Fruit picking device
Patent Information
- Application Number
- EP2022854414
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-12-22
- Publication Date
- 2025-10-29
AI Technical Summary
Existing fruit harvesting devices often result in inefficient fruit collection and high damage rates due to mechanical inaccuracies and inadequate handling mechanisms.
A vehicle-mounted fruit picking device with modular design, featuring a vertical support guide, manipulators with adjustable grippers, a conveyor system, and a control system for precise fruit handling and distribution into shipping containers, minimizing damage and optimizing loading efficiency.
The device enhances fruit harvesting efficiency while significantly reducing damage and ensuring even distribution within containers, maintaining high fruit integrity during the harvesting and transportation process.
Smart Images
Figure 1.1
Abstract
Description
[0001] FRUIT PICKING DEVICE
[0002] FIELD OF INVENTION
[0003] The invention relates to agricultural equipment; specifically, to devices for harvesting and transporting fruit
[0004] PRIOR ART
[0005] Various designs of devices for automatic fruit harvesting and loading the fruit into a container are known.
[0006] Application US 2020128744, publication date 2020-04-30, ICL A01 D46 / 30 discloses a robotic fruit picking machine. The machine includes a vertical frame, a plurality of linear robots, a plurality of cameras and a processor. The vertical frame is configured to oppose the sector to be harvested. The robots are arranged vertically on the frame in pairs, with each pair consisting of the first and second robots, and both robots are configured to move jointly along the vertical axis and separately from each other along the horizontal axis. Auxiliary conveyor belts are installed along the line of robots for feeding the picked fruit to vertical conveyors. The fruit roll down the chutes from the vertical conveyors into harvest containers.
[0007] Application DE102015111665, publication date 2015-07-17, ICL A01D46 / 24; 46 / 30 discloses the design of a mechanized device for picking fruit; specifically, for picking apples. Fruit is picked by means of manipulators mounted on a trolley. The trolley includes a frame with a belt conveyor, which transfers the fruit onto a vertical conveyor. The vertical conveyor brings the fruit down for loading into containers.
[0008] Utility model patent CN207235487, publication date 2018-04-17, ICL A01 D46 / 30 describes the design of a self-propelled fruit harvesting platform equipped with GPS navigation. The platform includes a support chassis and manipulators positioned at three different levels on both sides of the chassis. The chassis also has an inclined conveyor belt. Each manipulator is equipped with an auxiliary conveyor belt for feeding fruit onto an inclined conveyor belt. The inclined conveyor belt is coupled with a vertical conveyor, which feeds the fruit into containers. The above design is the closest analog to the case in point.
[0009] DISCLOSURE OF INVENTION
[0010] The technical result achieved by the present invention consists of enhancing the efficiency of fruit harvesting and reducing the possibility of fruit damage at the same time.
[0011] The vehicle-mounted fruit picking device includes a base with a vertical support guide carrying a plurality of fruit picking and loading modules adapted to move along said guide. The base also carries a fruit transfer conveyor module coupled with a module for loading fruit into shipping containers. Each fruit picking and loading module includes: a frame-mounted manipulator with a fruit gripper; a loading conveyor with a receiving bowl and a manipulator control unit. The fruit transfer conveyor module includes a vertical lifting conveyor with an adjustable inclined tray attached to it, and a vertical fruit lowering conveyor. The module for loading fruit into shipping containers includes a mechanism for lifting the module to a height that matches the level of fruit in the shipping container and a mechanism for distributing the fruit evenly in said container. It is also equipped with a control system that enables the mutual functioning of said modules.
[0012] Furthermore, the vertical support guide is attached to the base by means of a locking joint,
[0013] In addition, the manipulator with a fruit gripper is oriented upwards at an angle to the horizontal plane of the frame.
[0014] Moreover, the manipulator includes an axially turnable main beam attached to a frame and an additional beam mounted on guides fixed on the main beam and capable of moving along said guides parallel to the main beam under the action of an electric drive containing a lead screw and a nut fixed on the additional beam; whereas, the ends of the main beam and additional beam carry fruit grippers, whereas said guides are installed so as to allow creating space between the fruit grippers and the guide nearest to them.
[0015] Besides, the mechanism for raising the module that loads fruit into transport containers is essentially a balancing mechanism, comprising a counterweighted cable passing over pulleys. Finally, the mechanism for even distribution of fruit in shipping containers includes a vertical shaft capable of rotating under the action of a drive, with said shaft bearing a frame with linear levelers carrying flexible brushes on their ends.
