A pitaya harvesting device

Abstract

The utility model relates to fruit picking technical field discloses a kind of dragon fruit harvesting device, including mobile car body, fruit storehouse, electromagnetic tracking module and picking mechanical arm.Fruit storehouse is located on mobile car body, its inside is equipped with multiple layers staggered inclined slow-pressure plate, and constitute the buffer passage of fruit step-by-step falling;Fruit storehouse is also provided with semiconductor refrigerating fin and temperature sensor, realize the active control to the low-temperature fresh-keeping environment in storehouse.Electromagnetic tracking module is guided car body along the set path steady driving by detecting electromagnetic guide line pre-buried in ground.The picking mechanical arm end is integrated with self-adapting gripper and rotary shearing mechanism, realize the flexible clamping and fruit stalk smooth shearing to dragon fruit, and the fruit after shearing falls into fruit storehouse through flexible fruit conveying pipe.The utility model realizes the full-process automation operation from identification positioning, nondestructive picking, buffer conveying, low-temperature storage to full-load transfer, with the advantages of high harvesting efficiency, low fruit damage rate, strong environmental adaptability and good fresh-keeping effect.

Description

Technical Field

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

[0002] Dragon fruit, a tropical fruit with extremely high economic value, has become an important economic industry in many regions. However, the mechanization level of dragon fruit harvesting remains low, and it still mainly relies on manual harvesting. Manual harvesting is not only labor-intensive and inefficient, but also poses safety hazards. Because dragon fruit has a thin skin, high water content, and poor resistance to compression and impact, it suffers from high fruit damage rates and waste due to untimely harvesting. Therefore, developing intelligent, efficient, and adaptable fruit harvesting robots is of great significance for reducing labor costs, improving harvesting efficiency, and ensuring fruit quality.

[0003] Currently, there are some research and practical applications related to fruit-picking robots. For example, Chinese patent CN216058333U discloses an "intelligent mobile fruit-picking robot," which includes a wheeled mobile device, a main controller, a GPS signal receiver, a monocular camera, a picking robotic arm, an RGB-D camera, an end effector, and a fruit collection box. Its working principle is as follows: the robot uses a GPS signal receiver and a monocular camera for path planning and navigation. After reaching the target fruit tree, it uses the RGB-D camera to capture images of the fruit. The main controller identifies and locates the ripe fruit, controls the robotic arm to pick it, and the fruit is transported to the collection box via a pipe.

[0004] However, this existing technology still has the following limitations in practical applications:

[0005] 1. Limited adaptability of navigation method: The robot relies on GPS and vision fusion for navigation. In orchard environment, especially when the branches and leaves are dense and the signal is severely blocked, the accuracy of GPS positioning is easily affected, and visual navigation is also affected by environmental factors such as light and shadow, resulting in unstable driving path and inaccurate positioning, which affects the harvesting efficiency.

[0006] 2. Inadequate fruit collection and preservation functions: The fruit collection boxes are merely simple storage containers, lacking temperature control and buffer protection mechanisms. For fruits like dragon fruit, which have fragile skin, are easily damaged by compression, and require timely preservation after harvesting, traditional collection boxes cannot effectively maintain fruit quality, easily causing mechanical damage and spoilage, thus affecting storage and transportation life.

[0007] Therefore, there is an urgent need for an automated harvesting device that is suitable for fragile fruits such as dragon fruit, has stable navigation, fruit preservation function, simplified structure and controllable cost, so as to achieve efficient, low-loss and intelligent fruit harvesting operations. Utility Model Content

[0008] The purpose of this utility model is to overcome the shortcomings of the prior art and provide a dragon fruit harvesting device that effectively solves the technical problems of unstable paths caused by visual technology planning and the inability of ordinary fruit collection boxes to effectively maintain fruit quality.

[0009] To achieve the above objectives, the present invention provides the following technical solution.

[0010] A dragon fruit harvesting device, comprising:

[0011] Mobile vehicle body;

[0012] A fruit bin is installed on the mobile vehicle body. The fruit bin includes an outer shell and a multi-layer pressure-relieving mechanism disposed within the outer shell.

[0013] The outer shell has a fruit inlet at the top and a fruit outlet at the bottom, with an openable and closable door at the fruit outlet.

