Hand-held harvester for fruit harvesting

Abstract

A handheld harvesting device (100) for fruit harvesting is specified, comprising a harvesting tool (55), and an operating device (20) with a first control element (21) for setting a speed of an electric motor (11) of the harvesting device and a second control element (22) for setting different operating stages (I; II; III) of the drive unit (10) by the operator, and a control (15) which is configured to supply the electric motor (11) with an operating stage speed (n.1max; n.2max; n.3max) to be assigned, wherein a position sensor (25) for detecting different positions of the first control element (21) is operatively connected to the first control element (21) and outputs an actuation level signal (BG) to the controller (15) as a measure of the position of the first control element (21), and the controller (15) operates the electric motor (11) above an upper threshold (OS) of the actuation level signal (BG) independently of the actuation level signal (BG) at the operating stage speed (n.1max; n.2max; n.3max) and below at a lower speed than the operating stage speed (n.1max; n.2max; n.3max) depending on the actuation level signal (BG).

Description

[0001] The invention relates to a handheld harvesting device for fruit harvesting, in particular berry harvesting.

[0002] From the patent application WO 2020 / 217166 A1, a handheld harvesting device for harvesting blueberries is known, comprising a drive unit with an electric motor for driving a harvesting tool movable in a harvesting movement, an operating device with a first control element for setting a speed of the electric motor by an operator and a second control element for setting different operating stages of the drive unit by the operator, and a control system, wherein the control system is configured to assign an operating stage speed to the electric motor depending on the selected operating stage.

[0003] The task is to provide a handheld harvesting device for fruit harvesting with improved harvesting efficiency.

[0004] The problem is solved by the handheld fruit harvesting device specified in claim 1. According to the invention, the harvesting device comprises a position sensor which is operatively connected to the first control element for detecting different positions of the first control element and which outputs an actuation level signal to the control unit as a measure of the position of the first control element, wherein the control unit is configured to operate the electric motor at different speeds depending on the actuation level signal, such that i) above an upper threshold of the actuation level signal, the electric motor is operated at the operating stage speed regardless of the actuation level signal, and that ii) below the upper threshold of the actuation level signal, the electric motor is operated at a lower speed than the operating stage speed, depending on the actuation level signal.

[0005] Because the position of the first control element is indirectly detected by the controller via the position sensor, the controller can vary the speed of the electric motor by adjusting the movement of the first control element. This means that by operating the first control element, the electric motor can not only be switched on or off, but also its speed can be varied within certain limits. This makes it particularly easy for an operator to adjust the speed within a single operating stage. It is not necessary to change the operating stage to temporarily operate at a lower speed. At the same time, this ensures that an excessively high speed is not unintentionally used. The maximum speed of each operating stage is referred to as the operating stage speed.Excessive rotational speed results in an excessively high movement frequency of the harvesting tool, which can damage the plant and / or fruit being harvested and cause unripe fruit to fall off due to excessive stimulation of the branches. It is therefore crucial that each operating stage is assigned a specific operating speed tailored to the type of fruit being harvested, particularly berries. By providing the operator with speeds below the standard operating stage speed, the operator can gradually approach a minimum speed and thus react quickly and intuitively to fluctuations in the ripeness of the fruit on a plant. The position sensor transmits an actuation signal to the control unit, which measures the activation of the first control element.Below the upper threshold of the actuation signal stored in the control unit, the operator selects a lower speed for the electric motor than the operating speed, depending on the actuation signal – and thus the position of the first control element. The selection of the operating stage using the second control element therefore represents a preselection for a speed range of the harvesting machine, while the first control element allows for a specific speed selection. In this way, even inexperienced operators, who are increasingly found working as harvest helpers during the harvest season, can harvest fruit, especially berries, efficiently.

[0006] A potentiometer or one or more Hall effect sensors can be used as a position sensor, for example. The position sensor detects at least three positions of the first control element, i.e., unactuated, fully actuated, and at least one position in between. The unactuated and fully actuated positions of the first control element represent, in particular, the first and second end positions of a movement path of the first control element, respectively. The electric motor is, in particular, a brushless, electronically commutated electric motor. The control system also includes, in particular, components of a motor controller for the electric motor and / or components of a battery controller for a battery pack, which is, in particular, interchangeable without tools and supplies energy to the electric motor. The electric motor itself does not, in particular, have any position sensors and is controlled by the control system according to the actuation level signal.

