CN108401665B

CN108401665B - Automatic fruit picking device

Info

Publication number: CN108401665B
Application number: CN201810444256.XA
Authority: CN
Inventors: 邢鲁超
Original assignee: Binzhou University
Current assignee: Binzhou University
Priority date: 2018-05-10
Filing date: 2018-05-10
Publication date: 2023-05-16
Anticipated expiration: 2038-05-10
Also published as: CN108401665A

Abstract

The present invention provides an automatic fruit picker comprising: a main body bar frame; the spiral push rod mechanism is arranged in the main body rod frame; the picking claw is connected with one end of the main body rod frame and is used for picking fruits in a retractable and rotary mode; one end of the reset mechanism is connected with the picking claw, and the other end of the reset mechanism is connected with the spiral push rod mechanism; the transmission mechanism is connected with the picking claw and is arranged between the main body rod frame and the power mechanism; the power mechanism is respectively connected with the transmission mechanism and the spiral push rod mechanism, and is arranged at the other end of the main body rod frame; and the control device is electrically connected with the power mechanism and is used for controlling the start and stop of the power mechanism. According to the technical scheme, the picking and collecting device is simple to operate and convenient to carry, is integrated, saves time and labor, greatly improves the picking efficiency, realizes automatic control, reduces the complicated degree of manual control, improves the integrity of fruits, and reduces the damage rate of the fruits.

Description

Automatic fruit picking device

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to an automatic fruit picker.

Background

Along with the development of agriculture, the fruit tree planting area increases, and need concentrate to pick fruit in the season of receiving, in the related art, generally adopt manual picking or pick the pole with the help of the manpower, have following technical defect:

(1) Manual picking is carried out, so that fruits growing at high positions need to be picked up by ascending a height by means of a ladder, certain dangerousness is achieved, or the fruits are picked up by means of a lifting picking platform, and the picking platform is high in price and poor in practicability.

(2) When picking by means of the manual picking rod, the picking collection is discontinuous, the picking efficiency is low, and the breakage rate of apples is high.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

To this end, it is an object of the present invention to provide an automatic fruit picker.

In order to achieve the above object, the present invention provides an automatic fruit picker, comprising: a main body bar frame; the spiral push rod mechanism is arranged in the main body rod frame; the picking claw is connected with one end of the main body rod frame and is used for picking fruits in a retractable and rotary mode; one end of the reset mechanism is connected with the picking claw, and the other end of the reset mechanism is connected with the spiral push rod mechanism and is used for resetting the picking claw and the spiral push rod mechanism so as to reset the main body rod frame; the transmission mechanism is connected with the picking claw and is arranged between the main body rod frame and the power mechanism; the power mechanism is respectively connected with the transmission mechanism and the spiral push rod mechanism, and is arranged at the other end of the main body rod frame; and the control device is electrically connected with the power mechanism and is used for controlling the start and stop of the power mechanism.

In this scheme, through main part pole frame and locate the inside spiral push rod mechanism of main part pole frame for the picking claw that one end of main part pole frame links to each other not only can slowly rotate and can carry out telescopic movement when picking fruit, has imitated manual operation to a higher extent, has reduced the manual work and has picked the physical power that consumes, has improved picking efficiency to a great extent, has improved the intact rate of picking fruit, has reduced the cost of manual work and has picked, through canceling release mechanical system, drive mechanism, power unit and controlling means, picking claw can accomplish in reasonable time and grasp and relax the action, has realized automated control, has reduced manual control's loaded down with trivial details degree.

Specifically, the control device controls the power mechanism, namely the motor to rotate forward, so as to drive the transmission mechanism to tighten, drive the picking claw to grasp fruits, the transmission mechanism continues to tighten, the main body rod frame shortens downwards, the main body rod frame rotates slowly by the internal spiral push rod mechanism in the shortening process, fruits are separated from fruit trees, the main body rod frame contracts to the lower limit position, the motor rotates forward, the motor rotates reversely, the transmission mechanism is loosened, and the reset mechanism enables the picking claw, the spiral push rod mechanism and the main body rod frame to reset.

