CN108207330B

CN108207330B - Artificially-assisted fruit picking device

Info

Publication number: CN108207330B
Application number: CN201810143013.2A
Authority: CN
Inventors: 李航锋; 项四通; 王一商; 吴铖洋; 阮铃俐; 孙江
Original assignee: Ningbo University
Current assignee: Ningbo University
Priority date: 2018-02-11
Filing date: 2018-02-11
Publication date: 2021-03-19
Anticipated expiration: 2038-02-11
Also published as: CN108207330A

Abstract

A manual-assisted fruit picker belongs to the field of fruit picking and aims to solve the problems of high labor intensity, poor quality of picked fruits and low recovery efficiency of the existing manual fruit picking, and comprises a long rod, a picking mechanism, a recovery mechanism and a rotary supporting mechanism; the picking mechanism comprises a power driving mechanism and a grabbing mechanism; the grabbing mechanism comprises a flange plate, a claw plate and three claws; the manual driving mechanism is arranged on the long rod, three claws hinged with the manual driving mechanism are uniformly distributed on the claw disc, the flange plate is arranged among the three claws, and the flange plate is fixedly connected to the output end of the manual driving mechanism; the recycling mechanism comprises a hard recycling bag, a fixed pulley, a sliding block and a recycling and recycling line wheel; the recycling take-up and pay-off wheel is installed at one end of the long rod, the fixed pulley is installed at the other end of the long rod, the sliding block is arranged on the long rod in a sliding mode along the length of the long rod, and the hard recycling bag is installed on the sliding block. The invention realizes the integrated operation of picking and recovering fruits.

Description

Artificially-assisted fruit picking device

Technical Field

The invention belongs to the field of fruit picking, and relates to a fruit picking auxiliary mechanism, in particular to a manual auxiliary fruit picker.

Background

Fruit picking is always a difficult problem which troubles fruit growers, and is directly related to the quality of fruits. Due to the terrain, the multifunctional manual picking is not high in picking efficiency in China.

In order to reduce the picking labor intensity of fruit growers and improve the efficiency, the fruit picking device is used for picking fruits. Most of the current fruit pickers on the market are simple combinations of a long rod and scissors or claw heads, and fruits are easy to be damaged during picking, so that the quality of the fruits is influenced; meanwhile, the fruit picking range cannot be adjusted in a large range, and all-directional picking is completed by depending on the rotation and movement of the body of an operator; in the picking process, fruit growers need to lift the fruits by arms, so that the fruits growers are easy to fatigue; and the recovery efficiency is low by adopting a one-step-discharge mode during recovery. Therefore, the existing fruit picking apparatus has very limited picking function for helping fruit growers to pick fruits and still has larger lifting space.

Disclosure of Invention

The invention provides a manually-assisted fruit picker, which aims to solve the problems of high labor intensity, poor quality of picked fruits and low recovery efficiency of the existing manually picked fruits.

The technical scheme adopted by the invention for solving the problems is as follows: a manually assisted fruit picker comprises a long rod, a picking mechanism, a recovery mechanism and a rotary supporting mechanism; the picking mechanism comprises a power driving mechanism and a grabbing mechanism; the grabbing mechanism comprises a flange plate, a claw plate and three claws; one end of the long rod is connected with the rotary supporting mechanism, the other end of the long rod is provided with the grabbing mechanism, the manual driving mechanism is arranged on the long rod, three claws hinged with the long rod are uniformly distributed on the claw disc, the flange disc is arranged among the three claws, the flange disc is fixedly connected to the output end of the manual driving mechanism, and the flange disc can slide relative to the claws under the action of the power driving mechanism and drives the claws to open and close; the recycling mechanism comprises a hard recycling bag, a fixed pulley, a sliding block and a recycling and recycling line wheel; retrieve the receipts actinobacillus wheel and install the one end at the stock, the fixed pulley is installed at the other end of stock, and the sliding block is followed the length of stock and is put to the slip setting on the stock, installs the stereoplasm on the sliding block and retrieve the bag, retrieves the free end of receiving twined connection rope on the actinobacillus wheel and walks around behind the fixed pulley rigid coupling on the sliding block.

