CN109348843B - Electric fruit picking head - Google Patents

Abstract

The invention provides an electric fruit picking head, which can realize that fruits are coated and fixed before fruit stalks are cut off by adopting a circular arc-shaped piece, namely, the fruits are positioned, and the condition that the position for clamping the fruit stalks is inaccurate and unreliable is avoided, so that the fruit stalks are accurately cut off; the design of the saw-tooth blades can realize progressive cutting, so that the phenomena of shearing immobility, clamping and the like which can occur when the flat blades are cut are greatly reduced; after the fruits are separated from the fruit stalks, the fruits can finally enter the collecting frame through the soft fruit guiding bag to finish picking, and the picking efficiency is high; this device simple structure picks labour saving and time saving, and is very convenient to improve picking efficiency greatly, be applicable to multiple fruit and pick, had fine market prospect.

Description

Electric fruit picking head

Technical Field

The invention relates to the technical field of agricultural mechanical equipment, in particular to an electric fruit picking head.

Background

At present, most of the fruit picking in China is still manual picking, and along with large-area fruit tree planting, the fruit picking problem in the harvest season is also obvious. The labor intensity is high, the efficiency is low, the fruits are easy to damage, and economic loss can be caused if the hands cannot pick the fruits timely. Meanwhile, picking work is more restricted by natural conditions, the requirement on workers is higher, and accidents happen carelessly in the picking process to cause injuries. The automatic picking machine can improve the picking efficiency and the fruit quality, improve the economic benefit, save labor, reduce the labor intensity and has important significance for promoting the scale development and the standardized management of orchards and even the development of forestry.

Because the research and the start of orchard operation machinery in China are late and the foundation is relatively poor, the mechanization degree of orchard operation is still different from countries such as Europe and America, but with the support of the countries on agriculture, the agriculture modernization combining with agricultural technology, mechanical technology, electronic technology and information technology is being greatly promoted. With the development of computer technology and information acquisition and processing technology, the research and application of new technologies such as artificial intelligence and machine vision in agricultural machinery, in particular the appearance of panoramic stereo vision technology provides great convenience for the autonomous navigation of agricultural robots and the identification and positioning of crops, so that the design of light, handy and flexible automatic fruit picking mechanical equipment with strong adaptability becomes practical and feasible, great change is certainly brought to agricultural development, and the device has great value.

Disclosure of Invention

The invention aims to provide an electric fruit picking head which can realize accurate cutting of fruit stalks, complete automatic picking and has high picking efficiency.

In order to achieve the purpose, the invention is realized by the following technical scheme:

an electric fruit picking head comprises a picking head; the picking head comprises an arc-shaped cutter and a driving mechanism; the head end arc-shaped cutter heads of the two cutters are oppositely arranged; the outer side end of the arc-shaped structure of the cutter is connected with an output rotating shaft of the driving mechanism, so that the cutter is driven by the driving mechanism to rotate around a shaft; the tail ends of the two cutters rotate relatively and are combined to form a containing tray structure, so that the lifting of the fruits is realized; and then the fruit stalks are sheared through the relative rotation of the cutter heads of the two cutters.

Furthermore, the cutter is of a quarter spherical shell structure, and the head end and the tail end of the cutter are both of semi-circular arc structures; therefore, when the tail ends of the two cutters are closed, a semi-spherical shell-shaped tray structure with an upward opening is formed.

Furthermore, the knife edges of the head end arc-shaped knife heads of the two cutters are of saw-toothed structures meshed with each other.

Furthermore, a limit sleeve is also arranged; the rotating shafts on the two sides of the cutter are respectively and parallelly arranged on the limiting sleeve in a penetrating manner, so that the limiting of the rotating shafts on the two sides of the cutter is realized; the lower part of the limiting sleeve is communicated with a split type soft fruit guiding bag.

Further, the driving mechanism comprises a supporting plate and a first rotating motor; the supporting plate is of a frame structure; the limiting sleeve is fixedly arranged on the supporting plate; the first rotating motor is fixedly arranged on the supporting plate, and a rotating output shaft of the first rotating motor is fixedly connected with a rotating shaft at the end part of one side edge of the cutter.

Furthermore, a connecting seat and a rotating motor II are also arranged; the second rotating motor is fixedly arranged at one end of the connecting seat; and the output rotating shaft of the rotating motor II is fixedly connected with the side edge of the supporting plate and drives the supporting plate to rotate so as to realize the rotation of the whole picking head.

Furthermore, the soft fruit guiding bag comprises a fruit guiding cloth bag and a fruit guiding slideway; the upper end of the fruit guiding cloth bag is communicated with the limiting sleeve; the lower end opening of the fruit guiding cloth bag is arranged corresponding to the upper end opening of the fruit guiding slideway; the lower end opening of the fruit guiding slide way is arranged corresponding to the upper end opening of the collecting frame; the upper end of the fruit guiding slide way is fixedly arranged on the connecting seat through a connecting part.

