A fruit picking device

Abstract

The utility model belongs to picking device technical field, concretely relates to a fruit picking device, including picking subassembly, leans on the component, side swing subassembly and side tilt subassembly, picking subassembly includes the arc track of embracing the trunk and the cutting mechanism reciprocating motion along the arc track, side swing subassembly is used for driving picking subassembly swing around Z axis to make the movement track of cutting mechanism cover the trunk circumference, side tilt subassembly is used for driving cutting mechanism swing around Y axis to make the extension direction of arc track match with the fruit growth track to realize continuous cutting, the utility model drives the arc track left tilt or right tilt with fruit growth track match by side tilt subassembly, then the arc track embraces the trunk to provide stable support for cutting mechanism, cutting mechanism removes the fruit continuously in the process along the arc track, greatly improves picking efficiency, and utilizes side swing mechanism to make cutting mechanism swing along the trunk circumference, covers the trunk circumference to realize the comprehensive picking of fruit.

Description

Technical Field

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

[0002] In fruit tree cultivation, especially for species like palm trees where the fruit mainly grows high on the trunk, fruit harvesting has long been a challenging task. The fruit distribution of these trees exhibits significant spatial characteristics: they typically grow high above the ground, and their distribution often follows a spiral pattern, extending upwards along the trunk in a left- or right-hand direction. This unique spatial distribution pattern presents multiple difficulties for harvesting operations. Traditionally, harvesting mainly relies on manual labor. People use long-handled knives to cut down the fruits from high places. The long-handled knives themselves have a certain weight, and force needs to be applied to cut down the fruits, making manual operation difficult, extremely laborious, and inefficient. In addition, a small number of fruits that grow too high and are outside the reach of the long-handled knives cannot be harvested, resulting in waste of resources. Furthermore, manually harvested fruits are prone to falling from heights, causing the fruits to scatter, break, and injure people. To address the challenges of manual harvesting, automated harvesting equipment employing robotic arms, end effectors such as pneumatic grippers, and vision systems has emerged. However, the workflow of existing automated equipment typically involves: the vision system identifying a single target fruit; the robotic arm driving the end effector gripper through complex three-dimensional spatial movements to precisely position it next to the fruit; the end effector opening; adjusting its posture to allow the fruit to enter the gripper; the end effector closing to firmly grasp the fruit; performing a separation action (twisting / pulling); and releasing the fruit to a collection device. Harvesting each fruit requires a complete repetition of this time-consuming series of actions: positioning, opening, adjusting, closing, separating, and releasing. Because the robotic arm movement, vision positioning adjustment, and gripper opening and closing all require time, and multiple fruits cannot be processed simultaneously, the overall harvesting efficiency remains low, failing to meet the economic harvesting needs of large-scale orchards. Utility Model Content

[0003] The technical problem to be solved by this utility model is: in order to solve the problem that the manual picking of fruits in the existing technology is extremely labor-intensive and has significant falling safety hazards, and that the picking equipment needs to perform visual positioning of each fruit and use a robotic arm to perform complex three-dimensional movements to reach the fruit position for picking, resulting in low overall picking efficiency, a fruit picking device is now provided.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a fruit picking device, which includes: The harvesting assembly includes an arc-shaped track that encircles the tree trunk and a cutting mechanism that reciprocates along the arc-shaped track; The tilting component is used to drive the picking component to swing around the X-axis to achieve the upward or downward tilting of the cutting mechanism; A side-swing component is used to drive the picking component to swing around the Z-axis so that the motion trajectory of the cutting mechanism covers the circumference of the tree trunk; And a tilting component, used to drive the cutting mechanism to swing around the Y-axis so that the extension direction of the arc track matches the fruit growth trajectory to achieve continuous cutting.

[0005] Furthermore, the harvesting assembly also includes a positioning mechanism that reciprocates along the arc-shaped track to insert the fruit and fix the fruit supported by the leaves when cutting the leaves.

[0006] Furthermore, the positioning mechanism includes a first linear reciprocating drive mechanism and a plug rod connected to the output end of the first linear reciprocating drive mechanism.