Furthermore, the power driving mechanism comprises a transmission mechanism and a power mechanism, and the long rod is a hollow rod; the transmission mechanism comprises a connecting rod, a hollow rotating body, a spiral body, a bearing, a pull rod strip, a spring I, a spring II and a base; the long rod is a hollow rod, and the rotating body, the spiral body, the bearing, the pull rod strip, the spring I and the base are all arranged in the inner cavity of the long rod;

the base is fixedly arranged on the inner wall of the long rod, the spiral body is fixedly arranged on the base, the spiral body and the long rod are coaxially arranged, the hollow rotating body is fixedly arranged on an inner ring of the bearing, the hollow rotating body is in rotating fit with the spiral body, one end of the connecting rod is fixedly connected with the hollow rotating body, the other end of the connecting rod penetrates through the claw disc and is fixedly connected with the flange plate, the pull rod penetrates through the base and is fixedly connected with an outer ring of the bearing, a spring I which is in contact with the claw disc and the base is arranged between the claw disc and the base, the spring I is sleeved on the rotating body, the spiral body, the bearing and the outer side of the pull rod, a spring.

Furthermore, the power mechanism comprises a picking and paying-off wheel and a fixed pulley II, the fixed pulley II is installed on the long rod, and the free end of a connecting rope wound on the picking and paying-off wheel bypasses the fixed pulley II and penetrates through the long rod to be connected with the pull rod strip.

Further, the rotary supporting mechanism comprises a swinging disk, a short rod, a connector and a strap; the short rod is a hollow rod; the swing disc is hinged to the connector, the short rod is inserted on the swing rod and can rotate relative to the swing rod, a buckle groove is machined in the circumferential direction of the swing disc, the short rod is fixed through a buckle piece clamped in the buckle groove, one end of the long rod is inserted into the swing rod, and the straps are installed on the connector.

Furthermore, the root of each claw is provided with a long strip sliding hole which is obliquely arranged, and when the three claws are closed, the intersection point of the extension lines of the length directions of the three long strip sliding holes is positioned in a cavity surrounded by the closed three claws.

Compared with the prior art, the invention has the beneficial effects that: the fruit picking and recovering integrated machine has the design of two mechanisms of picking and recovering, not only can singly realize the fruit recovering work or the single fruit picking work, but also can transfer the picked fruits to the fruit recovering bag to realize the picking and recovering integrated operation of the fruits. The labor intensity of workers is reduced, the quality of picked fruits is guaranteed, the recovery efficiency is greatly improved, and the recovery efficiency is improved by 60-75%.

When fruits are picked, the connecting rope is driven by the picking and releasing line wheel to tighten the claws, and then the whole grabbing mechanism rotates downwards through the matching of the rotating body and the spiral body, so that a picking process is realized. When fruit is retrieved, just to a cleft hand of retrieving the bag among the three cleft hand than short and narrow, do benefit to in fruit rolls from this direction and falls to the recovery bag, and the recovery bag is automatic downwards along the stock through the sliding block after bearing certain weight, and after taking out the fruit in the recovery bag, the recovery bag is automatic upwards, and this automatic process is realized through retrieving the clockwork spring regulator in the receipts actinobacillus wheel.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a grasping mechanism;

FIG. 3 is a schematic view of the interconnection of the gripping mechanism, the rotating body, the screw and the bearing;

FIG. 4 is a schematic view of the connection of the gripping mechanism and the transfer mechanism;

FIG. 5 is a schematic view of the interconnection of the wobble plate, the stub bar and the connector;

fig. 6 is a schematic view of the rotation support mechanism.

Detailed Description

The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.

As shown in fig. 1 and 2, a manually assisted fruit picker comprises a long rod 13, a picking mechanism, a recovery mechanism and a rotary support mechanism B;

the picking mechanism comprises a power driving mechanism A and a grabbing mechanism; the grabbing mechanism comprises a flange plate 2, a claw plate 3 and three claws 1; one end of the long rod 13 is connected with the rotary supporting mechanism, the other end of the long rod 13 is provided with the grabbing mechanism, the manual driving mechanism is arranged on the long rod 13, three claws 1 hinged with the claw disk 3 are evenly distributed on the claw disk 3, the flange plate 2 is arranged among the three claws 1, the flange plate 2 is fixedly connected with the output end of the manual driving mechanism, and the flange plate 2 can slide relative to the claws 1 under the action of the power driving mechanism A and drive the claws 1 to open and close;

the recycling mechanism comprises a hard recycling bag 7, a fixed pulley I4, a sliding block 15 and a recycling and paying-off wheel 10; retrieve receipts actinobacillus wheel 10 and install the one end at stock 13, and fixed pulley I4 installs the other end at stock 13, and sliding block 15 is followed the length of stock 13 and is put to the slip setting on stock 13, installs stereoplasm recovery bag 7 on the sliding block 15, retrieves the rigid coupling on fixed pulley I4 back rigid coupling on sliding block 15 of going up the winding connection rope of receipts actinobacillus wheel 10.

