Fruit picking device

Abstract

The invention relates to apparatuses with gripping heads for fruit harvesting. Such an apparatus comprises a base bearing an axially rotating main beam and an additional beam mounted on guides on the main beam, which, when driven by an electric drive device, can move parallel to the main beam along those guides. The drive device comprises a drive screw and a nut mounted on the additional beam. The ends of the main and additional beams are fitted with fruit grippers. The fruit grippers carry electrodes of a high-frequency sensor for detecting fruit. The guides are mounted in such a way as to allow for a specific clearance between the fruit grippers and the nearest guide, while a spring is mounted between the additional beam and the nut to control the fruit clamping ratio.

Description

1 TARIFF FRUIT PICKING DEVICE THE FIELD OF INVENTION The invention relates to agricultural equipment, specifically apparatuses with fruit grippers for harvesting fruit. KNOWN TECHNIQUE 5 Various fruit-picking apparatus designs are known. A base, an electric drive assembly, a drive screw, a parallelogram mechanism, and CN203317431, IPC, published on 04 / 12 / 2013, describes a design of an apparatus containing holders. A utility model patent, numbered A01 D46 / 30, exists. It is designed to control gripping force. A pressure sensor is used. 10 Utility model patent number CN215968806, IPC A01 D46 / 30, published on 08 / 03 / 2022, two Drive assemblies containing power screws for moving the opposing clamping piece. It describes the design of a fruit picking apparatus. IPC, CN105922254, published on 07 / 09 / 2016, describes a design for an electrically driven apparatus. The invention patent numbered B25J13 / 08 is known. Electric motors rotate the drive screws, 15 Nuts attached to the clamps activate these clamps. The design above is the closest analogy to the situation in question. EXPLANATION OF THE INVENTION The technical result achieved in this invention is an increase in the operational efficiency of the device when working with the apparatus. The goal is to reduce the likelihood of fruit damage without compromising quality. 20 A fruit-picking apparatus consists of a base that supports a main beam that can rotate axially, as well as mounted on guides fixed to the main beam and driven by an electric drive device. It includes an additional beam that can move along the guides in question, parallel to the main beam; drive The assembly includes a drive screw and a nut secured to the auxiliary beam. The ends of the main and auxiliary beams. It is equipped with fruit grippers. The fruit grippers have a high 25 to detect the fruit. It carries the electrodes of the frequency sensor. Additionally, these guides are used with fruit grippers. They are mounted in such a way as to allow a certain gap to be created between the close guides; Furthermore, an additional beam is placed between the nut to control the fruit compression ratio. a spring is mounted. Furthermore, the nut of the electric drive assembly is located 30 degrees along the axis of the drive screw. 2 It is fixed onto an additional beam in such a way that it can be adjusted; fruit compression ratio control. The spring is made in the form of a compression spring, and the additional beam has a nut displacement sensor. It is equipped. On the other hand, an additional section is added to the base to allow the main beam to rotate axially by up to 360°. The electric drive unit is installed. 5 In addition, the high-frequency fruit detection sensor has a corresponding fruit holder for each. It has two contact electrodes mounted on it; these electrodes are a high-frequency It is connected to an emitter and a fruit impedance measurement circuit, and when it comes into contact with a fruit It can change location. SUMMARY DESCRIPTION OF FIGURES 10 Figure 1 shows a general view of the fruit picking apparatus. Figure 2 shows a partial cross-section of the apparatus along the drive screw in its initial position. It shows. Figure 3 shows a partial transverse movement along the implement's screw when it enters between fruit holders. It shows a cross-section. 15 Figure 4 shows a side view of the fruit picking apparatus. Figure 5 shows the apparatus in its initial position. Figure 6 shows the apparatus in the fruit-holding position. REGULATIONS OF THE INVENTION The apparatus (Figure 1) includes a base (1) to which a main beam (2) is fixed. The main beam (2) is attached to the main 20 It includes guides (4) on which an additional beam (3) is mounted parallel to the main beam (2). (5) An electric drive device in the form of an electric motor on (Figure 1 - Figure 2) It has a drive screw (6) and a nut (7) attached to it. The nut (7) mounted on an additional beam (3) can be displaced relative to the axis of the moving screw and a It rests on the support bar (14). The fruit compression ratio control spring is in the form of a compression spring (8) 25 It is made and mounted between the nut (7) and the additional beam (3). In the initial position, the support The nut (7) together with the rod (14) is pushed beyond the limits of the additional beam (3) by the spring (8); This position of the nut (7) is recorded by the sensor (9). Nut (7) displacement sensor (9) can be represented by a capacitive, optical, inductive or Hall effect sensor. The fruit (17) is over To protect against compression, the additional beam (3) is outside its slots and the main beam (2) and additional beam 30 3 an additional support bar (14) mounted on the ends of which protrude into the gap between (3) limiter (15) is used. The ends of the main beam (2) and the auxiliary beam (3) are fitted with cup-shaped fruit holders (10). Fruit grippers (10) are the contact electrodes of a high-frequency fruit detection sensor. (12) contains. Contact electrodes (12) are connected to a high frequency emitter and a fruit 5 The impedance is connected to the measuring circuit (not shown in the figures) and contacts the fruit (17). It shifts position when it does so. The high-frequency sensor detects ultra-high frequency (840-960 MHz) signals. It detects the presence of a fruit based on the impedance measured by the device. The fruit, for example... The impedance of the apple, measured at these frequencies, differs from the impedance of the tree branches or leaves. Because they are significantly different, reliable identification of the fruit is ensured. 10 When the high frequency sensor electrodes (12) come into contact with the fruit (17), they go into the holders (10). It can be moved to the correct position. The guides (4) located between the main beam (2) and the auxiliary beam (3) are closest to the fruit holders (10). The presence of a gap (11) can create a gap between the guide (4). The presence of a gap (11) can cause the device to be guided. If the system makes an error while measuring the distance to the fruit, the probability of damaging the fruit (17) is 15 It reduces. In this case, the fruit enters the cavity (11) and from the parts of the apparatus, for example the guide (4) Potential damage is prevented. A distinctive feature of the apparatus design is that the main beam (2) has an additional electric drive device (13) and It is the ability to rotate axially with respect to the base (1) by means of the turning mechanism (16). The system for guiding and directing the apparatus to the fruit is not taken into account in this regulation and 20 Not shown in the figures. Such a system uses optical, ultrasonic and other types of sensors. It can be based on established principles by using them. The fruit picking device works as follows: The device's guidance and steering system directs it... It brings the high frequency sensor electrodes (12) to the fruit (17) (Figure 5). and the fruit impedance measurement circuit, 25 between the cup-shaped fruit holders (10) of the fruit. It concludes that it has entered. The apparatus control system activates the electric drive device (5) and The mechanical transmission is made by means of the "movement screw (6) - nut (7)" onto the auxiliary beam (3), the main beam (2). closes (Figure 3 - Figure 6). The additional beam (3) is closed by the pressure of the nut (7) transmitted through the compression spring (8). It starts to move. At the moment the fruit is squeezed by the grippers (10), the resistance of movement This causes the additional beam (3) to stop, while the 30 between the displacement sensor (9) and the nut (7) The actuator screw (6) rotates the nut (7) until contact is lost, thus compressing the spring (8). The electric drive device (5) stops and the fruit is pulled to a degree that will not damage the fruit (17). 4 It is held firmly between the clamps (10). The stem of the fruit, e.g. the apple, is held 360° by the main beam (2). It breaks as a result of axial rotation at an angle adjusted to a certain degree; this rotation causes the apparatus to break. for example, in combination with backward movement, additional electric drive device (13) It is driven by. After that, the holders (10) of the apparatus open in the fruit unloading area. INDUSTRIAL APPLICABILITY 5 The production of a device with such a design is simple, efficient, and allows the device to transport the fruit. from the moment the fruit is picked up until it is released from the apparatus, the fruit is monitored at every stage of the harvest. This ensures careful processing.