[0016] BRIEF DESCRIPTION OF DRAWINGS
[0017] Fig. 1 shows a general view of the fruit picking device.
[0018] Fig. 2 shows a view of the fruit picking device mounted on an automatic containercarrying vehicle.
[0019] Fig. 3 shows an example of how fruit picking and loading modules are installed.
[0020] Fig. 4 shows the manipulator of fruit picking and loading module.
[0021] Fig. 5 shows the module for loading fruit into shipping containers.
[0022] Fig. 6 shows the arrangement of the lifting mechanism that raises the module for loading fruit into shipping containers.
[0023] Fig. 7 shows a view of the module for loading fruit into shipping containers at the beginning of loading process.
[0024] Fig. 8 shows a view of the module for loading fruit into shipping containers before the end of loading process.
[0025] EMBODIMENTS OF THE INVENTION
[0026] A device for harvesting fruit (Fig. 1 - Fig. 3), for example, apples, pears, citrus fruits, etc., includes module 1 for picking and loading the fruit, module 2 for conveying the fruit and module 3 for loading the fruit into shipping containers 17.
[0027] The device comprises base 5 with vertical support guide 6 fixed to it by means of joint 7. Vertical guide 6 capable of moving, for example, using a rack-and-pinion gear (not shown in the Figure), carries frame 8 of manipulator 4 of module 1 that picks and loads the fruits. Module 1 for picking and loading fruits also includes loading conveyor 10 with receiving bowl 11 and a fruit detection system that includes a fruit detection sensor, for example, video camera 30. Manipulator 4 equipped with fruit picker 9 is oriented upwards at an angle to the horizontal plane of the frame (Fig. 1 - Fig. 3). The fruit harvesting device contains several modules 1 for picking and loading fruit with manipulators 4, for example, as shown in Fig. 3, where two fruit picking and loading modules 1 are installed on vertical guide 6. Additional fruit picking and loading modules 1 can be installed on additional vertical rails.
[0028] Manipulator 4 contains main beam 18, mounted on axially turnable frame 8, as well as additional beam 19 mounted on guides 20 on main beam 18 and capable of moving along said guides parallel to main beam 18. The movement is driven by electric drive 22, which is connected to lead screw 21 with a nut (not shown in the Figures) fixed on additional beam 19. The ends of main beam 18 and additional beam 19 are equipped with fruit grippers 9.
[0029] Guides 20 situated between main beam 18 and additional beam 19 can create space 23 between fruit grippers 9 and the nearest guide 20. The presence of space 23 reduces the possibility of damage to fruit 17 if the manipulator orientation system makes a mistake in measuring the distance to the fruit. In this case, the fruit gets into space 23 and avoids damage from manipulator 4 parts, for example, guide 20.
[0030] Fruit-conveying module 2 includes vertical lifting conveyor 12 with adjustable inclined tray 13 and vertical fruit lowering conveyor 14.
[0031] Module 3 for loading fruit into shipping containers includes mechanism 15 for lifting the module to a height that matches the level of fruit in shipping container 17, and mechanism 16 for distributing the fruit evenly in shipping container 17. Module raising mechanism 15 (Fig.6) is essentially a balancing mechanism, comprising pulleys 34 with counterweighted (26) cable system 25 passing over them. Mechanism 16 for even distribution of fruit across shipping container 17 includes a vertical shaft mounted to rotate by the action of a drive; said shaft carries a frame (not visible in the Figures) with linear levelers installed thereon and having their ends equipped with flexible brushes 28. Flexible brushes 28 are made as plates of plastic material and are fixed on axially rotating drum 33.
[0032] The device for harvesting fruits is equipped with a control system that enables the mutual functioning of the modules and comprises sensors installed on all device modules; said control system being operated from the central control unit. The fruit harvester is mounted on a vehicle capable of operating in an automatic mode; therefore its control system is coupled with the vehicle control system, for example, by cable connection or a radio channel.
[0033] The device can be mounted on vehicle 31 in various ways, for example, as shown in Fig. 2 using mounting joints 32 in vehicle's front.
[0034] The fruit harvesting device operates as follows.
[0035] The device is installed on vehicle 31 using mounting joints 32 (Fig. 2). Shipping container 17 is installed on the vehicle's platform housing fruit loading module 3 inside. When mounted on vehicle 31 , the location of all modules is adjusted by changing the inclination angle of vertical support guide 6 by means of joint 7, which is locked after the adjustment.
