A mobile fruit picking device

Abstract

This utility model relates to the field of fruit picking technology, and in particular to a mobile fruit picking device, including a picking frame, a horizontal picking mechanism at the top of the picking frame, a moving mechanism at the bottom of the picking frame, a fixed plate fixedly connected to one side of the bottom of the picking frame, an autonomous picking mechanism at the top of the fixed plate, and a moving seat inserted through the outside of a guide rod. When picking fruit, fruit at a specified height is picked. Two first drive motors drive the first lead screw, causing the moving seat on the guide rod to slide back and forth, adjusting the distance between the moving seat and the fruit. The rotation of the second drive motor drives the second lead screw to rotate, causing the sliding seat on the slide rail to slide left and right. After the sliding seat slides to the specified picking position, the extension and retraction of the electric hydraulic cylinder drives the electric gripper to pick the fruit.

Description

Technical Field

[0001] This utility model relates to the field of fruit picking technology, specifically a mobile fruit picking device. Background Technology

[0002] Fruit harvesting is a crucial part of agricultural production. Traditional manual harvesting methods are inefficient, labor-intensive, costly, and pose safety hazards, especially when harvesting from heights, where accidents are prone to occur. With the development of agricultural modernization, mechanized and automated harvesting equipment is gradually being promoted and applied.

[0003] Most existing fruit picking devices are fixed or semi-mobile structures, which have poor flexibility and adaptability, making it difficult to operate efficiently in orchards with complex terrain. Although some mobile picking devices have a certain degree of mobility, their picking mechanisms are mostly limited to single-direction or fixed height adjustment, which cannot achieve multi-degree-of-freedom precise picking. In particular, they are not adaptable to fruits at different heights and in different directions, which affects picking efficiency and fruit integrity.

[0004] In addition, existing equipment often lacks an integrated autonomous control system, is complex to operate, relies on manual intervention, has a low level of intelligence, and is difficult to achieve large-scale, high-efficiency automated harvesting operations.

[0005] Therefore, there is an urgent need for an intelligent fruit picking device that is highly flexible, has multiple degrees of freedom for adjustment, can move autonomously, and can adapt to complex terrain, in order to improve picking efficiency, reduce labor costs, and ensure operational safety. Utility Model Content

[0006] To address the shortcomings of existing technologies, this invention provides a mobile fruit-picking device that solves the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a mobile fruit picking device, including a picking frame, a horizontal picking mechanism at the top of the picking frame, a moving mechanism at the bottom of the picking frame, a fixed plate fixedly connected to one side of the bottom of the picking frame, and an autonomous picking mechanism at the top of the fixed plate.

[0008] Preferably, the lateral harvesting mechanism includes fixed bases fixedly connected to the top two sides of the harvesting frame. A guide rod is fixedly installed on the top of each fixed base. A movable seat is inserted through the outer side of the guide rod. A first lead screw is threaded through the middle of the movable seat. A first drive motor is provided at one end of the first lead screw. A second drive motor is fixedly connected to one end of the movable seat. A second lead screw is fixedly connected to the transmission end of the second drive motor. A sliding seat is threaded through the outer side of the second lead screw. One side of the sliding seat is slidably connected to a slide rail fixedly connected to the side of the movable seat. An electric hydraulic cylinder is fixedly connected to one side of the movable seat. An electric gripper is fixedly connected to one end of the electric hydraulic cylinder.

[0009] Preferably, the moving mechanism includes a moving frame fixedly connected to both sides of the bottom end of the picking frame, a small motor fixedly connected to one side of the moving frame, a main rotating roller fixedly connected to the transmission end of the small motor, a plurality of secondary rotating rollers provided on one side of the moving frame, and a track drivingly connected to the outer side of the main rotating roller and the plurality of secondary rotating rollers.

[0010] Preferably, the autonomous harvesting mechanism includes a fixed plate base fixedly connected to one side of the harvesting frame, an electric lifting frame fixedly connected to the top of the fixed plate base, an electric turntable fixedly connected to the top of the electric lifting frame, a first small motor provided on the top of the electric turntable, a first adjusting arm fixedly connected to the transmission end of the first small motor, a second small motor provided on the top of the first adjusting arm, a second adjusting arm fixedly connected to the transmission end of the second small motor, and an electric gripper provided at one end of the second adjusting arm.

[0011] Preferably, a switch panel is fixedly connected to one side of the picking frame, and the surface of the switch panel is provided with a protective layer.

[0012] Preferably, the surface of the switch panel is provided with a first drive motor control switch, a second drive motor control switch, an electric hydraulic cylinder control switch, a first small motor control switch, and a second small motor control switch. The first drive motor, the second drive motor, the electric hydraulic cylinder, the first small motor, and the second small motor are electrically connected to an external power supply through the first drive motor control switch, the second drive motor control switch, the electric hydraulic cylinder control switch, the first small motor control switch, and the second small motor control switch, respectively.