Utilize power drive mechanism A drive ring flange 2 motion in this embodiment, and then realize that cleft hand 1 opens and shuts, accomplish the harvesting of fruit. The rigid recovery bag 7 ensures that the recovered fruit can bear a certain weight.

Referring to fig. 3 and 4, in order to ensure the reliability of movement and improve picking efficiency, the power driving mechanism a comprises a transmission mechanism and a power mechanism C, and the long rod 13 is a hollow rod;

the transmission mechanism comprises a connecting rod 50, a hollow rotating body 51, a spiral body 56, a bearing 55, a pull rod strip 54, a spring I52, a spring II53 and a base 57; the long rod 13 is a hollow rod, and the rotating body 51, the spiral body 56, the bearing 55, the pull rod 54, the spring I52 and the base 57 are all arranged in the inner cavity of the long rod 13;

the base 57 is fixedly arranged on the inner wall of the long rod 13, the spiral body 56 is fixedly arranged on the base 57, the spiral body 56 and the long rod 13 are coaxially arranged, the hollow rotating body 51 is fixedly arranged on an inner ring of the bearing 55, the hollow rotating body 51 is in rotating fit with the spiral body 56, one end of the connecting rod 50 is fixedly connected with the hollow rotating body 51, the other end of the connecting rod 50 penetrates through the claw disc 3 and is fixedly connected with the flange plate 2, the pull rod strip 54 penetrates through the base 57 and is fixedly connected with an outer ring of the bearing 55, a spring I52 which is in contact with the claw disc 3 and the base 57 is arranged between the claw disc 3 and the base 57, the spring I52 is sleeved on the outer sides of the rotating body 51, the spiral body 56, the bearing 55 and the pull rod strip 54, the connecting rod 50 is sleeved. In the above embodiment, in order to ensure that the power mechanism C can ensure the stable and reliable operation of the transfer mechanism, preferably, the power mechanism C comprises a picking take-up and pay-off wheel 9 and a fixed pulley II8, the fixed pulley II8 is mounted on the long rod 13, and the free end of the connecting rope wound on the picking take-up and pay-off wheel 9 bypasses the fixed pulley II8 and passes through the long rod 13 to be connected with the pull rod 54. Sliding block 15 slides and sets up on the inner wall of stock 13 in this embodiment, and the accessible arranges rectangular guide rail along length direction on stock 13 inner wall, and sliding block 15 slides and sets up on the guide rail to corresponding sliding block 15 department at stock 13 sets up the open slot along stock length direction, descends or rises in order to satisfy the step-down of sliding block 15 and stereoplasm recovery bag 7.

When picking fruits in the scheme, generally, a wire rewinding device or a wire unwinding device in the conventional technology is adopted for the picking and wire unwinding wheel 9, a hand wheel of the picking and wire unwinding wheel 9 rotates to drive the connecting rope to pull the pull rod strip 54 to move downwards and drive the bearing 55 to move downwards, the rotating body 51 is in rotating fit with the spiral rod 56, at the moment, the rotating body 51 rotates around the spiral body 56 while moving downwards, the rotating body 51 drives the connecting rod 50, the flange plate 2 and the claw disc 3 to rotate downwards and synchronously, and the flange plate 2 can slide on the claw hand 1, so the flange plate 2 can drive the three claw hands 1 to fold to pick fruits, in the process, the spring I52 and the spring II53 are compressed, however, the compression amount (rebound force) of the spring I52 is greater than that of the spring II53, after one fruit is picked, the elastic action of the spring I52 is stronger than that of the spring II53, therefore, the hand wheel of the picking and paying-off wheel 9 is loosened, the spring I52 pushes the claw disc 3 to move upwards, the rotating body 51 rotates reversely and also moves upwards, the connecting rod 50 is further driven to move upwards, the flange plate 2 is pushed to move upwards, the flange plate 2 pushes the three claws 1 to open in the process of sliding on the claws 1, then the fruit is released, one claw 1 of the three claws 1, which is opposite to the hard recovery bag 7, is shorter and narrower, the fruit rolls down into the hard recovery bag 7 from the direction to complete one-time picking and recovery, and the steps are repeated until the hard recovery bag 7 is not enough to bear the weight of the fruit, generally, the recovery and paying-off wheel 10 is a conventional cash collector or paying-off device with a spring regulator, the hand wheel of the recovery and paying-off wheel 10 is released, at the moment, the hard recovery bag 7 moves downwards along the long rod 13 by means of the sliding block 15 under the weight of the fruit, after the fruit, the recycling bag is driven by a connecting rope to move upwards to a preset position under the rotation of a hand wheel, and primary recycling is completed.