[0007] Furthermore, the harvesting assembly also includes a base for mounting the positioning mechanism and the cutting mechanism, a translation drive mechanism for driving the base to reciprocate along an arc track, and a correction mechanism located between the positioning mechanism and the base for allowing the insertion rod and the fruit it is fixed to have a floating gap when cutting the fruit.

[0008] Furthermore, the correction mechanism includes two limiting arms extending from the base, a protrusion on the 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.

[0009] Furthermore, the cutting mechanism includes a second linear reciprocating drive mechanism and a saw blade connected to the output end of the second linear reciprocating drive mechanism to approach or move away from the fruit. The saw blade is inclined upward in a direction that gradually approaches the fruit to form an inclined cutting surface during cutting.

[0010] Furthermore, the correction mechanism also includes a waist-shaped groove formed on the base and a limiting rod fixed to the 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 positioning mechanism, a pressure cap covering the rotating shaft, and fasteners for fixing the pressure cap to the rotating shaft, wherein the rotating shaft is located between the limiting rod and the floating elastic element.

[0012] Furthermore, the arc-shaped track protrudes to form a plurality of abutment protrusions for abutting against the tree trunk to fix itself to the tree trunk.

[0013] Furthermore, the harvesting device also includes a support assembly, which includes an adapter seat detachably connected to the tilting assembly and a support leg detachably mounted on the bottom of the adapter seat, the support leg having a lifting hole.

[0014] The beneficial effects of this utility model are as follows: This utility model uses a tilting component to drive the arc-shaped track to tilt left or right to match the growth trajectory of the fruit. Then, the arc-shaped track hugs the trunk to provide stable support for the cutting mechanism. As the cutting mechanism moves along the arc-shaped track, it continuously cuts off the fruit, which greatly improves the harvesting efficiency. Furthermore, the side-swing mechanism allows the cutting mechanism to swing around the trunk circumference, covering the trunk circumference to achieve full harvesting of the fruit.

[0015] 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

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is the front view of this utility model; Figure 3 This is a top view of the present invention; Figure 4 This is a front view of the combination of the tilting component and the swaying component in this utility model; Figure 5 This is a three-dimensional schematic diagram of the combination of the picking component and the tilting component in this utility model; Figure 6 This is a three-dimensional schematic diagram from a first-person perspective of the combination of the arc-shaped track and the cutting mechanism in this utility model. Figure 7 This is a three-dimensional schematic diagram of the combination of the arc track and the cutting mechanism in this utility model from a second perspective; Figure 8 This is a top view of the combination of the arc-shaped track and the cutting mechanism in this utility model; Figure 9 This is a front view of the combination of the arc-shaped track and the cutting mechanism in this utility model; Figure 10 This is a three-dimensional schematic diagram of the combination of the positioning mechanism and the cutting mechanism in this utility model; Figure 11 This is a three-dimensional schematic diagram of the positioning mechanism in this utility model; Figure 12 This is a top view of the positioning mechanism in this utility model; Figure 13 yes Figure 12 A cross-sectional view along the AA direction; Figure 14 yes Figure 12 Cross-sectional view along the BB direction; Figure 15 This is a three-dimensional schematic diagram of the cutting mechanism; Figure 16 This is an overall structural diagram of the present invention.

[0018] In the picture: 1. Harvesting component; 101. Arc-shaped track; 1011. Abutment protrusion; 1012. Protective part; 1013. Hanging hole; 102. Cutting mechanism; 1021. Second linear reciprocating drive mechanism; 1022. Saw blade; 1023. Pad; 1024. Blade holder; 1025. Blade post; 1026. Slide rail; 1027. Slider; 1028. Hydraulic motor; 103. Positioning mechanism; 1031. First linear reciprocating drive mechanism; 1032. Insert rod; 1033. Output shaft; 1034. Guide block; 035. Fixing block; 104. Base; 1041. Bottom plate; 1042. Top plate; 1043. Vertical plate; 1044. Roller; 105. Translation drive mechanism; 1051. Third rotational power source; 1052. Drive gear; 1053. Arc rack; 106. Correction mechanism; 1061. Limiting arm; 1062. Protrusion; 1063. Through rod; 1064. Floating elastic element; 1065. Waist-shaped groove; 1066. Limiting rod; 1067. Rotating shaft; 1068. Pressure cap; 1069. Fastener; 2. Tilting assembly; 201. Tilting base; 202. Four-bar linkage; 203. Third linear reciprocating drive mechanism; 3. Side-swing assembly; 301. Side-swing base; 302. First rotational power source; 4. Tilt assembly; 401. Tilt seat; 402. Second rotational power source; 403. Drive gear; 404. Driven gear; 405. Upper stiffener; 406. Lower stiffener; 5. Support components; 501. Adapter; 502. Support leg; 5021. Lifting hole; 6. Telescopic boom; 7. Engineering vehicles. Detailed Implementation

[0019] 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.