[0007] The upper threshold of the actuation signal is specifically set between 60% and 80% of the maximum actuation signal from the position sensor. This ensures that the operator can reach and / or maintain the operating speed without having to fully actuate or continuously hold the first control element. This prevents hand cramps. Furthermore, it ensures that tolerances in the control device are at least partially compensated for, allowing the operator to access the maximum speed, i.e., the respective operating speed, in every operating stage using the first control element. It is sufficient for the first control element to be near its second end position to operate the motor at the operating speed. The second end position of the first control element is its fully actuated position.

[0008] In one embodiment, the drive unit has at least three operating stages, with each stage's operating speed differing by at least 20%. Because each operating stage's speed is at least 20% higher or lower than the speed of the preceding or subsequent stage, fewer operating stages are needed overall to cover the speed ranges relevant for fruit harvesting, particularly berry harvesting. Specifically, there are at most five operating stages. This allows the operating stages to be switched quickly and easily using the second control element. In particular, only a single second control element is required, which is used to cycle through the individual operating stages by repeatedly pressing it.

[0009] The goal of mechanical fruit harvesting is to remove the fruit from the fruiting plant with as little damage as possible. This applies regardless of the type of fruit, such as coffee beans, olives, blueberries, sour cherries, currants, or others. To achieve this, the fruit should be harvested with as little contact as possible. The harvesting device excites the fruiting branch in such a way that the fruit vibrates and, due to its inertia, detaches from the branch. The frequency at which the branch must be excited depends on the mass of the fruit, the stiffness of the branches, and the strength with which the fruit hangs from the branch. To avoid damaging the branches during excitation, the design of the harvesting tool is also important, as is its maximum amplitude, which is crucial for transmitting the excitation to the branches. The maximum permissible range of motion for the harvesting movement also depends on the stiffness of the branches.For this reason, despite a similar frequency range, it is not possible to use the harvesting tools from an olive harvester for berry harvesting, and vice versa. To harvest as many different types of fruit as possible with one and the same machine, a wide frequency range must be covered. Depending on the fruit, it may be important to keep the rotational speed constant or to vary it up to a maximum speed to harvest as efficiently as possible. A hook or a rake, for example, can be used as a harvesting tool.

[0010] The handheld harvester offers the operator a wide and easily adjustable speed range, enabling versatile use in fruit harvesting, particularly berry harvesting. In one embodiment, the first operating speed is determined by harvesting blueberries, and the third by harvesting currants or coffee beans. The lowest operating speed is typically between 2,300 and 3,800 rpm. Electric motors, unlike combustion engines, are particularly well-suited for achieving such low speeds. The highest operating speed is typically between 5,800 and 12,900 rpm.

[0011] In one embodiment, the first operating stage speed stored in the control system corresponds to a resulting movement frequency of the harvesting tool of 10 Hz to 16 Hz. This makes the first operating stage suitable, for example, for harvesting blueberry varieties with large and therefore heavy berries.

[0012] In one embodiment, the second operating stage speed stored in the control system corresponds to a resulting movement frequency of the harvesting tool of 15 Hz to 21 Hz. This makes the second operating stage suitable, for example, for harvesting blueberry varieties with smaller and therefore lighter and / or more firmly attached berries.

[0013] In one embodiment, the third operating speed stage stored in the control system corresponds to a resulting movement frequency of the harvesting tool of 25 Hz to 55 Hz. This makes the third operating stage suitable, for example, for harvesting currants or coffee beans. The comparatively high excitation frequency can also be used to selectively remove all fruit, including unripe fruit, from plants at the end of a season.

[0014] In one embodiment, the harvesting device has a guide tube with a longitudinal axis. At the end of the guide tube furthest from the user, a tool head with a gearbox is arranged, which generates a harvesting movement of the harvesting tool perpendicular to the longitudinal axis. This means that the distance between the harvesting tool and the guide tube increases and decreases during the harvesting movement. The guide tube, which is typically between 1.0 m and 2.5 m long, increases the reach of the harvesting device, but also reduces the operator's visibility of the harvesting tool. Therefore, especially with hand-held harvesting devices where the tool head is located furthest from the user on the guide tube, it is helpful that the operator can carefully increase the rotational speed within an operating stage. This allows for harvesting very ripe fruit, particularly berries, at a low speed, which might be damaged at the maximum speed of that operating stage.

