Fruit picking apparatus with telescopic conduit and motor-actuated swing arm on linear guide

Abstract

A telescopic tube-type fruit harvesting machine based on a linear guide rail and a motor swing mechanism includes a movable base, a swing arm, an adsorption module, a removal module, a telescopic guide tube, a vision positioning module, and a control module. The vision positioning module detects and positions the fruit, controls the swing arm to align the adsorption module with the fruit, and uses a negative pressure suction cup to adsorb the fruit and a pull rope mechanism to remove it. The fruit is then transported to the collection area via the telescopic guide tube. The overall system features automatic guidance, modular design, and a fruit protection mechanism, improving harvesting efficiency and operational convenience, and is suitable for automated orchard harvesting operations.

Claims

1. A telescopic tube fruit-harvesting machine based on a linear slide rail and a motor swing mechanism, comprising: a base; a linear slide rail disposed on the base and extending in a straight line; a swing arm slidably disposed on the linear slide rail and capable of being driven by a first motor to change its position along the linear slide rail and its own swing angle; an adsorption module disposed at one end of the swing arm away from the linear slide rail, and comprising a suction cup and a negative pressure generating device, enabling the suction cup to adsorb fruit; a removal module disposed within the adsorption module, and comprising: a second motor connected to a pulley, the pulley being linked to the suction cup by a pull rope, capable of pulling the fruit adsorbed by the suction cup downwards during driving, and causing the suction cup to automatically spring back to its original position after release; A telescopic guide tube, one end connected to the suction cup and the other end guided to the collection area, has an internal channel to transport the removed fruit from the suction cup to the collection area, and features a cushioning structure to prevent fruit collision damage; a visual positioning module, located on or near the swing arm, detects the fruit's position and controls the operation of the first and second motor modules, aligning the suction cup module with the fruit for suction; through the coordinated control of the visual positioning module and the first and second motors, the suction module can accurately align with the fruit and continuously complete suction, traction, and guiding transport operations, thereby improving harvesting efficiency and reducing fruit damage rate; The inner lining of the telescopic tube is made of elastic material, which has a fruit cushioning function to prevent damage from falling fruit.

2. The telescopic tube fruit-harvesting machine based on a linear slide rail and a motor swing mechanism as described in claim 1, wherein, The suction cup features an adjustable ring structure, allowing the adsorption area to be adjusted according to different fruit sizes.

3. The telescopic tube fruit-harvesting machine based on a linear guide rail and a motor swing mechanism as described in claim 1, wherein, The linkage structure includes a set of elastic tension elements, which enable the adsorption fruit-picking module to automatically return to its original position after the second motor stops driving.

4. The telescopic tube fruit-harvesting machine based on a linear guide rail and a motor swing mechanism as described in claim 1, wherein, The first motor and the second motor are controlled by the same control module and can perform synchronous or segmented actions according to a preset fruit-harvesting strategy.

5. The telescopic tube fruit-harvesting machine based on a linear slide rail and a motor swing mechanism as described in claim 1, wherein, The adsorption fruit-collecting module and the swing arm are equipped with a quick-release connector to facilitate the maintenance and replacement of the suction cup and guide tube module.

6. The telescopic tube fruit-harvesting machine based on a linear slide rail and a motor swing mechanism as described in claim 1, wherein, The base is set on a mobile platform with a tracked or wheeled drive structure, which can move autonomously in the field environment to carry out fruit harvesting operations.

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