[0020] like Figure 1-16 As shown, a fruit picking device includes a picking component 1, a tilting component 2, a lateral swinging component 3, and a lateral tilting component 4. The harvesting component 1 includes an arc-shaped track 101 that encircles the tree trunk and a cutting mechanism 102 that reciprocates along the arc-shaped track 101. The cutting mechanism 102 can cut off the fruit located on its movement trajectory as it moves along the arc-shaped track 101. The arc-shaped track 101 has an arc-shaped concave surface, which is used to hug the tree trunk, increase the friction between the picking device and the tree trunk, and thus improve the stability of the entire picking device during the picking process. The arc track 101 is provided with limiting structures (not shown in the figure) at both ends for limiting the travel of the cutting mechanism 102. When the cutting mechanism 102 moves to the end of the arc track 101, the limiting structures can block the cutting mechanism 102 to prevent it from falling out of the arc track 101. Preferably, the bottom of the cutting mechanism 102 is provided with a plurality of rollers 1044 that cooperate with the arc-shaped track 101. The cooperation between the track and the rollers 1044 can provide guidance for the movement of the cutting mechanism 102. There are two arc-shaped tracks 101 to form a double slide rail structure. Correspondingly, there are also two sets of rollers 1044, which correspond one-to-one with the two arc-shaped tracks 101. Each set of rollers 1044 rolls in its corresponding arc-shaped track 101. The double slide rail structure can improve the connection strength between the cutting mechanism 102 and the arc-shaped track 101 and avoid the two from separating unexpectedly. Furthermore, the concave surface of the arc-shaped track 101 protrudes to form a protective part 1012. The protective part 1012 protrudes slightly from the rollers 1044 on the concave side to avoid the rollers 1044 interfering with the tree trunk during the rolling process and causing them to stop. At the same time, it also provides a reference point for the movement of the saw blade 1022 and prevents the saw blade 1022 from advancing too far and damaging the tree trunk.

[0021] The tilting component 2 is used to drive the picking component 1 to swing around the X-axis so that the upward tilting range of the cutting mechanism 102 is approximately 40° or the downward tilting range is approximately 10°, which can reach different heights to cut fruits of different heights, and can also make the cutting mechanism 102 cut at different tilting angles. The tilting component 2 includes a tilting seat 201, a four-bar linkage 202 hinged to the tilting seat 201, and a third linear reciprocating drive mechanism 203 for applying pressure to the four-bar linkage 202. The third linear reciprocating drive mechanism 203 can be, but is not limited to, a cylinder or a telescopic rod, etc. In order to avoid interference, the four-bar linkage 202 can be partially designed as an arc structure.

[0022] The side-swing assembly 3 is used to drive the picking assembly 1 to swing around the Z-axis, which is the direction of the trunk extension, so that the movement trajectory of the picking assembly 1 covers the circumference of the trunk to pick fruits located in different positions on the trunk. It includes a side-swing seat 301 connected to the four-bar linkage 202 and a first rotational power source 302 installed on the side-swing seat 301. The first rotational power source 302 can be, but is not limited to, a rotary cylinder or a rotary hydraulic cylinder.

[0023] The tilting component 4 is used to drive the cutting mechanism 102 to swing around the Y-axis so that the extension direction of the arc track 101 matches the fruit growth trajectory to achieve continuous cutting. Under the action of the tilting component 4, the arc track 101 can form an inclined structure with one end higher and the other lower, which can be tilted to the left or right to match the left or right rotation of the fruit distribution trajectory. The cutting mechanism 102, which is slidably set on the arc track 101, can continuously cut along the arc track 101.