[0015] In one embodiment, the harvesting device comprises two movable harvesting tools, in particular designed as rakes, located on opposite sides of the longitudinal axis of the guide tube and driven in opposite directions. When the harvesting tool is designed as a rake, several branches are set into vibration simultaneously by the rake's tines. Using two harvesting tools results in even more tines engaging with the branches. This increases harvesting efficiency. However, the frequency of movement cannot be individually set for each branch, leading to all branches being shaken at the same frequency.However, because the rotational speed can be continuously increased by the operator within the operating stage up to the operating stage speed, the operator can increase from low to high rotational speed, and thus also from low to higher frequency, which causes the ripe fruits, especially berries, to fall from the branches earlier and reduces the risk of damage to the ripe fruits, especially berries.

[0016] In one embodiment, for at least one operating stage, an intermediate threshold of the actuation signal is stored in the controller in addition to the upper threshold of the actuation signal. The controller is configured to operate the electric motor at a lower, constant intermediate speed than the operating stage speed, independent of the actuation signal, when the actuation signal lies between the intermediate and upper thresholds. The controller is configured to operate the electric motor at a lower speed than the intermediate speed, dependent on the actuation signal, when the actuation signal lies below the intermediate threshold. In this way, the operator is provided with both an upper speed plateau, which lies above the upper threshold at operating stage speed, and a lower speed plateau, which lies below the upper threshold.A constant speed is defined as a speed plateau over a certain range of the first control element's travel. This travel extends over at least 30% of the maximum actuation signal. This provides the operator with more easily accessible and reproducibly adjustable speed ranges or harvesting frequencies on the harvesting machine than there are operating stages.

[0017] In one embodiment, a lower speed plateau is provided in both the first and second operating stages, corresponding to an intermediate position of the first control element. Specifically, the lower speed plateaus of the first and second operating stages extend over essentially the same actuation signals. This means that the operator actuates the first control element from its unactuated state by the same actuation path in either the first or second operating stage, thus reaching the respective intermediate speed of the lower speed plateau. With further actuation, the respective intermediate speed is maintained. Only after a certain signal range is exceeded does the speed increase to the respective operating stage speed of the upper speed plateau. The signal range corresponds to the length of the speed plateau or the associated actuation path of the first control element.The larger the signal range, the easier it is for the operator to locate the lower speed plateau when actuating the first control element. The signal range should be at least 30% of the maximum actuation level signal.

[0018] In one embodiment, a minimum speed of the electric motor is stored in the control system for each operating stage, and the control system is configured to operate the electric motor at this minimum speed when the actuation level signal is at a lower threshold. The lower threshold of the actuation level signal is the smallest actuation level signal detectable by the position sensor after the operator activates the first control element from its unactivated position.

[0019] The minimum speed is, in particular, at least 30% of the operating stage speed. This allows the operator to work within a speed range of 30% to 100% of the operating stage speed by operating the first control element. Speeds below 30% of the operating stage speed are generally too low to efficiently harvest the fruit, especially berries, associated with that operating stage. The travel of the first control element is therefore only used for speeds that are beneficial for fruit harvesting. The control system automatically accelerates the electric motor to at least the minimum speed when the first control element is activated.

[0020] In one embodiment, the minimum speed is at most 80% of the operating stage speed. This ensures that the operator can set the speed of the electric motor to at least 20% of the operating stage speed, depending on the selected position of the first control element. This means that the operator can harvest at 80% of the operating stage speed by minimally pressing the first control element, and only harvest at an intermediate speed or the operating stage speed as the first control element is pressed further. In another embodiment, the minimum speed of the third operating stage is at most 60% of the operating stage speed, allowing the operator to set the speed of the electric motor to at least 40% of the operating stage speed, depending on the selected position of the first control element.The third stage of production can also be used to harvest all the fruit from a plant, regardless of its ripeness, for which normally only the first or second stage of production would be chosen.

[0021] Further features of the invention will become apparent from the description and the drawing, which shows exemplary embodiments of the invention described in detail below. The drawings show: Fig. 1. A side view of a handheld harvesting device, Fig. 2 a detailed view of the operating device of the handheld harvesting device Fig. 1 according to detail Z in Fig. 1, Fig. 3 A speed-actuator signal diagram for a first embodiment of a control system for the handheld harvesting device Fig. 1, Fig. 4 A speed-actuator signal diagram for a second embodiment of a control system for the handheld harvesting device. Fig. 1.