Referring to fig. 1, 5 and 6, an orchard which is flat and mountain forest in order to adapt to a working operation environment is illustrated. The embodiment designs a set of rotation supporting mechanism which is convenient to use and carry based on the Cartesian principle, and the rotation supporting mechanism B comprises a swinging disc 12-1, a short rod 12-2, a connector 12-3 and a strap 12-4; the short rod 12-2 is a hollow rod; the swinging disc 12-1 is hinged with the connector 12-3, the short rod 12-2 is inserted on the swinging rod 12-1 and can rotate relatively, a buckling groove 12-6 is processed on the swinging disc 12-1 along the circumferential direction, the short rod 12-2 is fixed by a buckling piece 12-5 clamped in the buckling groove 12-6, one end of the long rod 13 is inserted into the swinging rod 12-1, and the strap 12-4 is installed on the connector 12-3. One end of the fastening piece 12-5 in the scheme is a plug-in rod capable of being inserted into the fastening groove 12-6, and the other end of the fastening piece adopts a structure of a clamping piece and a bolt or a pin shaft, and specifically comprises the following steps: the plug-in rod of the fastener 12-5 is inserted into the fastener groove 12-6, and the card is provided with a through hole and is positioned in the positioning hole of the short rod 12-2 by penetrating a bolt or a pin shaft, so that the short rod 12-2 is fixed on the swing disc 12-1 by the fastener 12-5. When the short rod 12-2 needs to be moved, the buckling piece 12-5 is detached from the short rod 12-2 and the buckling groove 12-6, the short rod 12-2 is rotated to the position of the other buckling groove 12-6 around the swinging disc 12-1, the inserting rod of the buckling piece 12-5 is repeatedly fixed in the buckling groove 12-6, the bolt or the pin shaft is positioned in the positioning hole in the short rod 12-2 to complete the positioning of the other position, the swinging rod 12-1 can rotate around the connector 12-3, the long rod 13 is fixed in the short rod 12-2, and further the adjustment of the multi-angle working area of the long rod 13 in the vertical direction, the left direction and the right direction is realized.

Before picking fruits, the labor-saving braces 12-4 are worn, so that the weight of the whole machine can be uniformly distributed on the shoulders and the whole body of a user, and hands of a fruit grower are liberated to a certain extent. And then a Cartesian type swinging disc 12-1, a short rod 12-2, a connector 12-3 and a corresponding fastener 12-5 component are installed, the Cartesian type regulator has two different degrees of freedom, large-area working areas in the left direction, the right direction and the upper direction and the lower direction can be realized, and meanwhile, on the swinging disc 12-1, a Cartesian curve is formed, so that the main rod can be smoothly adjusted up and down, and meanwhile, the rotating type swinging disc also has certain positioning capacity, and the picking range is wider.

Referring to fig. 3 and 4, for convenience of operation and ensuring reliable operation of the connection rope on the bearing 55, the pull rod strip 54 is a "shape rod", the long arm end of the pull rod strip 54 is fixedly connected with the outer ring of the bearing 55, and the free end of the connection rope wound on the take-up and pay-off wheel II9 is connected with the short arm end of the pull rod strip 54. So set up, during the use, connect the rope and can not form with stock 13 and interfere, guarantee to move smoothly. The number of the pull rod strips 54 is three, and the pull rod strips 54 are uniformly distributed on the outer ring of the bearing 55. So set up, three pull rod strips 54 realize bearing 55's stable smooth operation under the drive of connecting the rope pulling.