[0024] The tilting assembly 4 includes a tilting seat 401, a second rotary power source 402 mounted on the tilting seat 401, a drive gear 403 connected to the output end of the second rotary power source 402, and a driven gear 404 connected to the arc-shaped track 101 and meshing with the drive gear 403. The tilting seat 401 is connected to the output end of the first rotary power source 302. The second rotary power source 402 can be an electric motor or a hydraulic motor, preferably a hydraulic motor. When the hydraulic motor is started, it drives the drive gear 403 to rotate. The drive gear 403 meshes with the driven gear 404, which in turn drives the driven gear 404 and the arc-shaped track 101 connected to it to rotate.

[0025] A platform extends from the middle of the arc-shaped track 101. The platform is fixed to the tilting seat 401 of the tilting component 4, and an upper stiffener 405 and a lower stiffener 406 are connected between the two. That is, the connection point between the tilting component 4 and the arc-shaped track 101 is located in the middle of the arc-shaped track 101, thereby improving the stability of the swing of the arc-shaped track 101.

[0026] During operation, the engineering vehicle 7 first drives the telescopic arm 6 (which is extendable and can be raised and lowered) to transport the device to the position of the fruit to be picked. Then, the third linear reciprocating drive mechanism 203 of the tilting component 2 applies pressure to the linkage mechanism, causing the saw blade 1022 to tilt up or down. The first rotational power source 302 of the side-swing component 3 drives the saw blade 1022 to swing around the trunk to the position of the fruit. The second rotational power source 402 of the side-swing component 4 is activated, driving the drive gear 403 to rotate. The drive gear 403 meshes with the driven gear 404, driving the driven gear 404 and the arc-shaped track 101 connected to it to rotate, so that the tilting direction and tilting angle of the arc-shaped track 101 match the distribution trajectory of the fruit. Then, the tilted arc-shaped track 101 hugs the trunk, and the cutting mechanism 102 moves along the arc. The curved track 101 moves to continuously cut the fruit located on the extended trajectory of the curved track 101. When the fruit on one side of the trunk is harvested, the side-swing component 3 is activated to rotate the curved track 101 to the other side of the trunk and repeat the above process. The cut fruit falls into the collection container hung on the hanging hole 1013. In this embodiment, the side-tilting component 4 drives the curved track 101 to tilt left or right to match the growth trajectory of the fruit. Then, the curved track 101 hugs the trunk to provide stable support for the cutting mechanism 102. The cutting mechanism 102 continuously cuts the fruit as it moves along the curved track 101, which greatly improves the harvesting efficiency. In addition, the side-swing mechanism can make the cutting mechanism 102 swing around the trunk circumference to cover the trunk circumference and achieve full harvesting of the fruit.

[0027] In some examples, the picking component 1 also includes a positioning mechanism 103 that reciprocates along the arc-shaped track 101 to insert the fruit and fix the fruit supported by the leaves when cutting the leaves. The insertion depth does not need to be too deep, only to achieve a preliminary fixing effect, generally less than half the diameter of the fruit. Some fruits, such as palm fruits, are generally covered with upper and lower leaves. The "covering" here is not a complete wrapping. Part of the fruit is still exposed under the wrapping of the upper and lower leaves. The lower leaves provide support for the fruit. When picking this fruit, the leaves need to be cut before the fruit can be cut. After the leaves supporting the fruit are cut off, the palm fruit will hang directly, which may cause it to hit the cutting blade and damage it. Therefore, in this embodiment, the fixing mechanism is used to fix the fruit during the cutting of the leaves by the picking component 1, maintaining its original posture, thereby avoiding damage to the cutting mechanism 102 during the cutting process.