[0014] The multi-layer pressure relief mechanism includes a plurality of pressure relief plates spaced apart along the height direction of the outer shell, each pressure relief plate being inclined and adjacent pressure relief plates being inclined in opposite directions;

[0015] The lower end of each pressure plate overlaps at least partially with the upper end of the adjacent pressure plate below it in the vertical direction to form a buffer path for the dragon fruit to fall layer by layer.

[0016] Furthermore, a weighing sensor is also provided at the bottom of the outer shell to detect the total weight of the dragon fruit inside the fruit compartment.

[0017] Furthermore, it also includes a cooling component disposed on the outer casing for cooling the internal space of the outer casing.

[0018] Furthermore, the cooling component includes a thermoelectric cooler and a temperature sensor, with the cold end of the thermoelectric cooler extending into the housing and the temperature sensor disposed inside the housing.

[0019] Furthermore, the cold end of the semiconductor cooling chip is also provided with a protective cover.

[0020] Furthermore, it also includes an electromagnetic tracking module for guiding the mobile vehicle body to move along a preset path.

[0021] Furthermore, the electromagnetic tracking module includes:

[0022] Electromagnetic conductors laid on the ground;

[0023] An electromagnetic tracking sensor installed on the front of the mobile vehicle body is used to detect the magnetic field signal generated by the electromagnetic guide wire in order to control the direction of travel of the mobile vehicle body.

[0024] Furthermore, three electromagnetic tracking sensors are arranged side by side on the front side of the mobile vehicle body, and are fixed by three mounting brackets on the left, middle and right respectively.

[0025] Furthermore, it also includes a picking robotic arm mounted on the mobile vehicle body, used to pick dragon fruit and deliver it into the fruit inlet.

[0026] Furthermore, it also includes a flexible fruit conveying tube, one end of which is connected to the fruit inlet and the other end is connected near the end effector of the harvesting robotic arm, for receiving the harvested dragon fruit and guiding it into the fruit inlet.

[0027] The beneficial effects of this utility model are as follows:

[0028] 1. The fruit bin employs a multi-layered, staggered, inclined pressure-reducing plate structure. This multiple cushioning during the dragon fruit's fall effectively prevents mechanical damage caused by direct drop or crushing. Furthermore, when dragon fruit accumulates within the bin, the pressure-reducing plates act as multiple layers of support, mitigating the risk of crushing damage from a large pile. Combined with a refrigeration system for active temperature control, a low-temperature preservation environment can be provided immediately after harvesting, significantly extending the fruit's storage life and maintaining its commercial quality.

[0029] 2. It adopts electromagnetic tracking navigation, which realizes path tracking by detecting electromagnetic guide lines pre-buried in the ground. It is not affected by factors such as branches and leaves blocking the orchard or changes in light. It is especially suitable for orchard environments with weak GPS signals and complex visual features, thus improving the stability of movement and positioning accuracy.

[0030] 3. Integrating a harvesting robotic arm, flexible fruit conveying pipes, and fruit bins with buffering and preservation functions, it realizes fully automated operation from harvesting, buffering and conveying, low-temperature storage to full-load transfer, reducing manual intervention and improving the continuity of operation and harvesting efficiency.

[0031] 4. By monitoring the full load status of the fruit bin in real time through weighing sensors, and in conjunction with electromagnetic navigation and positioning information, it can be expanded to realize intelligent control logic such as automatic return for unloading, path retracing, and continued operation, further enhancing the autonomous operation capability of the equipment. Attached Figure Description

[0032] Figure 1 This is a perspective view of the present invention;

[0033] Figure 2 This is a two-dimensional view of the present invention.

[0034] Figure 3 This is a structural diagram of the fruit bin of this utility model;

[0035] Figure 4This is a perspective view of the harvesting robotic arm mechanism of this utility model;

[0036] Figure 5 for Figure 4 Schematic diagram of the fixed claw mechanism;

[0037] Figure 6 for Figure 4 A schematic diagram of the shearing mechanism shown;

[0038] Figure 7 for Figure 4 A schematic diagram of the blade and connecting rod shown;

