CN111406514B

CN111406514B - Rotary fruit picker

Info

Publication number: CN111406514B
Application number: CN202010471259.XA
Authority: CN
Inventors: 罗章平
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2025-03-18
Anticipated expiration: 2040-05-28
Also published as: CN111406514A

Abstract

The present invention relates to agricultural machinery, and specifically to a rotary-cutting fruit picking machine. The existing technical problems are solved, and the defects of the existing fruit picking tools, such as the inability to automatically distinguish between fruits, thick branches and fruit stalks, causing accidental damage to thick branches and fruits, low efficiency, and inaccurate fruit reception, etc., are targeted. The technical solution of the present invention is: a fruit picking machine has flexible rotation, automatic identification of fruits, thick branches and fruit stalks, no damage to fruits and thick branches, and can pick multiple fruits at one time, with high speed, high efficiency, and time and labor saving. In addition, the present invention is equipped with a control box with built-in fruit shape recognition software and color recognition system in the memory plus a lifting and moving system. The mobile system is like a motor vehicle, and the whole is computer-controlled to become a fruit picking robot, which realizes automatic movement, lifting, automatic identification, automatic fruit picking, automatic entry of fruits into fruit baskets, automatic loading, etc.

Description

Rotary-cut fruit picker

Technical Field

The invention relates to agricultural machinery, in particular to a rotary-cut fruit picker.

Background

Fruits (or called fruits) are other fruits besides general fruits, such as oil tea fruits, medicinal fruits, seasoning fruits and the like, basically the fruits are mixed with branches and leaves and are not picked well, most of the fruits are manual at present, and the fruits are time-consuming and labor-consuming and have low efficiency. Some fruit picking devices are used, for example, a long rod is used, scissors are arranged at the upper end of the long rod, a cloth bag is arranged below the scissors, and then a pull wire is used for realizing shearing action, however, the scissors are easy to damage fruits, and the cloth bag cannot completely catch fallen fruits.

The patent number is 2016106069349, which is realized by a cylindrical net frame enclosed by steel plates and net bags arranged at the bottom of the net frame, wherein more than 2 open grooves are arranged at the upper edge of the net frame. The shearing plate is provided with a shearing opening corresponding to the opening groove of the net rack, and the shearing action is realized through a stay wire connecting handle. Although some improvements exist, the design has some defects that the net rack and the shearing plate are in close contact to have a good shearing effect, otherwise, fruit stalks are difficult to shear, the friction force is increased due to the close contact, the rotation and the reset are not easy, the shearing speed is low, the efficiency is low, the shearing plate is exposed, the hand is easy to injure when touching, the fruit peel is scratched, the connecting rod is approximately vertical to the net rack, and the fruits are easy to drop out of the net bag when the fruits are picked vertically.

Disclosure of Invention

The invention solves the existing technical problems, and aims at solving the defects of the existing fruit picking device, such as inaccurate fruit receiving and low efficiency due to accidental injury of the coarse branches and the fruits caused by incapability of automatically distinguishing the fruits, the coarse branches and the fruit stalks.

The rotary-cut fruit picker has the technical scheme that the rotary-cut fruit picker is flexible in rotation, automatically identifies fruits, thick branches and fruit stalks, does not damage the fruits and the thick branches, can pick a plurality of fruits at one time, and is high in speed and efficiency, and time-saving and labor-saving. In addition, the invention is provided with a control box, a lifting and moving system is additionally arranged in a memory of the circuit, and the moving system such as a motor vehicle is integrally controlled by a computer to become a fruit picking robot, so that automatic movement, lifting, automatic identification, automatic fruit picking, automatic fruit entering into a fruit basket, automatic loading and the like are realized.

The rotary-cut fruit picker of the invention comprises a cylindrical shell (comprising a cylindrical barrel and a conical barrel