[0022] Fig. Figure 1 shows a handheld harvesting device 100 for harvesting fruit. In the exemplary embodiment, the harvesting device 100 has a guide tube 30 with a longitudinal axis 80, which extends between a drive unit 10 and a tool head 50. In the exemplary embodiment, the drive unit 10 comprises an electric motor 11 and a power source 12 in the form of a tool-free interchangeable battery pack. A gearbox 51 and two harvesting tools 55 designed as rakes are arranged on the tool head 50. The gearbox 51 drives the rakes back and forth in a harvesting motion 56 transverse to the longitudinal axis 80. A drive shaft runs in the guide tube 30 to transmit the drive motion of the electric motor 11 to the gearbox 51. It can also be provided that the electric motor 11 is arranged on the tool head 50 and a supply line runs in the guide tube 30 to supply the electric motor 11 with energy from the battery pack or a mains connection.

[0023] A control device 20 for operating the harvesting device 100 is arranged on the guide tube 30. The operator grips the harvesting device 100 with one hand using the control device 20. Additionally, a second handle for the operator's other hand is arranged on the guide tube 30; this second handle can be designed as a loop handle and / or a grip point on the guide tube 30.

[0024] Fig. Figure 2 shows the operating device 20 in detail. The operating device 20 comprises a grip area, which extends in particular along the longitudinal axis 80, and an operating area that adjoins the grip area at the end closest to the tool. A first operating element 21 and a second operating element 22 are arranged on the operating area. A multitude of possibilities for the design of an operating element are known to those skilled in the art. In the exemplary embodiment, the first operating element 21 and the second operating element 22 are each designed as pivotable levers. This enables a cost-effective and robust design of the operating elements 21, 22, which can be easily operated even with gloves. The first operating element 21 is arranged in particular on an underside of the operating device 20. The first operating element 21 is operated in particular by a three-segmented finger, for example, the index finger, of the operator.The second control element 22 is arranged in particular on a top side of the control device 20.

[0025] The second control element 22 is operated, in particular, by the operator's thumb. In the exemplary embodiment, the second control element 22 encompasses the longitudinal axis 80 on the top and on one left and one right side of the control device 20. The directional terms top, bottom, left, and right refer to radial directions perpendicular to each other with respect to the longitudinal axis 80. It is also possible for the second control element 22 to be designed and arranged differently, for example, as a push button on the top of the control device 20. The first control element 21 and the second control element 22 can each be actuated, in particular, without the operator having to remove their hand from the grip area. A third control element 23 can be provided, particularly in the grip area, which blocks movement of the first control element 21 as long as the third control element 23 is not actuated.

[0026] A position sensor 25 is arranged in the operating area to detect at least three positions of the first operating element 21. The position sensor 25 is operatively connected to the first operating element 21. Operatively connected means that a change in the position of the first operating element 21 results in a change in the degree of actuation BG detected by the position sensor 25. The position sensor 25 can be mechanically connected to the first operating element 21 or operate without contact. Fig. Figure 2 schematically depicts the position sensor 25 as a potentiometer; however, the same applies to other position sensors 25, for example, a Hall sensor arrangement. An actuation path bw of the first control element 21 is assigned an actuation level signal BG of the position sensor 25 between 0% and 100%. An actuation level signal BG of 0% corresponds to the unactuated position, i.e., the first end position, of the first control element 21. An actuation level signal BG of 100% corresponds to the fully actuated position, i.e., the second end position, of the first control element 21. A different assignment of the end positions to the actuation level signals BG is also possible; for example, the second end position could be assigned an actuation level signal BG of 80%, so that the position sensor 25 cannot output actuation level signals BG greater than 80% to the controller 15.This may be useful if the position sensor 25 has a tolerance range above 80%.