In the above embodiments, the claw 1 is used to pick fruit. The root of each claw 1 is provided with a long sliding hole 1-1, the long sliding holes 1-1 are obliquely arranged, and when the three claws 1 are closed, the intersection point of the extension lines of the length directions of the three long sliding holes 1-1 is positioned in a cavity formed by the closed three claws 1. So set up, guarantee that fruit picking can reliably be accomplished. In the above embodiments, the hard recycling bags 7 are preferably cut from an oval shell or a cylindrical shell at an angle of 45 degrees. So set up, the point-shaped opening of stereoplasm recovery bag 7 is towards the shorter and narrow cleft hand in three cleft hand 1, and short and narrow cleft hand has great space between adjacent after expanding with other two cleft hands like this, realizes that fruit releases smoothly to in the stereoplasm recovery bag 7.

Working process

The invention discloses a manually-assisted efficient labor-saving fruit picker, and relates to an easily-worn labor-saving brace, a Cartesian large-space regulator (a structure mainly comprising a swinging disc 12-1, a short rod 12-2 and a connector 12-3), a lotus-shaped protection claw and a hard recovery bag. The working and operating environment is flat ground and mountain forest (herein refers to orchard). The labor-saving braces are worn before fruit picking is started, so that the weight of the whole instrument can be uniformly distributed on the shoulders and the whole body of a user, and hands of a fruit grower are liberated to a certain degree. The large-space Cartesian regulator and other parts are installed, the regulator has two different degrees of freedom, a large-area working area in the left direction, the right direction and the upper direction and the lower direction can be achieved, meanwhile, on the swinging disc 12-1, a Cartesian curve is formed, the main rod can be adjusted smoothly in the upper direction and the lower direction, and meanwhile, the large-space Cartesian regulator and other parts also have certain positioning capacity, so that the picking range is wider. When a worker picks fruits, the hand wheel of the claw head is firstly rotated anticlockwise by the right hand, and the three claws are driven to be tightened up through the flange under the driving of the rope force, so that the first descending motion process is completed. And continuing to rotate the claw head hand wheel anticlockwise to finish the process of descending and rotating at the same time, so that the fruit is separated from the trunk of the fruit tree. The claw head hand wheel is loosened, the claws return to the original positions, one of the three claws is different from the other two claws, and the angle of the three claws is designed to be certain, so that the fruits can smoothly fall into the hard recovery bag mechanism, after the weight of the fruits in the hard recovery bag mechanism exceeds a preset value, the recovery take-up and pay-off wheel 10 can rotate the loosening rope to enable the recovery bag to descend, the hard recovery bag 7 is connected with the sliding block and slides downwards from top to bottom through the sliding rail, the movement of the bag is controlled by the automatic recovery take-up and pay-off wheel 10 at the bottom, the rope connection is used for transmitting force, when the fruits in the bag are emptied, the hard recovery bag 7 can return to the original position through rotating the recovery take-up and pay-off wheel 10 by a left.

The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.

Claims

1. The utility model provides a ware is picked to artifical supplementary fruit which characterized in that: it comprises a long rod (13), a picking mechanism, a recovery mechanism and a rotary supporting mechanism (B);

the picking mechanism comprises a power driving mechanism (A) and a grabbing mechanism; the grabbing mechanism comprises a flange plate (2), a claw plate (3) and three claws (1); one end of the long rod (13) is connected with the rotary supporting mechanism, the other end of the long rod (13) is provided with the grabbing mechanism, the manual driving mechanism is installed on the long rod (13), three claws (1) hinged with the long rod are uniformly distributed on the claw disc (3), the flange disc (2) is arranged among the three claws (1), the flange disc (2) is fixedly connected with the output end of the manual driving mechanism, and the flange disc (2) can slide relative to the claws (1) under the action of the power driving mechanism (A) and drives the claws (1) to open and close;