Preferably, the screw push rod mechanism comprises: a spiral straight rod; the first rotary friction assembly is sleeved on the spiral straight rod and fixedly connected with the spiral straight rod; the second rotating friction assembly is matched with the first rotating friction assembly, the second rotating friction assembly is sleeved on the spiral straight rod and fixedly connected with the main body rod frame, and the inner peripheral side wall of the second rotating friction assembly is spaced from the outer side wall of the spiral straight rod so as to accommodate the first rotating friction assembly.

In this scheme, through the spiral straight-bar, with spiral straight-bar fixed connection and the cover locate the first rotatory friction subassembly on the spiral straight-bar, locate the second rotatory friction subassembly on the spiral straight-bar with main part pole frame fixed adapter sleeve, realized the flexible and the rotation of main part pole frame, easy operation moreover, occupation space is little, is favorable to promoting the convenience of carrying.

Preferably, the length of the screw pushing rod mechanism is 260 mm-290 mm.

In this scheme, be 260mm ~ 290mm through the length of spiral push rod mechanism, be favorable to realizing the flexible and the rotation of main part pole frame, be applicable to the general fruit tree moreover, be applicable to the fruit of picking fruit tree eminence, spiral push rod mechanism's length can be 280mm, is favorable to promoting the efficiency that fruit was picked.

Preferably, the connection part of the first rotary friction assembly and the second rotary friction assembly is in a mutually matched saw-tooth shape.

In this scheme, the junction of first rotatory friction subassembly and second rotatory friction subassembly is the cockscomb structure of mutually supporting, is favorable to realizing the slow rotation of main part pole frame to drive the slow rotation of picking claw, promote the high efficiency and the integrality that fruit was picked.

Preferably, the method further comprises: and one part of the buffer collecting device is sleeved at the bottom of the picking claw, and the other end of the buffer collecting device extends to the ground.

In this scheme, locate the bottom of picking the claw through the partial cover of buffering collection device, buffering collection device's the other end extends to ground, has realized picking and has collected the integration, has ensured the continuity of picking, has reduced the emergence of artifical ascending and has picked the phenomenon, has eliminated the potential danger of picking to a certain extent, has promoted the security that the fruit was picked.

Preferably, the buffer collecting device comprises: the lantern ring is sleeved at the bottom of the picking claw; the buffer channel is connected with the lantern ring and is internally provided with a double-layer buffer baffle; and the collecting box is connected with the buffer channel.

In this scheme, through the lantern ring of the bottom of cover locating picking claw, can reduce and loosen the back at picking claw, the fruit does not pass through the emergence of the phenomenon that buffer channel directly dropped, through the buffer channel of being connected with the lantern ring, be equipped with double-deck buffer baffle in the buffer channel, can play certain cushioning effect to the landing of fruit, be favorable to promoting the integrality of fruit, reduce the damage rate of fruit, through the collecting box of being connected with the buffer channel, can accomodate the fruit of passing through the buffer channel landing, be favorable to realizing picking and collecting the integration, ensured the continuity of picking, promoted the degree of automation of fruit picking.

Specifically, after the picking claw is loosened, fruits slide along the buffering channel and are contacted with the double-layer buffering baffle plate in the buffering channel for multiple times, so that the speed reduction buffering is realized, the fruits arrive at the collecting box at the bottom at a lower speed, the fruit picking completeness can be effectively ensured in the collecting process, the fruit peel is not damaged, and the appearance of the fruits is attractive and the fruits are easy to store.

Preferably, the length of the buffer channel is 60mm to 80mm.

In this scheme, length through the buffering passageway is 60mm ~ 80mm, has reduced the occupation to the space on the one hand, is favorable to promoting the convenience of automatic fruit picker, on the other hand, has effectively ensured the time of falling down buffering, is favorable to making fruit arrive the collection box of bottom with slower speed, can effectively guarantee that fruit is picked completely, does not destroy the peel for fruit appearance is pleasing to the eye, easily stores.