[0039] Figure 8 This is a schematic diagram showing the connection status of the harvesting robotic arm and the transport pipeline.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Robotic arm assembly; 2. Connecting joint; 3. Fixed gripper mechanism; 4. Active gripper mechanism; 401. Fixed block; 402. Dual-axis servo motor; 403. Driven gear; 404. Rotating block; 405. Active gripper; 5. Driven gripper mechanism; 501. Driven gear; 502. Driven gripper shaft; 503. Fixed ring; 504. Driven gripper; 6. Shearing mechanism; 601. Gear motor; 602. Base plate; 603. Driven disc; 604. Rocker arm; 605. Rotating ring; 606. Connecting rod; 607. Blade; 7. Arc-shaped groove; 8. Limiting rod; 9. Gasket; 10. Protective shell; 11. Transport pipe; 12. Mobile vehicle body; 13. Fruit bin; 1301. Outer shell; 1302. Fruit inlet; 1303. Fruit outlet; 1304. Bin door; 1305. Pressure relief plate; 14. Refrigeration assembly; 1401. Semiconductor refrigeration chip; 1402. Temperature sensor; 1403. Protective cover; 15. Electromagnetic tracking module; 1501. Electromagnetic guide line; 1502. Electromagnetic tracking sensor. Detailed Implementation

[0042] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0043] It should be noted that 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 are not limited in number; 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.

[0044] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" 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 application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0045] It should be noted that the scope of the methods and apparatus in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions in a substantially simultaneous manner 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. In addition, features described with reference to certain examples may be combined in other examples.

[0046] This utility model discloses a dragon fruit harvesting device, comprising a mobile vehicle 12 that drives the device. The vehicle can utilize a tracked chassis structure to minimize ground pressure, reduce sinking, enhance adhesion, and improve mobility. A weighing mechanism is installed on the upper part of the mobile vehicle 12, with a fruit bin 13 fixed above it. The fruit bin 13 holds the harvested dragon fruit. The weighing mechanism can monitor the weight of the dragon fruit in the fruit bin 13 in real time. When a preset weight is reached, the dragon fruit can be unloaded from the fruit bin 13. The weighing mechanism can be gravity sensors located at the four corners of the bottom of the fruit bin 13.

[0047] The fruit bin 13 features a stepped, layered design, with staggered layers utilizing gravity for automatic storage, making it more convenient to store dragon fruit and preventing damage from excessive pressure. The fruit bin 13 includes an outer shell 1301 and a multi-layer pressure-reducing mechanism disposed within the outer shell 1301. The top of the outer shell 1301 has a fruit inlet 1302, and the bottom has a fruit outlet 1303. The multi-layer pressure-reducing mechanism includes multiple pressure-reducing plates 1305 spaced apart along the height of the outer shell 1301. Each pressure-reducing plate 1305 is inclined, and adjacent pressure-reducing plates 1305 have opposite inclination directions in the vertical plane. The lower end of each pressure-reducing plate 1305 at least partially overlaps the upper end of its adjacent pressure-reducing plate 1305 below it in the vertical direction, forming a buffer path for the dragon fruit to fall layer by layer; that is, as shown... Figure 3 In the embodiment shown, the bottom of the first layer of pressure relief plate 1305 is tilted to the lower left, the bottom of the second layer of pressure relief plate 1305 is tilted to the lower right, and the upper left of the second layer of pressure relief plate 1305 extends to the lower left of the first layer of pressure relief plate 1305 so as to receive the dragon fruit falling from the first layer of pressure relief plate 1305.

[0048] In this invention, after the dragon fruit is harvested (manually or by robot), it is inserted into the outer shell 1301 through the fruit inlet 1302. After being inserted, the dragon fruit slowly falls to the bottom through multiple layers of pressure-reducing plates 1305, avoiding the problem of the dragon fruit being damaged due to rapid falling. At the same time, when a large number of dragon fruits are put into the outer shell 1301, dragon fruits remain above the multiple layers of pressure-reducing plates 1301. Thus, the multiple layers of pressure-reducing plates 1301 provide multiple layers of support for the dragon fruit, avoiding the problem in traditional technology where there are no pressure-reducing plates 1305, causing the bottom dragon fruit to be squeezed and damaged by the weight of the large number of dragon fruits above.

[0049] In this invention, a weighing mechanism is installed at the bottom of the fruit bin 13, allowing the weight of the dragon fruit inside the bin to be detected in real time. When the weight of the dragon fruit reaches a preset value, a worker or robot can unload the dragon fruit from the bin 13, and then prepare for the next filling. During the filling process, the dragon fruit outlet 1303 is blocked by the bin door 1304, preventing the dragon fruit from flowing out of the outlet 1303. When it is necessary to unload the dragon fruit, the bin door 1304 is opened, and the dragon fruit can then be unloaded from the outlet 1303.