the recycling mechanism comprises a hard recycling bag (7), a fixed pulley I (4), a sliding block (15) and a recycling and paying-off wheel (10); the recycling take-up and pay-off wheel (10) is installed at one end of the long rod (13), the fixed pulley I (4) is installed at the other end of the long rod (13), the sliding block (15) is arranged on the long rod (13) in a sliding mode along the length of the long rod (13), the hard recycling bag (7) is installed on the sliding block (15), and the free end of a connecting rope wound on the recycling take-up and pay-off wheel (10) bypasses the fixed pulley I (4) and then is fixedly connected onto the sliding block (15);

the rotary supporting mechanism (B) comprises a swinging disk (12-1), a short rod (12-2), a connector (12-3) and a strap (12-4); the short rod (12-2) is a hollow rod; the swing disc (12-1) is hinged with the connector (12-3), the short rod (12-2) is inserted on the swing disc (12-1) and can rotate relative to the swing disc, a buckle groove (12-6) is machined on the swing disc (12-1) along the circumferential direction, the short rod (12-2) is fixed through a buckle piece (12-5) clamped in the buckle groove (12-6), one end of the long rod (13) is inserted into the short rod (12-2), and the shoulder strap (12-4) is installed on the connector (12-3).

2. The artificially assisted fruit picker according to claim 1, wherein: the power driving mechanism (A) comprises a transmission mechanism and a power mechanism (C), and the long rod (13) is a hollow rod;

the transmission mechanism comprises a connecting rod (50), a hollow rotating body (51), a spiral body (56), a bearing (55), a pull rod strip (54), a spring I (52), a spring II (53) and a base (57); the long rod (13) is a hollow rod, and the rotating body (51), the spiral body (56), the bearing (55), the pull rod strip (54), the spring I (52) and the base (57) are all arranged in the inner cavity of the long rod (13);

the base (57) is fixedly arranged on the inner wall of the long rod (13), the spiral body (56) is fixedly arranged on the base (57), the spiral body (56) and the long rod (13) are coaxially arranged, the hollow rotating body (51) is fixedly arranged on the inner ring of the bearing (55), the hollow rotating body (51) is in rotary fit with the spiral body (56), one end of the connecting rod (50) is fixedly connected with the hollow rotating body (51), the other end of the connecting rod (50) penetrates through the claw disc (3) and is fixedly connected with the flange plate (2), the pull rod strip (54) penetrates through the base (57) and is fixedly connected with the outer ring of the bearing (55), a spring I (52) which is in contact with the claw disc (3) and the base (57) is arranged between the claw disc (3) and the base, the spring I (52) is sleeved on the outer sides of the rotating body (51), the bearing (55) and the pull rod strip (54), a spring II (53) is sleeved on the connecting rod (50), the output end of the power mechanism (C) is connected with the pull rod strip (54).

3. An artificially assisted fruit picker according to claim 2, wherein: power unit (C) is including picking receipts actinobacillus wheel (9) and fixed pulley II (8), and fixed pulley II (8) are installed on stock (13), picks the free end of the connection rope of winding on receipts actinobacillus wheel (9) and walks around fixed pulley II (8) and pass stock (13) and be connected with draw bar (54).

4. An artificially assisted fruit picker according to claim 2 or 3, wherein: the pull rod strip (54) is a 'shaped rod', the end part of the long arm of the pull rod strip (54) is fixedly connected with the outer ring of the bearing (55), and the free end of the connecting rope wound on the take-up and pay-off wheel II (9) is connected with the end part of the short arm of the pull rod strip (54).

5. The artificially assisted fruit picker according to claim 4, wherein: the root of each claw hand (1) is provided with a long sliding hole (1-1), the long sliding holes (1-1) are obliquely arranged, and when the three claw hands (1) are closed, the intersection point of the extension lines of the length directions of the three long sliding holes (1-1) is positioned in a cavity surrounded by the closed three claw hands (1).

6. An artificially assisted fruit picker according to claim 5, wherein: the hard recycling bag (7) is formed by cutting an elliptical shell or a cylindrical shell at an angle of 45 degrees.

7. An artificially assisted fruit picker according to claim 2 or 3, wherein: the number of the pull rod strips (54) is three, and the pull rod strips (54) are uniformly distributed on the outer ring of the bearing 55.

8. The artificially assisted fruit picker according to claim 7, wherein: the hard recycling bag (7) is formed by cutting an elliptical shell or a cylindrical shell at an angle of 45 degrees.