Preferably, the transmission mechanism includes: the take-up reel is arranged between the other end of the main body rod frame and the power mechanism; and one end of the steel wire rope is fixed on the winding disc and is wound by taking the steel wire rope as a starting point, and the other end of the steel wire rope is connected with the picking claw so as to control the winding and unwinding of the picking claw.

In this scheme, through take-up reel and wire rope between the other end of locating main part pole frame and the power unit, can effectually control the receive and releases of picking the claw, be favorable to realizing the flexible of main part pole frame, and then be favorable to promoting the picking efficiency of fruit.

Specifically, in picking the in-process, the motor corotation, take-up reel tighten up wire rope, wire rope drives the claw of picking and grasps the apple, wire rope continues to tighten up, main part pole frame shortens downwards, the first rotatory friction subassembly of screw push rod mechanism in the shortening process contacts mutually support with the second rotatory friction subassembly and makes main part pole frame slowly rotate, thereby drive the claw of picking slowly rotate, fruit and fruit tree separation, main part pole frame shrink to lower extreme position, the motor is reversed, wire rope is relaxed, the claw of picking and main part pole frame make its return by canceling release mechanical system, main part pole frame extends to initial position, the claw of picking is released.

Preferably, the reset mechanism comprises: a return spring connected with the spiral push rod mechanism; one end of the reset rod is connected with the reset spring, and the other end of the reset rod is connected with the base of the picking claw; a bearing is arranged at the joint of the reset spring and the reset rod; the connection part of the reset spring and the spiral push rod mechanism is provided with a rubber gasket.

In this scheme, through the reset spring who links to each other with spiral push rod mechanism, the reset lever that links to each other with reset spring, reset lever links to each other with the base of picking the claw, is favorable to realizing the reset of picking claw and main part pole frame for automatic fruit picker easy and simple to handle is equipped with the bearing through the junction of reset spring and reset lever, can play the cushioning effect to a certain extent, is equipped with rubber packing ring through the junction of reset spring and spiral push rod mechanism, can play the buffering guard action of certain degree, is favorable to promoting automatic fruit picker's whole security performance.

Preferably, the picking claw is covered with a soft protective layer; the collar is covered with a soft protective layer.

In this scheme, cover soft protective layer and lantern ring through picking the claw and cover soft protective layer, can further protect fruit, reduce the damage of fruit in picking the in-process, be favorable to guaranteeing the integrality of fruit.

Through above technical scheme, set up spiral push rod mechanism and set up buffering collection device etc. in the inside of main part pole frame for automatic fruit picker easy operation, convenient to carry pick collection as an organic whole, labour saving and time saving has greatly improved picking efficiency, has realized automated control, has reduced manual control's loaded down with trivial details degree, is equipped with double-deck buffer baffle in the buffering passageway, can play certain cushioning effect to the landing of fruit, has promoted the integrality of fruit, has reduced the damage rate of fruit.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 shows a schematic construction of an automatic fruit picker according to one embodiment of the present invention;

fig. 2 shows a schematic structural view of an automatic fruit picker according to another embodiment of the present invention;

FIG. 3 shows a schematic cross-sectional view at A-A in FIG. 2;

FIG. 4 shows an enlarged schematic view at B in FIG. 2;

fig. 5 shows a front view of the picking claw of fig. 2;

FIG. 6 shows an enlarged schematic view at C in FIG. 5;

FIG. 7 shows a side view of the picking claw of FIG. 2;

FIG. 8 shows an enlarged schematic view at D in FIG. 7;

FIG. 9 shows a schematic structural view of the screw rod mechanism of FIG. 3;

FIG. 10 shows a schematic cross-sectional view at E-E in FIG. 9;

FIG. 11 illustrates an assembled schematic view of the first and second rotary friction assemblies of FIG. 9;

FIG. 12 shows a schematic cross-sectional view of FIG. 11 at F-F;

FIG. 13 illustrates a front view of the first rotary friction assembly of FIG. 3;

FIG. 14 shows a schematic cross-sectional view at G-G of FIG. 13;

FIG. 15 shows an enlarged schematic view at H in FIG. 13;

FIG. 16 illustrates a side view of the first rotary friction assembly of FIG. 3;