[0028] In some examples, the positioning mechanism 103 includes a first linear reciprocating drive mechanism 1031 and an insertion rod 1032 connected to the output end of the first linear reciprocating drive mechanism 1031. The insertion rod 1032 includes a rod body and a pointed cone at the end of the rod body. The pointed cone makes it easier for the insertion rod 1032 to be inserted into the fruit. The first linear reciprocating drive mechanism 1031 may be, but is not limited to, a cylinder, a telescopic rod, etc. The insertion rod 1032 can extend or retract under the action of the first linear reciprocating drive mechanism 1031 to insert or remove the fruit. Preferably, the output end of the first linear reciprocating drive mechanism 1031 is connected to an output shaft 1033. The axis of the output shaft 1033 is parallel to the axis of the insertion rod 1032, and the output shaft 1033 and the end of the insertion rod 1032 away from the fruit are fixed by a fixing block 1035. That is, the insertion rod 1032 and the output shaft 1033 are not coaxially arranged. Therefore, when the insertion rod 1032 is inserted into the fruit, the force between the two is almost entirely applied to the insertion rod 1032. Compared with direct drive through the first linear reciprocating drive mechanism 1031, this embodiment has less impact on the first linear reciprocating drive mechanism 1031 and can improve the service life of the first linear reciprocating drive mechanism 1031.

[0029] Preferably, the positioning mechanism 103 further includes a plurality of guide blocks 1034 spaced apart along the axial direction of the insertion rod 1032 for the insertion rod 1032 to pass through and guide the insertion rod 1032. A linear bearing is provided between the guide block 1034 and the insertion rod 1032 to ensure the linear movement of the insertion rod 1032. The number of guide blocks 1034 can be one or more. When there are multiple guide blocks 1034, the multiple guide blocks 1034 are fixed by a connecting plate. In some examples, the harvesting assembly 1 further includes a base 104 for mounting the positioning mechanism 103 and the cutting mechanism 102, a translation drive mechanism 105 for driving the base 104 to reciprocate along the arc track 101, and a correction mechanism 106 located between the positioning mechanism 103 and the base 104 for allowing the insertion rod 1032 and the fruit it is fixed to to have a floating gap when cutting the fruit. The positioning mechanism 103 is located above the cutting mechanism 102 and is used to insert the part of the fruit that exposes the leaves. The base 104 includes a base plate 1041, a top plate 1042 spaced apart from the base plate 1041, and two vertical plates 1043 supported between the base plate 1041 and the top plate 1042. A cavity is formed between the base plate 1041, the top plate 1042, and the two vertical plates 1043. The insertion rod 1032 and the saw blade 1022 can extend or retract into the cavity. The positioning mechanism 103 is installed on the top plate 1042, and the cutting mechanism 102 is installed on the base plate 1041. The top plate 1042 extends to form an extension for inserting between the two limiting arms 1061 to fix the two limiting arms 1061, which is equivalent to setting a stiffening plate between the two limiting arms 1061, thereby improving the connection strength between the limiting arms 1061 and the top plate 1042.

[0030] The translation drive mechanism 105 includes a third rotary power source 1051 mounted on the base 104, a drive gear 1052 connected to the output end of the third rotary power source 1051, and an arc-shaped rack 1053 (tooth shape not shown in the figure) fixed on the arc-shaped track 101 and meshing with the drive gear 1052. The third rotary power source 1051 can be an electric motor or a hydraulic motor, preferably a hydraulic motor. When the hydraulic motor is started, it drives the drive gear 1052 to rotate. The drive gear 1052 meshes with the arc-shaped rack 1053, thereby driving the base 104 and the cutting mechanism 102 and the positioning mechanism 103 on it to reciprocate along the arc-shaped track 101. The fruit leaves and the fruit are connected by a stalk, or "stem". Cutting the fruit means cutting the stalk. When cutting the fruit leaves or the stalk, the stalk will shake, and the fruit connected to the stalk will also tend to shake. If the stick 1032 completely fixes the fruit, the fruit will be subjected to the forces of the stalk and the stick 1032. The stalk exerts a force that moves the fruit, while the stick 1032 exerts a force that prevents the fruit from moving, which may damage the fruit or even cause the fruit to loosen.

[0031] In some examples, the correction mechanism 106 includes two limiting arms 1061 extending from the base 104, a protrusion 1062 protruding from the positioning mechanism 103 and located between the two limiting arms 1061, a through rod 1063 passing through the limiting arms 1061 and the protrusion 1062, and a floating elastic element 1064 sleeved on the through rod 1063 and located between the limiting arms 1061 and the protrusion 1062. The through rod 1063 can be a screw, and the nut and screw cap on the screw clamp the two limiting arms 1061 between them. The floating elastic element 1064 can be a spring, and there are two of them. Each floating elastic element 1064 abuts against the protrusion 1062 at one end and against the limiting arm 1061 at the other end. The insertion rod 1032 has a certain floating gap under the action of the two symmetrically arranged floating elastic elements 1064, which can produce a certain degree of shaking.