[0036] Harvesting of fruits, including apples, pears, oranges, lemons, etc., is performed by manipulator 4 capable of moving in three planes, as well as rotate axially. The control system brings manipulator 4 up to a fruit. When the conclusion that the fruit got between cup-shaped grippers 9 is made, the electric drive activates and through mechanical transmission "screw 21 - nut" brings additional beam 19 closer to main beam 18 (Fig. 4). The stalk of fruit, for example, an apple, separates when main beam 18 axially rotates by an angle - up to 360°. Next, the fruit is transferred onto loading conveyor 10 by means of receiving bowl 11.
[0037] Further on, the fruit from loading conveyors 10 gets onto vertical lifting conveyor 12 of fruit-conveying module 2, from which said fruit gets transferred onto adjustable inclined tray 13. From adjustable inclined tray 13 the fruit gets onto vertical fruit lowering conveyor 14, from which the fruit first falls onto the bottom of transport container 17, and then, as the container gets filled, onto the underlying layer of fruit.
[0038] Module 3 that loads fruit in shipping containers 17 operates as follows. Vertical conveyor 14 lowers the fruit onto the central part of the botom of shipping container 17. Rotating linear levelers 29 gradually move the fruit from the center to the edges of shipping container 17. Flexible brushes 28 rest on the fruit layer at the edges of the shipping container; being freely fixed on the axles of drums 33 they roll over a layer of fruit. Flexible brushes 28 on the drums are not only an element of the system for leveling the layer of fruit in shipping container 17, but also act as a kind of sensor for indicating the position of fruit layer in the container; said sensor brings balancing mechanism 24 (Fig. 6) out of standstill maintained by counterweights 26 that balance the weight of the device equipment inside shipping container 17. The weight of counterweights 26 offsets the weight of module 3 that loads fruit into the shipping container and the weight of vertical fruit lowering conveyor 14. As shipping container 17 gets filled with fruit, module 3 for loading fruit into the shipping container and vertical fruit lowering conveyor 14 go upward as shown in (Fig. 7 - Fig. 8).
[0039] Thereby, the device harvests fruit efficiently and carefully, delivers it into shipping containers and carefully levels fruit layers while the container is filled.
[0040] INDUSTRIAL APPLICABILITY
[0041] The proposed design of a fruit harvesting device is technologically advanced and highly efficient; during trial operations it demonstrated a high degree of harvested fruit integrity preservation.
Claims
CLAIMS1. A device for harvesting fruits installed on a vehicle, including a base, on which a vertical support guide is installed; said guide carries movable modules for picking and loading fruits and has at its base a module for conveying fruits coupled with a module for loading fruits into shipping containers; wherein, each module for collecting and loading fruits includes:- a frame-mounted manipulator with a fruit gripper,- a loading conveyor with a receiving bowl; and- a manipulator control unit; the fruit conveyor module includes a vertical lifting conveyor with an adjustable inclined tray connected to it, and a vertical fruit lowering conveyor; wherein, the module for loading fruits into shipping containers includes a mechanism for raising said module upwards to a height matching the level of fruit in the shipping container, as well as a mechanism for even distribution of fruit across the shipping container; moreover, the fruit harvesting device is equipped with a control system enabling mutual functioning of the mentioned modules.
2. The device as per claim 1 , wherein the vertical support guide is mounted on a support frame by means of a locking joint.
3. The device as per claim 1 , wherein the manipulator with fruit gripper is oriented upwards at an angle to the horizontal plane of the frame.
4. The device as per claim 1 , wherein the manipulator includes an axially turnable main beam mounted on a frame, as well as an additional beam mounted on guides fixed on the main beam and capable of moving along said guides parallel to the main beam under the action of a drive that includes a lead screw and a nut fixed on the additional beam; whereas the ends of the main beam and the additional beam are equipped with fruit grippers and said guides are installed so as to allow creating space between the fruit grippers and the guide nearest to them.
5. The device as per claim 1 , wherein the mechanism for raising the module for loading fruit into shipping containers is essentially a balancing mechanism, including a counterweighted cable system passing over pulleys.
6. The device as per claim 1 , wherein the mechanism for even distribution of fruit across a shipping container includes a vertical shaft mounted to rotate by the action of a drive; said shaft carries a frame with linear levelers installed thereon and having their ends equipped with flexible brushes.