FIG. 17 illustrates a front view of the second rotary friction assembly of FIG. 3;

FIG. 18 shows a schematic cross-sectional view at I-I in FIG. 17;

FIG. 19 shows an enlarged schematic view at J in FIG. 18;

FIG. 20 illustrates a side view of the second rotary friction assembly of FIG. 3;

fig. 21 shows a front view of the take-up reel of fig. 4;

FIG. 22 shows a schematic cross-sectional view at K-K in FIG. 21;

figure 23 shows a top view of the take-up reel of figure 21,

wherein, the correspondence between the reference numerals and the components in fig. 1 to 23 is:

102 main body bar frame, 104 spiral push rod mechanism, 1042 spiral straight bar, 1044 first rotary friction component, 1046 second rotary friction component, 1048 saw tooth, 106 picking claw, 1062 base, 1064 claw, 108 reset mechanism, 1082 reset spring, 1086 reset rod, 1088 bearing, 1090 rubber gasket, 110 transmission mechanism, 1102 collecting wire coil, 1104 wire rope, 112 power mechanism, 114 control device, 116 buffer collecting device, 1162 lantern ring, 1164 buffer channel, 1166 collecting box, 118 power supply box.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

An automatic fruit picker according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 23.

As shown in fig. 1 to 3, an automatic fruit picker according to an embodiment of the present invention includes: a main body bar frame 102; a screw push rod mechanism 104 provided inside the main body rod frame 102; picking claw 106 connected to one end of main body bar frame 102 for picking fruit by retraction and rotation; a reset mechanism 108, wherein one end of the reset mechanism 108 is connected with the picking claw 106, and the other end of the reset mechanism 108 is connected with the screw pushing rod mechanism 104, and is used for resetting the picking claw 106 and the screw pushing rod mechanism 104 so as to reset the main body rod frame 102; the transmission mechanism 110 is connected with the picking claw 106 and is arranged between the main body rod frame 102 and the power mechanism 112; the power mechanism 112 is respectively connected with the transmission mechanism 110 and the screw push rod mechanism 104, and the power mechanism 112 is arranged at the other end of the main body rod frame 102; and the control device 114 is electrically connected with the power mechanism 112 and is used for controlling the starting and stopping of the power mechanism 112.

In this embodiment, through main body rod frame 102 and locate the inside screw push rod mechanism 104 of main body rod frame 102 for picking claw 106 that main body rod frame 102's one end links to each other not only can slowly rotate and can carry out telescopic movement when picking fruit, has imitated manual operation to a higher extent, has reduced the manual work and has picked the physical power that consumes, has improved picking efficiency to a great extent, has improved the intact rate of picking fruit, has reduced the cost of manual work and has picked, through canceling release mechanical system 108, drive mechanism 110, power unit 112 and controlling means 114, picking claw 106 can accomplish the action of gripping and relaxing in reasonable time, has realized automated control, has reduced manual control's loaded down with trivial details degree.

The main body rod frame 102 and the screw rod mechanism 104 are connected to the first-stage screw rod mechanism 104 and the reset mechanism 108 through rod sleeves.

Specifically, the control device 114 controls the power mechanism 112, i.e. the motor to rotate forward, so as to drive the transmission mechanism 110 to tighten, drive the picking claw 106 to grasp fruits, the transmission mechanism 110 continues to tighten, the main body rod frame 102 shortens downwards, the internal screw push rod mechanism 104 slowly rotates the main body rod frame 102 in the shortening process, fruits are separated from fruit trees, the main body rod frame 102 contracts to a lower limit position, the motor stops rotating forward, the transmission mechanism 110 is loosened, and the reset mechanism 108 resets the picking claw 106, the screw push rod mechanism 104 and the main body rod frame 102.

The control device 114, the power mechanism 112 (motor) and the like are powered by a portable power supply box 118, the power supply box 118 is typically a silicon energy storage battery, the power mechanism 112 is typically a direct current motor, and the control device 114 is typically a single-chip microcomputer switch.