[0013] Compared with the prior art, the beneficial effects of this utility model are: This utility model provides a mobile fruit picking device: 1. When harvesting fruit, the fruit is picked at a specified height. Two first drive motors drive the first lead screw, which causes the moving seat on the guide rod to slide back and forth, adjusting the distance between the moving seat and the fruit. The rotation of the second drive motor drives the second lead screw to rotate, causing the sliding seat on the slide rail to slide left and right. After the sliding seat slides to the specified picking position, the extension and retraction of the electric hydraulic cylinder drives the electric gripper to pick the fruit.

[0014] 2. During fruit picking, in order to freely pick fruit at different heights, an electric lifting frame is installed to lift the fruit. By adjusting the electric lifting frame, the horizontal height of the electric gripper can be adjusted. The direction of the electric gripper can be adjusted by rotating the electric turntable. The rotation of the first and second small motors facilitates the adjustment of the first and second adjusting arms, thereby making it convenient to adjust the electric gripper to pick the fruit. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is one of the structural schematic diagrams of this utility model; Figure 3 This is a schematic diagram of the horizontal harvesting machine of this utility model; Figure 4 This is a schematic diagram of the autonomous harvesting mechanism of this utility model.

[0016] In the diagram: 1. Harvesting frame; 101. Fixed plate; 2. Horizontal harvesting mechanism; 201. Fixed base; 202. Guide rod; 203. Movable seat; 204. First lead screw; 205. First drive motor; 206. Second drive motor; 207. Second lead screw; 208. Sliding seat; 209. Slide rail; 2010. Electric hydraulic cylinder; 2011. Electric gripper; 3. Moving mechanism; 301. Moving frame; 302. Small motor; 303. Main rotating roller; 304. Slave rotating roller; 305. Track; 4. Autonomous harvesting mechanism; 401. Fixed plate base; 402. Electric lifting frame; 403. Electric turntable; 404. First small motor; 405. First adjusting arm; 406. Second small motor; 407. Second adjusting arm; 408. Electric gripper. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0019] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] like Figures 1-4 As shown, the present invention proposes a mobile fruit picking device, which includes a picking frame 1, a horizontal picking mechanism 2 at the top of the picking frame 1, a moving mechanism 3 at the bottom of the picking frame 1, a fixed plate 101 fixedly connected to one side of the bottom of the picking frame 1, and an autonomous picking mechanism 4 at the top of the fixed plate 101.

[0022] The horizontal harvesting mechanism 2 includes fixed bases 201 fixedly connected to the top two sides of the harvesting frame 1. A guide rod 202 is fixedly installed on the top of each fixed base 201. A movable seat 203 is inserted through the outer side of the guide rod 202. A first lead screw 204 is threaded through the middle of the movable seat 203. A first drive motor 205 is provided at one end of the first lead screw 204. A second drive motor 206 is fixedly connected to one end of the movable seat 203. A second lead screw 207 is fixedly connected to the transmission end of the second drive motor 206. A sliding seat 208 is threaded through the outer side of the second lead screw 207. One side of the sliding seat 208 is slidably connected to a slide rail 209 fixedly connected to the side of the movable seat 203. An electric hydraulic cylinder 2010 is fixedly connected to one side of the movable seat 203. An electric gripper 2011 is fixedly connected to one end of the electric hydraulic cylinder 2010.

[0023] In practical use, when harvesting fruit, the fruit is picked at a designated height. The rotation of the two first drive motors 205 drives the first lead screw 204 to rotate, which in turn drives the movable seat 203 of the guide rod 202 to slide back and forth, adjusting the distance between the movable seat 203 and the fruit. The rotation of the second drive motor 206 drives the second lead screw 207 to rotate, which in turn drives the sliding seat 208 on the slide rail 209 to slide left and right. After the sliding seat 208 slides to the designated picking position, the extension and retraction of the electric hydraulic cylinder 2010 drives the electric gripper 2011 to pick the fruit.

[0024] The moving mechanism 3 includes a moving frame 301 fixedly connected to both sides of the bottom end of the picking frame 1. A small motor 302 is fixedly connected to one side of the moving frame 301. A main rotating roller 303 is fixedly connected to the transmission end of the small motor 302. Several slave rotating rollers 304 are provided on one side of the moving frame 301. Tracks 305 are driven to the outer sides of the main rotating roller 303 and the several slave rotating rollers 304.

[0025] In practical use, during the mobile harvesting process, the fruit harvesting device needs to be moved. The rotation of the small motor 302 drives the main rotating roller 303 to rotate, which in turn drives the outer track 305 to rotate. At the same time as the track 305 rotates, several secondary rotating rollers 304 rotate, which makes the fruit harvesting device move and facilitates harvesting.