[0050] In this embodiment, preferably, the bottom of the outer shell 1301 is a sloping surface that slopes downward toward the fruit outlet 1303. Making the bottom surface of the outer shell 1301 sloping facilitates the output of the dragon fruit toward the outlet 1303.

[0051] As an embodiment of this utility model, in order to ensure that the harvested dragon fruit is always kept at the optimal preservation temperature and to maintain the freshness of the dragon fruit, this embodiment adds a fruit compartment as a safe storage compartment.

[0052] A cooling component 14 is provided on the outer casing 1301 to cool the internal space of the outer casing 1301.

[0053] As a specific example of a cooling assembly, the cooling assembly 14 includes a thermoelectric cooler 1401 and a temperature sensor 1402. The cold end of the thermoelectric cooler 1401 extends into the vertical side wall of the housing 1301, and the temperature sensor 1402 is disposed inside the housing 1301. Both the temperature sensor 1402 and the thermoelectric cooler 1401 are controlled by the cooling control system of the cooling assembly 14.

[0054] To prevent the dragon fruit from damaging the thermoelectric cooler 1401, a protective cover 1403 is placed over the thermoelectric cooler 1401 and fixed to the vertical sidewall where the thermoelectric cooler 1401 is located. The protective cover 1403 has multiple heat-conducting holes to allow gas exchange between the thermoelectric cooler 1401 and the space inside the outer shell 1301 where the dragon fruit is located, thus cooling the dragon fruit. A temperature sensor 1402, used to detect the temperature inside the outer shell 1301, can be installed inside the protective cover 1403 or at the top inside the outer shell 1301. After detecting the temperature, the temperature sensor 1402 feeds back to the refrigeration control system to control the cooling power of the thermoelectric cooler 1401, ensuring that the temperature is maintained within a suitable range for dragon fruit preservation, for example, 8-10°C.

[0055] As an embodiment of this utility model, in order to achieve stable path navigation for the moving vehicle, this embodiment uses an electromagnetic tracking module to detect electromagnetic guide lines laid on the ground.

[0056] like Figure 1 and 2 As shown, the dragon fruit harvesting device in this embodiment also includes an electromagnetic tracking module 15, which is used to guide the mobile vehicle 12 to move stably in the orchard along a preset harvesting path.

[0057] The electromagnetic tracking module 15 mainly includes an electromagnetic guide line 1501 pre-embedded or attached to the orchard ground, and an electromagnetic tracking sensor group installed on the front side of the mobile vehicle body 12. The electromagnetic guide line 1501 is laid along the rows of fruit trees or a set harvesting route, and is energized with alternating current of a certain frequency to form a regular alternating magnetic field around it.

[0058] The electromagnetic tracking sensor group consists of three electromagnetic tracking sensors 1502, which are fixed to the lower front end of the mobile vehicle body 12 (or to the outer casing 1301) by three independent mounting brackets 1503 on the left, middle, and right sides, and arranged in a straight line along the transverse centerline of the vehicle body. The three sensors 1502 are located on the same horizontal plane, with the middle sensor located on the longitudinal axis of the vehicle body, and the left and right sensors symmetrically arranged on both sides.

[0059] During operation, the moving vehicle 12 travels along the electromagnetic guide line 1501. The electromagnetic tracking sensor 1502 detects the magnetic field strength signal at its location in real time and transmits the signal to the vehicle control system. Based on the differences in the signals detected by the three sensors, the control system determines the lateral offset and heading deviation of the vehicle relative to the electromagnetic guide line 1501.

[0060] 1) When the vehicle is traveling in a straight line and centered, the signal from the middle sensor is the strongest, while the signals from the left and right sensors are weaker and basically symmetrical.

[0061] 2) If the vehicle body deviates laterally, the sensor signal on the side closer to the electromagnetic guide line 1501 will be enhanced, while the signal on the other side will be weakened. Based on this, the control system will output a correction command to drive the steering mechanism to center the vehicle body.

[0062] 3) When driving on a curve, the signals from the three sensors show a regular gradient change, and the control system can identify the direction of the curve in advance to achieve smooth steering control.

[0063] To further improve control accuracy and stability, this embodiment can also use an incremental PID control algorithm to convert the position deviation signal detected by the sensor into a precise steering motor control quantity, avoiding oscillations or frequent corrections of the vehicle body during movement, thereby achieving smooth and stable path tracking.