[0032] In some examples, the cutting mechanism 102 includes a second linear reciprocating drive mechanism 1021 and a saw blade 1022 connected to the output end of the second linear reciprocating drive mechanism 1021 to approach or move away from the fruit. The saw blade 1022 is inclined upward in a direction that gradually approaches the fruit to form 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 tilting component 4 is not activated, the arc track 101 is in a horizontal state and the cutting surface is tilted in one direction. When the tilting component 4 is activated, the arc track 101 itself is in a tilted state and the cutting surface can tilt in two directions at the same time. The second linear reciprocating drive mechanism 1021 can be, but is not limited to, a cylinder, an electric cylinder, a telescopic rod, or a linear module. The saw blade 1022 can extend under the action of the second linear reciprocating drive mechanism 1021 to cut the fruit or leaves. The translation drive mechanism 105 drives the saw blade 201 to move near the fruit. The second linear reciprocating drive mechanism 1021 drives the saw blade 1022 to approach the fruit and cut off the fruit stem, thereby achieving precise cutting of a single fruit. The saw blade 1022 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 1028.

[0033] The cutting mechanism 102 further includes a blade holder 1024, a blade support 1025 for mounting the saw blade 1022, a slide rail 1026 disposed at the bottom of the blade support 1025, and a slider 1027 fixed on the blade holder 1024 and cooperating with the slide rail 1026. The blade holder 1024 is fixed above the translation seat and extends in the direction away from the fruit, forming a gradually downward inclined portion. A second linear reciprocating drive mechanism 1021 is mounted on the inclined portion to provide an inclination angle for the saw blade 1022. A pad 102 is provided between the saw blade 1022 and the blade support 1025. 3. The three are fixed and connected to the output end of the second linear reciprocating drive mechanism 1021. The slide rail 1026 and the slider 1027 cooperate to provide guidance for the movement of the saw blade 1022. In this embodiment, two slide rails 1026 are provided. Correspondingly, two sets of sliders 1027 are also provided. The two slide rails 1026 and the two sets of sliders 1027 correspond one-to-one, and each slider 1027 slides on its corresponding slide rail 1026. The cross-sectional area of ​​the pad block 1023 gradually decreases along the direction closer to the fruit to avoid interfering with the cutting action of the saw blade 1022.

[0034] In some examples, the correction mechanism 106 further includes a waist-shaped groove 1065 formed on the base 104 and a limiting rod 1066 fixed to the positioning mechanism 103 and slidably disposed in the waist-shaped groove 1065 to limit the floating gap. The limiting rod 1066 may be a screw that passes through the waist-shaped groove 1065 and is fixed to the positioning mechanism 103. The nut abuts against the base 104 and a gasket is installed between them. The length of the waist-shaped groove 1065 determines the stroke of the limiting rod 1066, thereby determining the floating gap of the insertion rod 1032.

[0035] In some examples, the correction mechanism 106 further includes a rotating shaft 1067 passing through the base 104 and fixed to the positioning mechanism 103, a pressure cap 1068 covering the rotating shaft 1067, and a fastener 1069 for fixing the pressure cap 1068 to the rotating shaft 1067, wherein the rotating shaft 1067 is located between the limiting rod 1066 and the floating elastic member 1064; Fastener 1069 can be a bolt. A retaining ring is formed on the outer edge of the pressure cap 1068 extending radially. A rolling bearing is installed between the retaining ring and the rotating shaft 1067. The rotating shaft 1067 is located between the limiting rod 1066 and the floating elastic element 1064, which is equivalent to the swing center of the insertion rod 1032. The insertion rod 1032 swings around the rotating shaft 1067. The combination of the waist-shaped groove 1065 at both ends of the insertion rod 1032 and the limiting rod 1066, as well as the combination of the limiting arm 1061, the protrusion 1062 and the floating elastic element 1064, can limit the swing of the insertion rod 1032 and the fruit on it.

