the lead screw (25) to rotate, the outer side of the lead screw (25) is threadedly connected to a threaded sleeve (26), the collection box (23) is rotatably connected to a first connecting rod (27), the first connecting rod (27) is rotatably connected to a second connecting rod (28), the slot of the second connecting rod (28) is slidably connected to a slide block (29), and the slide block (29) is rotatably connected to the threaded sleeve (26).

5. The adjustable agricultural fruit picking device of claim 1, wherein: The adjustment mechanism includes a lifting component and a rotating component. The lifting component is used to adjust the height of the protective shell (4), and the rotating component is used to adjust the rotation angle of the protective shell (4).

6. The adjustable agricultural fruit harvesting device according to claim 5, characterized in that: The lifting unit includes a column (31) fixed to the top of the mobile vehicle (1), and a telescopic rod (32) is installed on the top of the column (31).

7. The adjustable agricultural fruit picking device of claim 6, wherein: The rotating assembly includes a connector (33) mounted on the top of the column (31), a connecting seat (34) mounted on the rear side of the protective shell (4), the connector (33) and the connecting seat (34) being rotatably connected, and a fastening bolt (35) being provided on the connecting seat (34).

8. The adjustable agricultural fruit picking device of claim 1, wherein: A push rod (18) is fixed to the rear side of the mobile vehicle (1), and two gripping rods (19) are fixed on the push rod (18).

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