The fruit picking head comprises a fruit picking head, a cylindrical knife rest sleeved on a shell, and a blade fixed at the upper end of the knife rest, wherein the knife rest and the shell can rotate relatively, a plurality of bent teeth are arranged at the end part of the cylindrical shell of the fruit picking head, gaps are reserved among the bent teeth, the fruit handles can enter the gaps when picking fruits, the width of the gaps is determined by the fruit handles of the fruits which are specifically picked, the gap is required to be weaker than the fruit handles of the fruits which are picked, so that the fruits and thick branches can not enter the gaps, only the fruit handles and smaller branches can enter when picking, the fruit picking head is controlled by a person or identified by a computer, basically only picks fruits, and is equivalent to automatically distinguishing the fruit handles, the initial position of the blade fixed on the knife rest is in the bent teeth, and has proper gaps for free rotation, the blade can be positioned in the bent teeth, so that the blade is not exposed and protected by the bent teeth, the fruit picking head is not damaged by the hands, and can not be damaged by the fruit picking heads when the hands are contacted, in the bent teeth, in addition, gaps are reserved for the movement of the blade, thus resistance is reduced, the rotation is flexible, when the fruits and the knife rest is in touch with the bent teeth, and the bent teeth can be driven by the cutter blades, and the cutter blades can be easily and driven by the cutter blades through the shell.

An inner lining ring is arranged on the inner side of the shell, the position of the tool post corresponds to that of the tool post, the outer side of the lining ring is provided with an arc

The inner side of the tool rest is also provided with a corresponding arc-shaped inner groove, the corresponding position of the shell in the middle is provided with a plurality of cylindrical sleeve holes, spherical steel balls with the diameters smaller than the diameters of the sleeve holes are arranged in the corresponding positions, exposed parts of the steel balls on two sides of the sleeve holes are respectively positioned in the outer groove and the inner groove, and the steel balls are corresponding to the outer groove, the sleeve holes and the inner groove in shape and size and movably sleeve the tool rest, the shell and the inner sleeve together. The steel balls roll among the three, so that friction among the three is reduced, and the fruit picking efficiency is further improved.

In the preferred proposal, the side surface of the fruit picking head is provided with a handle, the bottom is provided with a bottom plate which is matched with the outer part

The shell forms the whole of the rotary-cut fruit picker. In some cases, the fruit trees are not high, long connecting rods such as peppers and tomatoes are not needed, at the moment, the diameter of the fruit picking heads is increased, the bottom plate is increased to become a fruit picking basket or the whole fruit picking machine, and the handles are additionally arranged on the side surfaces of the fruit picking basket or the whole fruit picking machine, so that manual operation is facilitated.

The angle formed by the bent teeth and the blades and the central line of the fruit picking head is consistent and kept between 0 and 90

The degree is within. The angle between the blade and the central line (or central axis) of the fruit picking head is kept consistent, and according to the specific condition of the picked fruits, the angle can be 0 degree, namely the fruit inlet is straight cylindrical, the whole fruit picking head is straight, can be in an inner curve shape with a certain angle, can also be vertical to the central axis, and can ensure that the picked fruits fall into the basket only by correctly grasping the direction during operation under all angles.

The driving mechanism is coupled with a driving gear connected with a motor by a driven gear arranged outside the tool rest

The motor is powered by a battery and controlled by circuitry in the control box. The fruit picking speed is greatly improved by driving the motor, the motor is powered by the rechargeable battery and controlled by a circuit in the control box, the driving gear on the motor drives the driven gear on the outer side of the knife rest to rotate, and two rotation modes are adopted, one is that the knife rest rotates unidirectionally around the shell, the other is that the knife rest rotates back and forth around the shell, and the other is that the knife rest preferably rotates back and forth around the shell, so that two knives can cut back and forth for a certain fruit handle.

The side face of the fruit picking head is provided with a camera and a corresponding irradiation lamp. In the control box outside the fruit picking head

The internal memory is internally provided with fruit shape recognition software and a color recognition system. The whole bottom of the rotary-cut fruit picker can be fixed on the lifting moving system. The advantage of installing the irradiation lamp on the fruit picking head is that certain tree species are thick, irradiation is more visible, certain tree stems are too high for the purpose of installing the camera, and the state of picked fruits can be seen clearly through the display screen arranged at the lower end. The rotary-cut fruit picker can be manually operated in a back-to-back mode, and can be integrally arranged on a lifting moving system, and the existing lifting moving system can be used only by slightly improving, for example, a forklift is provided with a lifting device, and the rotary-cut fruit picker can be moved by being a vehicle and combining the rotary-cut fruit picker technology with the forklift technology. And the fruit shape recognition software and the color recognition system are installed, the fruit or the leaf can be recognized through the shape, and the maturity of the fruit can be recognized through the color, so that automatic fruit picking can be realized, namely, a robot is used for picking.