As shown in fig. 5-8, the picking claw 106 includes a base 1062 and a claw 1064, and the claw 1064 is movably connected to the base 1062, and the claw 1064 is one-to-one, so that the manual operation can be simulated to a higher degree.

As shown in fig. 9 to 12, the screw rod mechanism 104 includes: helical straight rod 1042; the first rotary friction component 1044 is sleeved on the spiral straight rod 1042 and fixedly connected with the spiral straight rod 1042; the second rotating friction assembly 1046 is matched with the first rotating friction assembly 1044, the second rotating friction assembly 1046 is sleeved on the spiral straight rod 1042, the second rotating friction assembly 1046 is fixedly connected with the main body rod frame 102, and the inner peripheral side wall of the second rotating friction assembly 1046 is spaced from the outer side wall of the spiral straight rod 1042 so as to accommodate the first rotating friction assembly 1044.

In this embodiment, the main body rod frame 102 is telescopic and rotatable through the spiral straight rod 1042, the first rotary friction component 1044 fixedly connected with the spiral straight rod 1042 and sleeved on the spiral straight rod 1042, and the second rotary friction component 1046 fixedly connected with the main body rod frame 102 and sleeved on the spiral straight rod 1042, and the operation is simple, the occupied space is small, and the convenience of carrying is improved.

Specifically, the first rotary friction component 1044 and the second rotary friction component 1046 have a hole similar to a rectangle but with radian, the hole can accommodate the spiral straight rod 1042, and adjacent to the hole, a circular hole can accommodate the steel wire rope 1104 to pass through, the peripheral side wall similar to the rectangle but with radian is made of rubber material and has a certain elasticity, the outer parts of the first rotary friction component 1044 and the second rotary friction component 1046 are hard plastics, when the steel wire rope 1104 drives the main body rod frame 102 to shorten downwards, i.e. when the spiral straight rod 1042 contracts downwards, the first rotary friction component 1044 is matched with the second rotary friction component 1046 so as to enable the whole to rotate, and when the upward extension returns to the original position, the whole body rod frame does not rotate.

The length of the screw pushing rod mechanism 104 is 260 mm-290 mm.

In this embodiment, the length of the screw push rod mechanism 104 is 260 mm-290 mm, which is favorable for realizing the expansion and rotation of the main body rod frame 102, and is suitable for general fruit trees, fruit at the high position of the picked fruit trees, and the length of the screw push rod mechanism 104 can be 280mm, which is favorable for improving the fruit picking efficiency.

As shown in fig. 13 to 20, the connection portion between the first rotary friction component 1044 and the second rotary friction component 1046 is in a saw tooth shape 1048 that is matched with each other.

In this embodiment, the connection portion of the first rotary friction component 1044 and the second rotary friction component 1046 is in a shape of saw teeth 1048, which is beneficial to realizing slow rotation of the main body rod frame 102, so as to drive the picking claw 106 to slowly rotate, and promote the efficiency and integrity of fruit picking.

As shown in fig. 1, the automatic fruit picker further includes: and the buffer collecting device 116 is sleeved at the bottom of the picking claw 106, and the other end of the buffer collecting device 116 extends towards the ground.

In this embodiment, through the bottom of picking claw 106 is located to the partly cover of buffering collection device 116, and buffering collection device 116's the other end extends to ground, has realized picking and has collected the integration, has ensured the continuity of picking, has reduced the emergence of artifical ascending and has picked the phenomenon, has eliminated the potential danger of picking to a certain extent, has promoted the security of fruit picking.

As shown in fig. 1, the buffer collecting device 116 includes: the lantern ring 1162 is sleeved at the bottom of the picking claw 106; the buffer channel 1164 is connected with the collar 1162, and a double-layer buffer baffle is arranged in the buffer channel 1164; the collection box 1166 is connected to the buffer channel 1164.