[0027] In the exemplary embodiment, the harvesting device 100 comprises three operating stages I, II, III, which are selected by actuating the second control element 22. In the Fig. 3 and Fig. Figure 4 shows two exemplary sets of speed curves plotted against the actuation signal BG of the position sensor 25 for three operating stages I, II, III of the drive unit 10. Above an upper threshold OS of the actuation signal BG, the controller 15 operates the electric motor 11 at operating stage speeds n.1max, n.2max, n.3max. Each operating stage has its associated operating stage speed n.1max, n.2max, n.3max. The operating stage speed n.1max, n.2max, n.3max is the maximum possible speed in the respective operating stage. Below the upper threshold OS of the actuation signal BG, the controller 15 operates the electric motor 11 at a lower speed than the operating stage speed n.1max, n.2max, n.3max, depending on the position of the first control element 21, i.e., the actuation signal BG. The electric motor 11 is operated at a minimum speed of n.1min, n.2min, n. in each operating stage when the first control element 21 is actuated.The motor operates for 3 minutes. This means that as soon as the controller 15 receives a detectable actuation signal BG of greater than 0% from the position sensor 25, corresponding to an actuated position of the first control element 21, the electric motor 11 is accelerated to the minimum speed n.1min, n.2min, n.3min. The minimum speed n.1min, n.2min, n.3min is at most 80% of the corresponding operating stage speed n.1max, n.2max, n.3max. The operator can thus request at least 20% of the operating stage speed n.1max, n.2max, n.3max as needed by pressing the first control element 21 more firmly. The minimum speed n.3min of the third operating stage is at most 60% of the operating stage speed n.3max, so that the speed can be varied most extensively in the third operating stage compared to the other operating stages I and II. This is helpful to harvest a plant completely, even if the fruits are still unripe.

[0028] By further actuating the first control element 21, i.e., by increasing the actuation distance bw of the first control element 21 and the correspondingly increasing actuation level signal BG, the rotational speed can be increased further. Once the upper threshold OS of the actuation level signal BG is reached, the rotational speed no longer increases. An upper speed plateau has been reached. In this way, it is prevented that the permissible maximum speed defined for the operating stage is exceeded. Damage to branches and / or fruit, especially berries, of the plant being processed is thus reduced or prevented. Furthermore, it is reduced or prevented that unripe fruit, especially berries, are excited to vibrate excessively and thus unintentionally detach from the plant before ripening.

[0029] The diagrams from Fig. 3 and Fig. The two versions differ in that, for the first operating stage I and the second operating stage II, a lower speed plateau is incorporated below the upper threshold OS of the actuation level signal BG. This lower speed plateau provides the operator with an additional, easily adjustable speed stage, which can be selected and deselected using the first control element 21. The electric motor 11 operates at an intermediate speed n.1med, n.2med at the lower speed plateau. The lower speed plateau begins at a lower threshold US of the actuation level signal BG. In the exemplary embodiment, the lower threshold US is at 20% actuation level and extends up to 65% actuation level, i.e., over a signal range of 45%. The relatively wide signal range allows the operator to quickly locate the intermediate speed n.1med, n.2med when actuating the first control element 21. It may be provided that the minimum speed n.The operating time of the first stage I is reduced by 1 minute in favor of better detectability of the intermediate speed n.1med, so that the operator can better perceive when the lower speed plateau is reached, as is the case, for example, in the comparison of the . Fig. 3 and Fig. 4 can be seen.

[0030] In the exemplary embodiment, the gearbox has a gear ratio of approximately 3.9. The first operating speed n.1max is set at 3000 revolutions per minute in the control unit 15, resulting in a maximum movement frequency of the harvesting tool 55 of approximately 13 Hz. The corresponding minimum speed n.1min is 2400 or 2600 revolutions per minute in the exemplary embodiment, which corresponds to approximately 10 Hz or approximately 11 Hz at the harvesting tool, respectively. The intermediate speed n.1med, if present, is 2600 revolutions per minute in the exemplary embodiment, which corresponds to approximately 11 Hz at the harvesting tool.

[0031] In the control unit 15, the second operating speed n.2max is set to 4250 revolutions per minute, resulting in a harvesting tool movement frequency of approximately 18 Hz. The corresponding minimum speed n.2min is 3000 revolutions per minute in the exemplary embodiment, which corresponds to approximately 13 Hz at the harvesting tool. The optional intermediate speed n.2med is 3500 revolutions per minute in the exemplary embodiment, which corresponds to approximately 15 Hz at the harvesting tool.

[0032] In the control unit 15, the third operating speed stage n.3max is set to 7500 revolutions per minute, resulting in a oscillation frequency of the harvesting tool 55 of approximately 35 Hz. The corresponding minimum speed n.3min is 3000 revolutions per minute in this embodiment, which corresponds to approximately 13 Hz at the harvesting tool.