[0026] The self-harvesting mechanism 4 includes a fixed plate base 401 fixedly connected to one side of the harvesting frame 1. An electric lifting frame 402 is fixedly connected to the top of the fixed plate base 401. An electric turntable 403 is fixedly connected to the top of the electric lifting frame 402. A first small motor 404 is provided on the top of the electric turntable 403. A first adjusting arm 405 is fixedly connected to the transmission end of the first small motor 404. A second small motor 406 is provided on the top of the first adjusting arm 405. A second adjusting arm 407 is fixedly connected to the transmission end of the second small motor 406. An electric gripper 408 is provided at one end of the second adjusting arm 407.

[0027] In practical use, during fruit picking, in order to freely pick fruit at different heights, an electric lifting frame 402 is installed to lift the fruit electrically. By adjusting the electric lifting frame 402, the horizontal height of the electric gripper 408 can be adjusted. The direction of the electric gripper 408 can be adjusted by rotating the electric turntable 403. The rotation of the first small motor 44 and the second small motor 406 facilitates the adjustment of the first adjusting arm 405 and the second adjusting arm 407, thereby making it convenient to adjust the electric gripper 408 to pick the fruit.

[0028] A switch panel is fixedly connected to one side of the picking frame 1, and a protective layer is provided on the surface of the switch panel.

[0029] The surface of the switch panel is provided with a first drive motor control switch, a second drive motor control switch, an electric hydraulic cylinder control switch, a first small motor control switch, and a second small motor control switch. The first drive motor 205, the second drive motor 206, the electric hydraulic cylinder 2010, the first small motor 404, and the second small motor 406 are electrically connected to an external power supply through the first drive motor control switch, the second drive motor control switch, the electric hydraulic cylinder control switch, the first small motor control switch, and the second small motor control switch, respectively.

[0030] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0031] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A mobile fruit picking device comprising a picking frame (1), characterized in that, The top of the picking frame (1) is provided with a horizontal picking mechanism (2), the bottom of the picking frame (1) is provided with a moving mechanism (3), a fixed plate (101) is fixedly connected to one side of the bottom of the picking frame (1), and an autonomous picking mechanism (4) is provided on the top of the fixed plate (101).

2. A mobile fruit picking device according to claim 1, characterized in that: The horizontal harvesting mechanism (2) includes fixed bases (201) fixedly connected to the top two sides of the harvesting frame (1). A guide rod (202) is fixedly installed on the top of each fixed base (201). A movable seat (203) is inserted through the outer side of the guide rod (202). A first lead screw (204) is threaded through the middle of the movable seat (203). A first drive motor (205) is provided at one end of the first lead screw (204). A second drive motor (205) is fixedly connected to one end of the movable seat (203). Two drive motors (206) are connected to a second lead screw (207) at the transmission end of the second drive motor (206). A sliding seat (208) is threaded through the outer side of the second lead screw (207). One side of the sliding seat (208) is slidably connected to a slide rail (209) fixedly connected to the side of the movable seat (203). An electric hydraulic cylinder (2010) is fixedly connected to one side of the movable seat (203). An electric gripper (2011) is fixedly connected to one end of the electric hydraulic cylinder (2010).

3. A mobile fruit picking device according to claim 2, characterised in that: The moving mechanism (3) includes a moving frame (301) fixedly connected to both sides of the bottom end of the picking frame (1). A small motor (302) is fixedly connected to one side of the moving frame (301). A main rotating roller (303) is fixedly connected to the transmission end of the small motor (302). A plurality of secondary rotating rollers (304) are provided on one side of the moving frame (301). Tracks (305) are drivenly connected to the outer sides of the main rotating roller (303) and the plurality of secondary rotating rollers (304).

4. A mobile fruit picking device according to claim 3, characterised in that: The autonomous harvesting mechanism (4) includes a fixed plate base (401) fixedly connected to one side of the harvesting frame (1), an electric lifting frame (402) fixedly connected to the top of the fixed plate base (401), an electric turntable (403) fixedly connected to the top of the electric lifting frame (402), a first small motor (404) provided on the top of the electric turntable (403), a first adjusting arm (405) fixedly connected to the transmission end of the first small motor (404), a second small motor (406) provided on the top of the first adjusting arm (405), a second adjusting arm (407) fixedly connected to the transmission end of the second small motor (406), and an electric gripper (408) provided at one end of the second adjusting arm (407).

5. A mobile fruit picking device according to claim 4, characterised in that: A switch panel is fixedly connected to one side of the picking frame (1), and a protective layer is provided on the surface of the switch panel.

6. A mobile fruit picking device according to claim 5, characterised in that: The surface of the switch panel is provided with a first driving motor control switch, a second driving motor control switch, an electric hydraulic cylinder control switch, a first small motor control switch and a second small motor control switch. The first driving motor (205), the second driving motor (206), the electric hydraulic cylinder (2010), the first small motor (404) and the second small motor (406) are electrically connected with the external power supply through the first driving motor control switch, the second driving motor control switch, the electric hydraulic cylinder control switch, the first small motor control switch and the second small motor control switch respectively.

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