The bottom of the fruit picking head is provided with an inverted cone pipe, the bottom of the inverted cone pipe is connected with a cylindrical rod, and the cylinder

The end of the shape rod is connected with the fruit basket. The design is to pick by using a manual operation machine under the condition that a large machine is inconvenient to enter a fruit forest, and the bottom of the fruit picking head is provided with a reverse taper pipe under the condition that the diameter of the fruit picking head is large and then is connected with a cylindrical rod, the cylindrical rod is used as an operation handle and also used as a fruit flow channel, the tail end of the cylindrical rod is connected with a fruit basket, and picked fruits can directly enter the fruit basket.

The driving mechanism consists of a reset spring arranged on the fruit picking head, a pull wire and a handle fixed on the cylindrical rod, one end of the pull wire is fixed on a protrusion of the cutter frame, the handle is connected to the pulley of the cylindrical rod through the shell of the fruit picking head, the inverted taper pipe and the pulley of the cylindrical rod, the cutter frame can be driven to rotate by the pull wire to release the handle, and the reset spring enables the cutter frame to reset. Sometimes, the picking task can be finished through a reset spring, a stay wire, a handle and the like without electric power.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the following description is only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is an external perspective view of a rotary-cut type fruit picker provided in a preferred embodiment of the present invention;

FIG. 2 is a perspective view of the appearance of a rotary-cut fruit picker with the motor drive housing removed in accordance with a preferred embodiment of the present invention;

FIG. 3 is a top perspective view of FIG. 2 in a preferred embodiment of the present invention;

FIG. 4 is a schematic perspective view in cross-section of FIG. 2 along a centerline in a preferred embodiment of the invention;

FIG. 5 is an enlarged partial cross-sectional view of the relationship of a bent tooth to a blade in a preferred embodiment of the invention;

Fig. 6 is a schematic cross-sectional view of fig. 2 taken along the sphere center of all rolling balls in a preferred embodiment of the present invention;

FIG. 7 is a schematic view of the portion of FIG. 2 taken longitudinally along a center of a ball of the rolling ball in accordance with a preferred embodiment of the present invention;

FIG. 8 is a schematic view of the steel ball of FIG. 7 removed in a preferred embodiment of the invention;

FIG. 9 is a schematic view showing the positional relationship of the tool holder, the blade and the steel ball in a preferred embodiment of the invention;

FIG. 10 is a schematic view of the appearance of a picking head with 0 degrees of angle formed by the curved teeth and blades with the centerline of the picking head in a preferred embodiment of the invention;

FIG. 11 is a schematic view of the appearance of a picking head with curved teeth and blades forming an angle of 90 degrees with the centerline of the picking head in a preferred embodiment of the invention;

FIG. 12 is a perspective view of the whole machine of the drive mechanism of the preferred embodiment of the present invention, comprising a return spring provided on the fruit picking head, a pull wire and a pull handle fixed on a cylindrical rod;

Fig. 13 is an enlarged schematic view of the portion of the fruit picking head of fig. 12 in a preferred embodiment of the invention.

The components in the figures are marked:

The fruit picking head 1, a bottom plate 11, a knife rest 2, a knife blade 21, a driven gear 22, an inner groove 23, a reset spring 24, a shell 3, a curved tooth 31, a gap 32, a curved tooth inner space 33, a wire wheel 34, a sleeve hole 35, a driving mechanism 4, a driving mechanism shell 41, a power switch 411, an irradiation lamp 412, a camera 413, a battery 42, a motor 43, a driving gear 44, a control box 45, a pull wire 46, a pull handle 47, a lining ring 5, an outer groove 51, a handle 6, a steel ball 7, an inverted cone 8, a cylindrical rod 9, a fruit basket 10 and a suspender 12.

Detailed Description

The description of illustrative embodiments in accordance with the principles of the present invention is intended to be read in connection with the accompanying drawings, which are to be part of the overall written description. In the description of the invention disclosed herein (including the claims section), any reference or designation of a direction or orientation of parts is for descriptive convenience only and is not limiting of the scope of the invention. For example, relative terms including upper, lower, left, right, inner, outer, far, near, etc. should be understood to refer to the orientation of the above description with respect to the drawings.