[0064] As an extension of this embodiment, a BD+GPS positioning module can be added to enable the harvesting device to perform fixed-point loading and unloading and path tracing functions. By presetting the unloading point through the BD+GPS positioning module, when the fruit in the fresh-keeping warehouse (fruit warehouse 13) is full, the pressure sensor will send a signal to the main control system to control the harvesting device to stop the harvesting operation, locate and record the current position, and then drive out of the harvesting area along the electromagnetic guide line, and drive to the unloading point according to the outer electromagnetic guide line. After unloading, the recorded point is traced back to continue the harvesting operation.

[0065] The electromagnetic tracking navigation method used in this embodiment is unaffected by factors such as tree obstruction, changes in lighting, and weather conditions within the orchard. It is particularly suitable for field environments with poor GPS signals or complex visual features, improving the reliability and stability of navigation. The electromagnetic guide line can be flexibly laid out according to the actual layout of the orchard, adapting to different planting patterns and terrains, and supporting various harvesting path planning such as circular and reciprocating paths. Employing a three-sensor layout combined with a closed-loop control algorithm, it can detect vehicle posture and path deviation in real time, achieving high-precision tracking and smooth steering, avoiding damage to crops or deviation from the work row. Compared to visual or laser navigation solutions, the electromagnetic tracking module has a simpler structure, lower cost, and is easier to maintain, making it suitable for widespread application in agricultural robots. As an expandable function of this embodiment, it can be linked with functions such as fruit bin weighing and positioning backtracking to achieve a fully automated cycle of "harvesting-full loading-returning-continuing operation," improving the overall intelligence level of the harvesting system.

[0066] As one embodiment of this utility model, it also includes a harvesting robotic arm mounted on the mobile vehicle body for harvesting dragon fruit and feeding it into the fruit inlet 1302. It also includes a flexible fruit conveying tube 11, one end of which is connected to the fruit inlet 1302, and the other end is connected near the end effector of the harvesting robotic arm for receiving the harvested dragon fruit and guiding it into the fruit inlet 1302.

[0067] The end effector of the robotic arm in this embodiment can be a relevant device from existing technology, such as the following patent with publication number CN216058333U. Similarly, this improvement does not involve a system for visually recognizing fruit to control the robotic arm to reach the fruit's position; the visual recognition system can use existing technology.

[0068] Alternatively, a specific harvesting robotic arm mechanism disclosed in this embodiment can be used. This component is coaxially integrated with a fixed claw mechanism 3 and a shearing mechanism 6, which together complete the stable clamping of the dragon fruit and the precise shearing of the fruit stem.

[0069] The assembly includes a robotic arm assembly 1 and a connecting joint 2. The connecting joint 2 is rotatably connected to the movable end of the robotic arm assembly 1. The end of the connecting joint 2 away from the robotic arm assembly 1 is provided with a fixing claw mechanism 3 for clamping the dragon fruit. (See attached diagram for details.) Figure 4-8As shown, the fixed claw mechanism 3 consists of an active claw mechanism 4 and a driven claw mechanism 5, and the active claw mechanism 4 and the driven claw mechanism 5 are connected in a transmission manner. The active claw mechanism 4 includes a fixed block 401, a dual-axis servo motor 402, an active gear 403, a rotating block 404 and an active claw 405. The fixed block 401 is fixedly installed inside the connecting joint 2 and the dual-axis servo motor 402 is fixedly installed on the side of the fixed block 401. The output ends on both sides of the dual-axis servo motor 402 are connected to the active gear 403 through splines, and the rotating block 404 is fixedly connected to the side of the active gear 403 on both sides of the dual-axis servo motor 402 that is close to each other. The active claw 405 is fixed on the side of the rotating block 404 on both sides.

[0070] The driven gripper mechanism 5 includes a driven gear 501, a driven gripper shaft 502, a fixed ring 503, and a driven gripper 504. The fixed ring 503 is fixedly connected to the side of the fixed block 401, and the driven gripper shaft 502 passes through the inside of the fixed ring 503. The driven gripper 504 is fixedly connected to the driven gripper shaft 502 outside the fixed ring 503. Both ends of the driven gripper shaft 502 are fixedly connected to the driven gears 501, and the two driven gears 501 mesh with the two driving gears 403 respectively. A protective shell 10 is sleeved on the outside of the driving gear 403 and the driven gear 501 on the same side. The protective shell 10 can protect the driving gear 403 and the driven gear 501 and prevent external plant roots from being caught in the gear and affecting the normal transmission of the gear.