Claims

REQUESTS 1. A base that supports an axially rotatable main beam, as well as the main beam itself. mounted on fixed guides and driven by an electric drive device. The subject matter includes an additional beam that can move parallel to the main beam throughout the guides; The electric drive system consists of a drive screw and a nut fixed to the auxiliary beam. 5 contained; The ends of the main beam and the auxiliary beam are connected by a device used to detect the fruit to be harvested. equipped with fruit grippers containing electrodes of a high-frequency sensor that; In addition, these guidelines are for fruit holders and the nearest guideline 10 that it was mounted in such a way as to allow a gap to form between them; Additionally, control the fruit compression ratio between the additional beam and the nut in question. a spring mounted for a fruit picking device.

2. It is an apparatus according to claim 1, and its characteristic is 15 the nut of the electric drive assembly, axial displacement along the drive screw The fruit compression ratio is controlled while being fixed onto an additional beam as much as possible. the publication being in the form of a print publication; Additionally, the auxiliary beam is equipped with a sensor to detect nut displacement. that is. 20 3. It is an apparatus according to claim 1, and its characteristic is: To allow the main beam to rotate axially by up to 360°, a base is attached. The additional electric drive system is installed.

4. It is an apparatus according to claim 1, and its characteristic is: The high-frequency fruit detection sensor has 25 sensors, each with its corresponding fruit holder. mounted and both a high-frequency emitter and a fruit impedance It includes two contact electrodes connected to the measurement circuit; Furthermore, these electrodes can shift position when they come into contact with fruit.

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