Preferably, for example, the fruit picking head 1 of the cylindrical shell 3, the cylindrical knife rest 2 sleeved on the shell 3, the knife blade 21 fixed on the upper end of the knife rest 2, the knife rest 2 and the shell 3 can rotate relatively, a plurality of curved teeth 31 are arranged at the end part of the cylindrical shell 3 of the fruit picking head 1, gaps 32 are arranged among the curved teeth 31, fruit stalks (not shown) can enter the gaps 32 during fruit picking, the initial position of the knife blade 21 fixed on the knife rest 2 is arranged in the inner spaces 33 (see figure 5) of the curved teeth, and a proper gap is reserved for free rotation of the knife blade, and a driving mechanism 4 for enabling the knife rest 2 to rotate around a central line O is arranged on the shell 3 of the fruit picking head, as can be seen in figures 1 to 5. The picking process is that the picking head 1 is close to the fruit of the fruit tree, the fruit is led to enter from the upper end opening, the edge is close to the fruit, so that the fruit stalks of the fruit can enter the gaps 32, the fruit stalks are arranged on the two edges of the bent teeth 31, the fruit and the thick branches can not enter the gaps 32, a plurality of fruit stalks can enter the gaps 32 at the same time, namely, a plurality of fruits can be picked at one time, the efficiency is improved, the driving mechanism 4 is started (for example, the switch 411 is pressed), the knife blade 21 can cut off the fruit stalks along with the rotation of the knife rest 2 when the fruit stalks enter the gaps 32, and the fruit is cut off and falls into the shell 3.

In a preferred embodiment, as shown in fig. 4 to 9, in order to enable the tool rest 2 on the fruit picking head 1 to rotate around the shell 3 more flexibly, the inner side of the shell 3 is provided with an inner lining ring 5, the position corresponds to the tool rest 2, the outer side of the inner lining ring 5 is provided with an arc-shaped outer groove 51, the inner side of the tool rest 2 is also provided with a corresponding arc-shaped inner groove 23, the corresponding position of the shell 3 positioned in the middle is provided with a plurality of cylindrical sleeve holes 35, spherical steel balls 7 with the diameters smaller than the diameter of the sleeve holes 35 are arranged in the inner grooves 23 and the outer grooves 51, the sleeve holes 35 and the inner grooves 23, and the steel balls 7 are movably sleeved with the tool rest 2, the shell 3 and the inner lining ring 5.

In the preferred embodiment, see fig. 1 to 2, the side of the picking head 1 is provided with a handle 6, the bottom is provided with a bottom plate 11, see fig. 4, which forms a rotary-cut fruit picker whole with the housing 3. In this example, the rotary-cut fruit picker can be relatively large and changed into a fruit picking basket, and the driving mechanism 4 can be in an electric mode, or can be in an additional handle and return spring mode (not shown). Is suitable for shorter tree species, such as capsicum, tomato, etc.

The angle formed by the bent teeth 31 and the blades 21 with the centre line O of the fruit picking head 1 is consistent and kept between 0 and 90 degrees according to different requirements. The 0 degree state is shown in fig. 10, the 90 degree state is shown in fig. 11, and the method of picking fruits is similar to that described above.

When the drive mechanism 4 is electrically operated, in a preferred embodiment, the drive mechanism 4 is coupled by a driven gear 22 provided on the outside of the tool holder 2 to a drive gear 44 connected to a motor 43, said motor 43 being powered by a battery 42 and controlled by an electrical circuit in a control box 45. The driven gear 22 is a small section of a complete gear, or a full circle gear, and the driving gear is similar, and a part of the gear is used in the preferred embodiment, and the electric circuit controls the motor to rotate back and forth, so that the blade 21 moves back and forth between the bent teeth 31 to cut off the fruit stalks.

The side of the picking head 1 is provided with a camera 412 and a corresponding illumination lamp 413, when the fruit tree is too high, the tree leaves are too dense and the light is too dark, we can assist us to pick fruits by means of the illumination lamp 413 and the camera 412, as shown in fig. 1, the picking head is arranged at the top end of the driving mechanism shell 41. The control box 45 at the outer side of the fruit picking head 1 is internally provided with fruit shape recognition software and a color recognition system, and the combined action of the cameras 412 can be used for differentially picking fruits and judging the maturity of the fruits, thereby laying a foundation for automatic fruit picking. The whole bottom of the rotary-cut fruit picker 1 can be fixed on a lifting and moving system, for example, the existing forklift technology is selected, and the automatic fruit picking can be completed by combining the above technologies.