[0071] The operation of the dual-axis servo motor 402 can drive the active gears 403 and rotating blocks 404 on both sides to rotate synchronously. The rotating blocks 404 can drive the active claw 405 to move, and the two active gears 403 can drive the driven gears 501 on both sides to rotate synchronously in opposite directions. The driven gears 501 drive the driven claw 504 to move through the driven claw shaft 502. The movement trajectory of the driven claw 504 is always opposite to that of the active claw 405. The two move relative to each other, thereby achieving the effect of clamping and releasing, which makes it easy to clamp the dragon fruit.

[0072] In one optional embodiment of this invention, a pad 9 is attached to the inner surface of the active claw 405 and the driven claw 504 that can contact the dragon fruit. The pad 9 is made of a flexible material and can protect the dragon fruit, preventing the rigid structure of the active claw 405 and the driven claw 504 from causing indentations or scratches on the outside of the dragon fruit, thereby improving the integrity of the dragon fruit.

[0073] The end of the connecting joint 2 away from the robotic arm assembly 1 is also provided with a cutting mechanism 6 for cutting the root of the dragon fruit. The center of the fixed claw mechanism 3 is on the same straight line as the center of the cutting mechanism 6; as shown in the attached figure. Figure 6 and 7As shown, the shearing mechanism 6 includes a geared motor 601, a base plate 602, an active disk 603, a rocker arm 604, a rotating ring 605, a connecting rod 606, and a blade 607. The geared motor 601 is fixedly installed inside the connecting joint 2. The base plate 602 is fixedly connected to the side of the connecting joint 2, and the output end of the geared motor 601 passes through one end of the base plate 602 and is connected to the active disk 603 via a spline. The rotating ring 605 is rotatably connected to the side of the base plate 602 and is on the same plane as the active disk 603. The two ends of the rocker arm 604 are respectively hinged to the sides of the active disk 603 and the rotating ring 605. The rocker arm 604 is hinged to the outer periphery of the side of the active disk 603 rather than the center, so that when the active disk 603 rotates, it forms an eccentric motion effect, which can drive the rocker arm 604 to swing periodically.

[0074] The inner ring of the rotating ring 605 is rotatably connected to several connecting rods 606, and the ends of the connecting rods 606 away from the rotating ring 605 are rotatably connected to blades 607. The blades 607 are rotatably connected to the side of the substrate 602 in a ring array. The edges of the blades 607 that are close to each other are sharp blades, which can cut the root of the dragon fruit flat.

[0075] Furthermore, a perforation is provided at the center of the substrate 602, allowing the dragon fruit to pass through. The perforation corresponds to the middle part of the active claw 405 and the driven claw 504, and several blades 607 are used to block the perforation.

[0076] A plurality of arc-shaped grooves 7 are provided on the outer periphery of the side of the rotating ring 605, and the plurality of arc-shaped grooves 7 are arranged in a ring array on the side of the rotating ring 605. Limiting rods 8 are fixedly connected to the part of the base plate 602 near the rotating ring 605 corresponding to the plurality of arc-shaped grooves 7. The plurality of limiting rods 8 are respectively inserted into the interior of the plurality of arc-shaped grooves 7. The limiting rods 8 and the arc-shaped grooves 7 cooperate to guide and limit the rotation trajectory of the rotating ring 605.

[0077] The geared motor 601 drives the drive disc 603 to rotate, which in turn drives the rocker arm 604 to oscillate periodically. The other end of the rocker arm 604 drives the rotating ring 605 to move. Because the arc-shaped groove 7 on the rotating ring 605 is limited by the limiting rod 8, the rotating ring 605 can only reciprocate. The rotating ring 605, through the connecting rod 606, can drive all the blades 607 to make synchronous opening and closing movements, thereby achieving the shearing effect. When it is necessary to harvest the dragon fruit, the robotic arm assembly 1 controls the shearing mechanism 6 to move to the position corresponding to the dragon fruit, and then all the blades 607... The plate 602 is then moved through the dragon fruit and to the root of the dragon fruit. After the dragon fruit passes through the hole, it is positioned between the active claw 405 and the driven claw 504. The active claw 405 and the driven claw 504 are clamped by the dual-axis servo motor 402. Subsequently, the geared motor 601 is controlled to run, which drives all the blades 607 to move towards the center of the hole through the active disc 603, rocker arm 604, rotating ring 605 and connecting rod 606, thereby cutting the root of the dragon fruit flat and cutting the dragon fruit completely.