[0036] In some examples, the arc-shaped track 101 protrudes to form a plurality of abutting protrusions 1011 for abutting against the tree trunk to fix itself to the tree trunk. These protrusions are used to increase the friction between the arc-shaped track 101 and the tree trunk when the arc-shaped track 101 swings, thereby fixing the arc-shaped track 101. This reduces mechanical vibration when the cutting mechanism 102 is performing cutting work, thereby reducing cutting deviation and improving cutting stability. The shape of the abutting protrusions 1011 can be, but is not limited to, various structures such as cones, pyramids, combinations of cylinders and cones, or combinations of prisms and pyramids. They only need to have a pointed tip that abuts against the tree trunk. The number of abutting protrusions 1011 can be, but is not limited to, one, two or three, and can be located at any position on the arc track 101. Preferably, the abutting protrusions 1011 are distributed at both ends of the arc track 101, and each end has several protrusions. The abutting protrusions 1011 are integrally formed with the arc track 101 or fixed by bolts.

[0037] In some examples, a support assembly 5 is also included, which includes an adapter 501 detachably connected to the tilting assembly 2 and a support leg 502 detachably mounted on the bottom of the adapter 501. The adapter 501 is welded to the telescopic arm 6. When the device is placed on the ground, the support leg 502 can provide a certain support force.

[0038] The support leg 502 has a lifting hole 5021. The crane can lift the picking device to a predetermined position through the lifting hole 5021, or suspend collection bags, collection boxes, etc. through the lifting hole. At the same time, the arc-shaped track 101 has multiple hanging holes 1013 for hanging fruit collection containers. The multiple hanging holes 1013 are spaced apart along the extension direction of the arc-shaped track 101. 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 within the operating height of the picking device.

[0039] One end of the adapter 501 is detachably connected to the tilt seat 201. The specific structure is as follows: the adapter 501 has a first hinge hole, the tilt seat 201 has a second hinge hole, the pin passes through the first hinge hole and the second hinge hole and then the pin is limited in the circumferential and axial directions by the limiting plate, and finally the adapter 501 and the tilt seat 201 are fixed by bolts.

[0040] The other end of the adapter 501 is detachably connected to the support leg 502. The specific structure can be as follows: the pin passes through the adapter 501 and the support leg 502 and is limited in the axial and circumferential directions by the limiting plate fixed on the adapter 501. The number of pins is at least two.

[0041] Working principle: (1) Cutting fruits such as durian that are not covered by leaves: During operation, the engineering vehicle 7 first drives the telescopic arm 6 to transport the device to the position of the fruit to be picked. Then, the third linear reciprocating drive mechanism 203 of the tilting component 2 applies pressure to the linkage mechanism to drive the saw blade 1022 to tilt up or down. The first rotational power source 302 of the side swing component 3 drives the saw blade 1022 to swing around the trunk to the position of the fruit. The second rotational power source 402 of the side swing component 4 starts, driving the drive gear 403 to rotate. The drive gear 403 meshes with the driven gear 404 to drive the driven gear 404 and its connection. The arc track 101 rotates, so that the tilt direction and tilt angle of the arc track 101 match the fruit distribution trajectory. Then, the tilted arc track 101 hugs the tree trunk. The third rotation power source 1051 starts and drives the saw blade 1022 to move from one end of the arc track 101 to the other end to continuously cut the fruit located on the extended trajectory of the arc track 101. When the fruit on one side of the tree trunk is harvested, the side swing component 3 starts to rotate the arc track 101 to the other side of the tree trunk and repeat the above process. The cut fruit falls into the collection container hung on the hanging hole 1013. (2) When cutting palm fruits and other fruits wrapped in leaves: During operation, the engineering vehicle first drives the telescopic arm 6 to transport the device to the position of the fruit to be picked. Then, the third linear reciprocating drive mechanism 203 of the tilting component 2 applies pressure to the linkage mechanism to drive the saw blade 1022 to tilt up or down. The first rotational power source 302 of the side swing component 3 drives the saw blade 1022 to swing around the trunk to the position of the fruit. The second rotational power source 402 of the side swing component 4 starts, driving the drive gear 403 to rotate. The drive gear 403 meshes with the driven gear 404, driving the driven gear 404 and the arc track 101 connected to it to rotate. The movement causes the tilt direction and tilt angle of the arc track 101 to match the distribution trajectory of the fruit. Then, the tilted arc track 101 hugs the tree trunk, and the insertion rod 1032 is inserted into the fruit under the action of the first linear reciprocating drive mechanism 1031. Then, the saw blade 1022 extends under the action of the second linear reciprocating drive mechanism 1021 to cut off the fruit leaves and fruit in sequence. After the fruit in the extension direction of the arc track 101 is cut off, the side swing component 3 is activated to rotate the arc track 101 to the other side of the tree trunk and repeat the above process. The cut fruit falls into the collection container hung on the hanging hole 1013.