Preferred examples are the manual operation of the back-straddling (or shoulder-carrying type) of the bottom of the picking head 1

The fruit basket is provided with an inverted cone pipe 8, the bottom of the inverted cone pipe 8 is connected with a cylindrical rod 9, and the tail end of the cylindrical rod 9 is connected with a fruit basket 10. The driving mechanism 4 is composed of a reset spring 24, a pull wire 46 and a pull handle 34 which are arranged on the fruit picking head 1, wherein the pull handle 34 is fixed on the cylindrical rod 9, one end of the pull wire 46 is fixed on a protrusion of the knife rest 2, the shell 3 of the fruit picking head 1, the inverted cone 8 and the pulley 34 of the cylindrical rod 9 are connected to the pull handle 47 again, the pull handle 47 pulls, the knife rest 2 can be driven to rotate through the pull wire 46, the pull handle 47 is released, and the reset spring 24 enables the knife rest to reset. The two ends of the belt are tied on the braces 12, so that the shoulder-carried integral rotary-cut fruit picker can be used, and the fruit picker is convenient and practical.

The drawings illustrate preferred embodiments of the present invention, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.

In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.

Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims

1. A rotary fruit picking machine, comprising a fruit picking head with a cylindrical shell, a cylindrical tool holder mounted on the shell, and a blade fixed to the upper end of the tool holder, wherein the tool holder and the shell can rotate relative to each other, and is characterized in that: a plurality of curved teeth are provided at the end of the cylindrical shell of the fruit picking head, and there are gaps between the curved teeth, and when picking fruits, the fruit handles can enter the gaps; the width of the gaps is determined by the handles of the specific fruits to be picked; the initial position of the blade fixed to the tool holder is in the space inside the curved teeth and there is an appropriate gap for it to rotate freely; a driving mechanism for rotating the tool holder is provided on the shell of the fruit picking head; the angles formed by the curved teeth and the blades are consistent with the center line of the fruit picking head, and the inner curve with a certain angle is maintained within a range greater than 0 degrees and less than or equal to 90 degrees.

2. The rotary fruit picker according to claim 1 is characterized in that: an inner lining ring is provided on the inner side of the outer shell, and its position corresponds to that of the tool holder, an arc-shaped outer groove is provided on the outer side of the inner lining ring, and a corresponding arc-shaped inner groove is also provided on the inner side of the tool holder, and a plurality of cylindrical sleeve holes are provided at corresponding positions in the middle of the outer shell, and spherical steel balls with a diameter smaller than that of the sleeve holes are built in them, and the exposed parts of the steel balls on both sides of the sleeve holes are respectively located in the outer groove and the inner groove, and the steel balls correspond to the shapes and sizes of the outer groove, the sleeve holes and the inner groove, and the tool holder, the outer shell and the inner sleeve are movably connected together.

3. The rotary-cutting fruit picking machine according to claim 1 is characterized in that a handle is provided on the side of the fruit picking head and a bottom plate is provided on the bottom, forming a whole fruit picking machine with the shell.

4. The rotary fruit picker according to claim 1 is characterized in that: the driving mechanism is coupled by a driven gear provided on the outer side of the blade holder and a driving gear connected to a motor, and the motor is powered by a battery and controlled by a circuit in a control box.

5. The rotary fruit picking machine according to claim 1, characterized in that a camera and a corresponding illumination lamp are provided on the side of the fruit picking head.

6. The rotary fruit picking machine according to claim 1 or 5, characterized in that the control box outside the fruit picking head has built-in fruit shape recognition software and color recognition system in its circuit memory.

7. The rotary fruit picking machine according to claim 6, characterized in that the entire bottom of the fruit picking machine is fixed on the lifting and moving system.

8. The rotary cutting fruit picking machine according to claim 1 is characterized in that an inverted cone tube is provided at the bottom of the fruit picking head, the bottom of the inverted cone tube is connected to a cylindrical rod, and the end of the cylindrical rod is connected to a fruit basket.

9. The rotary fruit picking machine according to claim 1 is characterized in that: the driving mechanism is composed of a reset spring, a pull wire and a handle fixed on the cylindrical rod provided on the fruit picking head, one end of the pull wire is fixed to the protrusion of the tool holder, and is connected to the pull wire through the pulley of the fruit picking head shell, the inverted cone tube and the cylindrical rod. When the handle is pulled, the tool holder can be driven to rotate through the pull wire, and when the handle is released, the reset spring resets the tool holder.