In this embodiment, through the lantern ring 1162 of cover locating the bottom of picking claw 106, can reduce the emergence of the phenomenon that fruit does not directly drop through buffer channel 1164 after picking claw 106 loosens, through the buffer channel 1164 of being connected with lantern ring 1162, be equipped with double-deck buffer baffle in the buffer channel 1164, can play certain cushioning effect to the landing of fruit, be favorable to promoting the integrality of fruit, reduce the damage rate of fruit, through the collection box 1166 of being connected with buffer channel 1164, can accomodate the fruit of landing via buffer channel 1164, be favorable to realizing picking and collecting the integration, the continuity of picking has been ensured, the degree of automation of fruit picking has been promoted.

Specifically, after the picking claw 106 is loosened, fruits slide down along the buffer channel 1164 and are contacted with the double-layer buffer baffle plate in the buffer channel 1164 for multiple times, so that speed reduction buffer is realized, the fruits arrive at the collecting box 1166 at the bottom at a lower speed, the fruit picking integrity can be effectively ensured in the collecting process, the fruit peel is not damaged, the appearance of the fruits is attractive, and the fruits are easy to store.

The buffer channel 1164 has a length of 60mm to 80mm.

In this embodiment, through buffer channel 1164's length for 60mm ~ 80mm, on the one hand, reduced occupation to the space, be favorable to promoting automatic fruit picker's convenience, on the other hand, effectively ensured the time of falling down buffering, be favorable to making fruit arrive the collection box 1166 of bottom with slower speed, can effectively guarantee that fruit is picked completely, do not destroy the peel for fruit appearance is pleasing to the eye, easily stores.

As shown in fig. 4 and 21 to 23, the transmission mechanism 110 includes: a take-up reel 1102 disposed between the other end of the main body bar frame 102 and the power mechanism 112; and one end of the wire rope 1104 is fixed on the take-up reel 1102 and is wound around the take-up reel 1102, and the other end of the wire rope 1104 is connected with the picking claw 106 so as to control the retraction of the picking claw 106.

In this embodiment, through the take-up reel 1102 and the wire rope 1104 which are arranged between the other end of the main body rod frame 102 and the power mechanism 112, the retraction of the picking claw 106 can be effectively controlled, which is beneficial to realizing the extension and retraction of the main body rod frame 102, and further is beneficial to improving the picking efficiency of fruits.

Specifically, in the picking process, the motor rotates forward, the wire rope 1104 is tightened by the take-up reel 1102, the wire rope 1104 drives the picking claw 106 to grasp apples, the wire rope 1104 continues to tighten, the main body rod frame 102 shortens downwards, the first rotary friction component 1044 and the second rotary friction component 1046 of the screw push rod mechanism 104 contact and cooperate with each other in the shortening process so that the main body rod frame 102 rotates slowly, the fruits are driven to rotate slowly and separate from the fruit trees, the main body rod frame 102 contracts to a lower limit position, the motor rotates reversely, the wire rope 1104 is loosened, the picking claw 106 and the main body rod frame 102 are reset by the reset mechanism 108, the main body rod frame 102 extends to an initial position, and the picking claw 106 is loosened.

As shown in fig. 2, the reset mechanism 108 includes: a return spring 1082, the return spring 1082 being coupled to the screw push rod mechanism 104; a return lever 1086, one end of the return lever 1086 being connected to the return spring 1082, the other end of the return lever 1086 being connected to the base 1062 of the picking claw 106; a bearing 1088 is arranged at the joint of the return spring 1082 and the return rod 1086; a rubber washer 1090 is provided at the junction of the return spring 1082 and the screw rod mechanism 104.

In this embodiment, through the reset spring 1082 that links to each other with spiral push rod mechanism 104, the reset lever 1086 that links to each other with reset spring 1082, reset lever 1086 links to each other with the base 1062 of picking claw 106, be favorable to realizing the reset of picking claw 106 and main part pole frame 102 for automatic fruit picker easy and simple to handle, be equipped with bearing 1088 through the junction of reset spring 1082 and reset lever 1086, can play the cushioning effect to a certain extent, be equipped with rubber packing 1090 through the junction of reset spring 1082 and spiral push rod mechanism 104, can play the buffering guard action to a certain extent, be favorable to promoting automatic fruit picker's whole security performance.