[0033] Depending on the gearbox 51 used and the available gearbox ratio, a different operating stage speed n.1max, n.2max, n.3max as well as minimum speed n.1min, n.2min, n.3min and intermediate stage speed n.1med, n2.med may be necessary to achieve the aforementioned movement frequencies of the harvesting tool 55.

Claims

[1] Handheld harvesting device (100) for fruit harvesting, in particular berry harvesting, comprising a. a drive unit (10) with an electric motor (11) for driving a harvesting tool (55) that moves in a harvesting movement (56), b. an operating device (20) with a first operating element (21) for setting a speed of the electric motor (11) by an operator and a second operating element (22) for setting different operating stages (I; II; III) of the drive unit (10) by the operator, c. a control (15) which is configured to assign to the electric motor (11) an operating stage speed (n.1max; n.2max; n.3max) depending on the selected operating stage (I; II; III), characterized by , that d. a position sensor (25) for detecting different positions of the first control element (21) is operatively connected to the first control element (21) and outputs an actuation degree signal (BG) to the control unit (15) as a measure of the position of the first control element (21), e. the control (15) is configured to operate the electric motor (11) at different speeds depending on the actuation signal (BG), such that i) above an upper threshold (OS) of the actuation signal (BG) the electric motor (11) is operated at the operating stage speed (n.1max; n.2max; n.3max) regardless of the actuation signal (BG), and that ii) below the upper threshold (OS) of the actuation signal (BG) the electric motor (11) is operated at a lower speed than the operating stage speed (n.1max; n.2max; n.3max) depending on the actuation signal (BG). [2] Handheld harvesting device (100) according to claim 1, characterized by, that the drive unit (10) has at least three operating stages (I; II; III) and that the operating stage speeds (n.1max; n.2max; n.3max) differ from each other by at least 20%. [3] Handheld harvesting device (100) according to any one of the preceding claims, characterized by , that a first operating stage speed (n.1max) stored in the control (15) corresponds to a resulting movement frequency of the harvesting tool (55) of 10 Hz to 16 Hz. [4] Handheld harvesting device (100) according to any one of the preceding claims, characterized by , that a second operating stage speed (n.2max) stored in the control (15) corresponds to a resulting movement frequency of the harvesting tool (55) of 15 Hz to 21 Hz. [5] Handheld harvesting device (100) according to any one of the preceding claims, characterized by, that a third operating stage speed (n.3max) stored in the control (15) corresponds to a resulting movement frequency of the harvesting tool (55) of 25 Hz to 55 Hz. [6] Handheld harvesting device (100) according to any one of the preceding claims, characterized by, that for at least one operating stage (I; II) in addition to the upper threshold (OS) of the actuation signal (BG), a medium threshold (MS) of the actuation signal (BG) is stored in the controller (15), and the controller (15) is configured to operate the electric motor (11) i) with a lower, constant intermediate stage speed (n.1med; n.2med) independent of the actuation signal (BG) than the operating stage speed (n.1max; n.2max) when the actuation signal (BG) lies between the medium threshold (MS) and the upper threshold (OS), and ii) with a lower speed than the intermediate stage speed (n.1med; n.2med) dependent on the actuation signal (BG) when the actuation signal (BG) lies below the medium threshold (MS). [7] Handheld harvesting device (100) according to any one of the preceding claims, characterized by, that for the operating stages (I; II; III) in the control (15) a minimum speed (n.1min; n.2min; n.3min) of the electric motor (11) is stored, and the control (15) is designed to operate the electric motor (11) at a lower threshold (US) of the actuation level signal (BG) at the minimum speed (n.1min; n.2min; n.3min). [8] Handheld harvesting device (100) according to the immediately preceding claim, characterized by , that the minimum speed (n.1min; n.2min; n.3min) is at most 80% of the operating stage speed (n.1max; n.2max; n.3max). [9] Handheld harvesting device (100) according to any one of the preceding claims, characterized by , that the harvesting device (100) has a guide tube (30) with a longitudinal axis (80), at the end of which furthest from the user a tool head (50) with a gearbox (51) is arranged, through which a harvesting movement of the harvesting tool is generated transverse to the longitudinal axis (80). [10] Handheld harvesting device (100) according to the immediately preceding claim, characterized by , that the harvesting device (100) comprises two movable harvesting tools (55) which are located on different sides of the longitudinal axis (80) and are in particular driven in opposite directions.

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