[0078] In an optional embodiment of this invention, a flexible fruit conveying tube 11 can be fixedly installed on the side of the base plate 602 near the fixing claw mechanism 3, with the fixing claw mechanism 3 located inside the flexible fruit conveying tube 11. The end of the flexible fruit conveying tube 11 communicates with the external fruit bin 13. When the shearing mechanism 6 cuts off the root of the dragon fruit, the fixing claw mechanism 3 is released, and the dragon fruit can roll along the conveying tube 11 into the fruit bin 13, thereby quickly completing the collection of the dragon fruit without manual operation. The flexible fruit conveying tube 11 is made of a flexible material with good elasticity and cushioning properties, which can flexibly follow the movement of the robotic arm, such as a corrugated plastic tube.

[0079] Before cutting, the clamping mechanism (active and passive claws) gently and stably holds the dragon fruit. By adjusting the clamping force and position, the spatial position of the fruit stem can be indirectly corrected and fixed, automatically aligning it with the center hole of the cutting mechanism. This is similar to holding the fruit firmly with one hand before cutting, allowing the other hand to accurately locate the stem and make the cut. This avoids problems such as skewed cutting, stem tearing, or incomplete cutting caused by fruit movement or inaccurate positioning, ensuring a smooth cut surface and promoting wound healing in the plant.

Claims

1. A dragon fruit harvesting device, characterized in that, include: Mobile vehicle body (12); Fruit bin (13) is installed on the mobile vehicle body (12). The fruit bin (13) includes an outer shell (1301) and a multi-layer pressure relief mechanism disposed in the outer shell (1301). The outer shell (1301) has a fruit inlet (1302) at the top and a fruit outlet (1303) at the bottom, and a closable door (1304) is provided at the fruit outlet (1303). The multi-layer pressure relief mechanism includes a plurality of pressure relief plates (1305) spaced apart along the height direction of the outer shell (1301), each pressure relief plate (1305) is inclined and adjacent pressure relief plates (1305) are inclined in opposite directions. The lower end of each pressure plate (1305) overlaps at least partially in the vertical direction with the upper end of the adjacent pressure plate (1305) below it to form a buffer path for the dragon fruit to fall layer by layer.

2. The dragon fruit harvesting device according to claim 1, characterized in that, The bottom of the outer shell (1301) is also equipped with a weighing sensor for detecting the total weight of the dragon fruit in the fruit compartment.

3. The dragon fruit harvesting device according to claim 1, characterized in that, It also includes a cooling component (14) disposed on the housing (1301) for cooling the internal space of the housing (1301).

4. The dragon fruit harvesting device according to claim 3, characterized in that, The cooling component (14) includes a semiconductor cooling chip (1401) and a temperature sensor (1402). The cold end of the semiconductor cooling chip (1401) extends into the interior of the housing (1301), and the temperature sensor (1402) is disposed inside the housing (1301).

5. The dragon fruit harvesting device according to claim 4, characterized in that, The cold end of the semiconductor cooling chip (1401) is also provided with a protective cover (1403).

6. The dragon fruit harvesting device according to claim 1, characterized in that, It also includes an electromagnetic tracking module (15) for guiding the mobile vehicle body (12) to move along a preset path.

7. The dragon fruit harvesting device according to claim 6, characterized in that, The electromagnetic tracking module (15) includes: Electromagnetic guide wires (1501) laid on the ground. An electromagnetic tracking sensor (1502) installed on the front side of the mobile vehicle body (12) is used to detect the magnetic field signal generated by the electromagnetic guide line (1501) in order to control the direction of travel of the mobile vehicle body (12).

8. The dragon fruit harvesting device according to claim 7, characterized in that, The mobile vehicle body (12) has three electromagnetic tracking sensors (1502) arranged side by side on the front side, which are fixed by three mounting brackets (1503) on the left, middle and right respectively.

9. The dragon fruit harvesting device according to any one of claims 1-8, characterized in that, It also includes a picking robotic arm mounted on the mobile vehicle body for picking dragon fruit and feeding it into the fruit inlet (1302).

10. The dragon fruit harvesting device according to claim 9, characterized in that, It also includes a flexible fruit conveying tube (11), one end of which is connected to the fruit inlet (1302), and the other end is connected to the vicinity of the end effector of the harvesting robot arm, for receiving the harvested dragon fruit and guiding it into the fruit inlet (1302).

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