As shown in fig. 1, the picking claw 106 is covered with a soft protective layer; collar 1162 is covered with a soft protective layer.

In this embodiment, the picking claw 106 is covered with a soft protection layer and the collar 1162 is covered with a soft protection layer, so that fruits can be further protected, damage of the fruits in the picking process is reduced, and the integrity of the fruits is guaranteed.

The technical scheme of the invention is described in detail by combining the drawings, the automatic fruit picker is simple to operate and convenient to carry by arranging the spiral push rod mechanism, the buffer collecting device and the like in the main body rod frame, so that the automatic fruit picker is integrated in a whole in picking and collecting mode, time and labor are saved, the picking efficiency is greatly improved, the automation control is realized, the complicated degree of manual control is reduced, the double-layer buffer baffle is arranged in the buffer channel, a certain buffer effect is achieved on the sliding of fruits, the integrity of the fruits is improved, and the damage rate of the fruits is reduced.

In the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic fruit picker, comprising:

a main body bar frame;

the spiral push rod mechanism is arranged in the main body rod frame;

the picking claw is connected with one end of the main body rod frame and is used for picking fruits in a retractable and rotary mode;

one end of the reset mechanism is connected with the picking claw, and the other end of the reset mechanism is connected with the spiral push rod mechanism and is used for resetting the picking claw and the spiral push rod mechanism so as to reset the main body rod frame;

the transmission mechanism is connected with the picking claw and is arranged between the main body rod frame and the power mechanism;

the power mechanism is respectively connected with the transmission mechanism and the spiral push rod mechanism, and is arranged at the other end of the main body rod frame;

a control device which is electrically connected with the power mechanism and is used for controlling the start and stop of the power mechanism,

the screw push rod mechanism includes:

a spiral straight rod;

the first rotary friction assembly is sleeved on the spiral straight rod and fixedly connected with the spiral straight rod;

the second rotary friction component is matched with the first rotary friction component, is sleeved on the spiral straight rod, is fixedly connected with the main body rod frame, is spaced from the outer side wall of the spiral straight rod to accommodate the first rotary friction component,

the first rotary friction component and the second rotary friction component are internally provided with a hole similar to a rectangle and with radian and used for accommodating a spiral straight rod, and the peripheral side wall similar to the rectangle and with radian is made of rubber materials with certain elasticity.

2. An automatic fruit picker according to claim 1 wherein,

the length of the spiral push rod mechanism is 260-290 mm.

3. An automatic fruit picker according to claim 2 wherein,

the connection part of the first rotary friction component and the second rotary friction component is in a sawtooth shape matched with each other.

4. An automatic fruit picker according to any one of claims 1 to 3 further comprising:

and one part of the buffer collecting device is sleeved at the bottom of the picking claw, and the other end of the buffer collecting device extends towards the ground.

5. The automatic fruit picker according to claim 4 wherein the buffer collection device comprises:

the lantern ring is sleeved at the bottom of the picking claw;

the buffer channel is connected with the lantern ring, and a double-layer buffer baffle is arranged in the buffer channel;

and the collecting box is connected with the buffer channel.

6. An automatic fruit picker according to claim 5 wherein

The length of the buffer channel is 60 mm-80 mm.

7. The automatic fruit picker according to claim 6 wherein the transmission mechanism comprises:

the take-up reel is arranged between the other end of the main body rod frame and the power mechanism;

and one end of the steel wire rope is fixed on the take-up reel and is wound by taking the take-up reel as a starting point, and the other end of the steel wire rope is connected with the picking claw so as to control the retraction of the picking claw.

8. The automatic fruit picker according to claim 7 wherein said reset mechanism comprises:

the reset spring is connected with the spiral push rod mechanism;

one end of the reset rod is connected with the reset spring, and the other end of the reset rod is connected with the base of the picking claw;

a bearing is arranged at the joint of the reset spring and the reset rod;

and a rubber gasket is arranged at the joint of the return spring and the spiral push rod mechanism.

9. An automatic fruit picker according to claim 8 wherein,

the picking claw is covered with a soft protective layer; the lantern ring is covered with a soft protection layer.