[0042] 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-harvesting device, characterized in that: include: The harvesting assembly (1) includes an arc-shaped track (101) that encircles the tree trunk and a cutting mechanism (102) that reciprocates along the arc-shaped track (101). The tilting component (2) is used to drive the picking component (1) to swing around the X-axis to achieve the upward or downward tilting of the cutting mechanism (102); The side-swing component (3) is used to drive the picking component (1) to swing around the Z-axis so that the movement trajectory of the cutting mechanism (102) covers the circumference of the tree trunk; And a tilting component (4) is used to drive the picking component (1) to swing around the Y-axis so that the extension direction of the arc track (101) matches the fruit growth trajectory to achieve continuous cutting.

2. The fruit picking device according to claim 1, characterized in that: The picking assembly (1) also includes a positioning mechanism (103) that reciprocates along the arc track (101) to insert the fruit and fix the fruit held by the leaves when cutting the leaves.

3. The fruit picking device according to claim 2, characterized in that: The positioning mechanism (103) includes a first linear reciprocating drive mechanism (1031) and a plug rod (1032) connected to the output end of the first linear reciprocating drive mechanism (1031).

4. A fruit picking device according to claim 3, characterized in that: The harvesting assembly (1) also includes a base (104) for mounting the positioning mechanism (103) and the cutting mechanism (102), a translation drive mechanism (105) for driving the base (104) to reciprocate along the arc track (101), and a correction mechanism (106) located between the positioning mechanism (103) and the base (104) for allowing the insertion rod (1032) and the fruit it is fixed to have a floating gap when cutting the fruit.

5. A fruit picking device according to claim 4, characterized in that: The correction mechanism (106) includes two limiting arms (1061) extending from the base (104), a protrusion (1062) protruding from the positioning mechanism (103) and located between the two limiting arms (1061), a through rod (1063) passing through the limiting arms (1061) and the protrusion (1062), and a floating elastic element (1064) sleeved on the through rod (1063) and located between the limiting arms (1061) and the protrusion (1062).

6. A fruit picking device according to claim 1, characterized in that: The cutting mechanism (102) includes a second linear reciprocating drive mechanism (1021) and a saw (1022) connected to the output end of the second linear reciprocating drive mechanism (1021) to approach or move away from the fruit. The saw (1022) is inclined upward in a direction that gradually approaches the fruit to form an inclined cutting surface during cutting.

7. A fruit picking device according to claim 5, characterized in that: The correction mechanism (106) further includes a waist-shaped groove (1065) formed on the base (104) and a limiting rod (1066) fixed to the positioning mechanism (103) and slidably disposed in the waist-shaped groove (1065) to limit the floating gap.

8. A fruit picking device according to claim 5, characterized in that: The correction mechanism (106) further includes a rotating shaft (1067) passing through the base (104) and fixed to the positioning mechanism (103), a pressure cap (1068) covering the rotating shaft (1067), and a fastener (1069) for fixing the pressure cap (1068) to the rotating shaft (1067), the rotating shaft (1067) being located between the limiting rod (1066) and the floating elastic element (1064).

9. A fruit picking device according to claim 1, characterized in that: The arc-shaped track (101) protrudes to form a plurality of abutment protrusions (1011) for abutting against the tree trunk to fix itself to the tree trunk.

10. A fruit harvesting device according to claim 1, characterized in that: The harvesting device also includes a support assembly (5), which includes a transition seat (501) detachably connected to the tilting assembly (2) and a support leg (502) detachably installed at the bottom of the transition seat (501), the support leg (502) having a hoisting hole (5021).

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