Furthermore, the top of the limiting sleeve is also fixedly provided with an elastic check ring; the elastic retainer ring is also provided with a guide part extending inwards; the guide part is of a sheet structure which is arranged in a circle and inclines inwards and downwards, and the lower end of the inner side of the guide part is matched with the size of the cutter.

Further, a layer of sponge is attached to the inner wall of the cutter.

Further, a contact switch is arranged at the tail end of the inner side of the cutter.

Compared with the prior art, the invention has the beneficial effects that:

1. and (3) rapid separation design: through the relative rotary motion of two-phase tool setting head simultaneously, increased the shearing force of cutter to the fruit stalk greatly, realized fruit and fruit stalk through cutter rapid separation.

2. Designing a circular arc part: by adopting the arc-shaped part, the fruit can be coated and fixed before the fruit stalks are cut off, namely, the fruit can be positioned, the situation that the positions of the fruit stalks are not accurate and reliable is avoided, the accurate cutting of the fruit stalks is realized by driving the cutter through the motor, and the automatic picking is completed.

3. Designing a sawtooth-shaped blade: the design of the saw-tooth blades can realize progressive cutting, thereby greatly reducing the phenomena of shearing immobility, clamping and the like which can occur when the flat blades are cut; and the fruit stalks can be clamped by the tooth tips of the V-shaped teeth, and the radial limit of the fruit stalks can be effectively realized, so that the fruit stalks are prevented from slipping.

4. Designing a split fruit guiding bag: the split soft fruit guiding bag reduces overlarge gravity and large amplitude shake caused by fruit detention in the picking process of the picking head, greatly improves the positioning accuracy of the picking head and greatly prolongs the service life of the picking head.

5. Protective design: the elastic check ring is arranged at the top of the limiting sleeve, and the guide part matched with the cutter in size is further arranged on the elastic check ring, so that the cutter is prevented from damaging fruits when the fruits enter the tray structure with the tail ends of the two cutters oppositely closed, and the guide part can also be used for realizing the blocking and buffering of the fruits and reducing the collision of the fruits entering the tray structure; the inner wall of the arc-shaped part is attached with the layer of sponge, so that the dry extrusion of the picking head and the fruits in the fruit shearing process can be effectively prevented, the friction between the fruits and the cutter is reduced, and meanwhile, the movement buffering and flexible support for different fruit types of fruits can be realized; through the flexible design of collection passageway adoption, the damage of fruit in the process of carrying to collection device that significantly reduces.

Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a picking head according to the present invention;

fig. 2 is a schematic top view of the picking head of the present invention;

FIG. 3 is a schematic cross-sectional view of FIG. 2 of the present invention;

FIG. 4 is a schematic view of the joining structure of the tail end of the cutter according to the present invention;

FIG. 5 is a schematic cross-sectional view of the present invention 4;

FIG. 6 is a schematic view of the fruit cutting of the present invention;

FIG. 7 is a schematic view of the fruit cutting of the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a second embodiment of the present invention;

FIG. 10 is a cross-sectional view of FIG. 9 in accordance with a second embodiment of the present invention;

fig. 11 is a schematic view of a partial explosion structure according to a second embodiment of the present invention;

the reference numbers in the figures illustrate:

1. picking heads; 11. a cutter; 111. a cutter head; 12. a drive mechanism; 121. a support plate; 122. rotating the first motor; 2. a positioning mechanism; 21. a picking head posture adjusting mechanism; 211. a connecting seat; 212. rotating a second motor; 22. a picking head space positioning and adjusting mechanism; 221. a picking head height adjustment mechanism; 2211. a pneumatic lifter; 222. the picking head axial rotating mechanism; 2221. rotating a motor III; 2222. a driving gear; 2223. a driven gear; 223. a picking head circumferential adjusting mechanism; 2231. a first cylinder; 2232. a second air cylinder; 3. a collection mechanism; 31. a limiting sleeve; 32. a soft fruit guiding bag; 321. a fruit guiding cloth bag; 322 a fruit guide slideway; 33. a collection frame; 4. a moving mechanism; 41. a base; 42. a driven wheel; 43. a drive wheel; 5. an air pump; 6. a battery; 7. a circlip; 71. a guide portion; 8. an elastic deceleration annulus; 9. an elastic pull rope.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention will be further described with reference to the accompanying drawings, figures 1 to 11:

the first embodiment is as follows: with reference to fig. 1, 2, 3, 4, 5, 6, 7 and 8, an electric fruit picking head comprises a picking head 1; the picking head 1 comprises an arc-shaped cutter 11 and a driving mechanism 12; the head end arc-shaped cutter heads 111 of the two cutters 11 are oppositely arranged; the outer end of the arc-shaped structure of the cutter 11 is connected with an output rotating shaft of the driving mechanism 12, so that the cutter 11 is driven by the driving mechanism 12 to rotate around the shaft; the tail ends of the two cutters 11 rotate relatively and are combined to form a containing tray structure, so that the lifting of the fruits is realized; and then the fruit stalks are sheared through the relative rotation of the cutter heads 111 of the two cutters 11. According to the scheme, the arc-shaped cutter 11 is adopted, the fruit can be coated and fixed before the fruit stem is cut off, namely, the fruit is positioned, the fruit stem is accurately cut off, and the two phases of cutter heads rotate to realize quick separation and cutting.

Preferably, the tail end of the inner side of the cutter 11 is further provided with a contact switch, and the contact switch is a switch used for falling into a driving mechanism 12 on the cutter 11 triggered by the fruit in the tray containing structure to realize the rotation of the cutter 11 and cut off the fruit stalks.

The cutter 11 is of a quarter spherical shell structure, and the head end and the tail end of the cutter 11 are both of semi-circular arc structures; therefore, when the tail ends of the two cutters 11 are closed, a semi-spherical shell-shaped tray structure with an upward opening is formed, fruits can naturally fall into the semi-spherical shell-shaped bottom due to the action of gravity, and the lifting of the fruits is more stable, especially the lifting of some matched fruits with semi-circular bottoms, such as apples, citrus fruits and the like; meanwhile, when the knife edges of the knife head 111 are aligned, a hemispherical shearing knife structure with a downward opening is formed, the fruit stalks can be effectively sheared by the knife edges of 180 degrees, and in the movement process, the movement track is a hemispherical structure wrapping the fruits, so that the damage to the fruits can be greatly reduced;

preferably, a layer of sponge (pearl cotton) is attached to the inner wall of the cutter 11, so that dry extrusion between the picking head and the fruit can be effectively prevented in the fruit shearing process, friction between the fruit and the cutter is reduced, and meanwhile, movement buffering and flexible support for different fruit types of fruits can be realized.

The knife edges of the head end arc-shaped knife heads of the two cutters 11 are in a toothed structure meshed with each other; the progressive cutting can be realized through the serrated knife edge structure, and the phenomena of shearing immobility, clamping and the like which can occur when the flat blade is cut are greatly reduced; meanwhile, the fruit stalks can be clamped by the tooth tips of the V-shaped teeth, and the radial limit of the fruit stalks can be effectively realized, so that the fruit stalks are prevented from slipping.

A limiting sleeve 31 is also arranged; the two cutters 11 are embedded in the limiting sleeve 31; a split type soft fruit guiding bag 32 is communicated below the limiting sleeve 31, so that the sheared fruits fall along the soft fruit guiding bag 32 and are collected;

preferably, the top of the limiting sleeve 31 is further fixedly provided with an elastic retainer ring 7; the elastic retainer ring 7 is made of plastic materials; the elastic retainer ring 7 is further provided with a guide part 71 extending inwards, and the guide part 71 is of a thin-sheet structure which is arranged in a circle and inclines inwards and downwards; the lower end of the inner side of the guide part 71 is matched with the size of the cutters 11 and is used for blocking a cutter edge, so that the cutters are prevented from damaging fruits when the fruits enter a tray structure with the tail ends of the two cutters 11 closed, and the guide part 71 can also be used for realizing blocking and buffering of the fruits and reducing the collision of the fruits entering the tray structure; through setting up circlip 7, improved the protection to the fruit greatly, effectively improved the complete of the peel of fruit, still can scrape the brush through the blade bit 111 of guide part 71 to cutter 11 simultaneously to this clearance of the smear metal on the blade bit is realized.

The soft fruit guiding bag 32 comprises a fruit guiding cloth bag 321 and a fruit guiding slideway 322; the upper end of the fruit guiding cloth bag 321 is communicated with the limiting sleeve 31; the lower end opening of the fruit guiding cloth bag 321 is arranged corresponding to the upper end opening of the fruit guiding slideway 322; the lower end opening of the fruit guiding slideway 322 is arranged corresponding to the upper end opening of the collecting frame 33, so that the fruit in the fruit guiding slideway 322 is received; by arranging the split type soft fruit guiding bag 32, fruits are cut and picked by the picking head, guided by the guiding belt to enter the fruit guiding slideway 322 and then enter the collecting frame for collection; the upper end of the fruit guiding slideway 322 is fixedly arranged on the connecting seat 211 through a rope;

the picking heads are directly connected and driven by adopting the motor drive, so that the bearing strength is low; the scheme avoids the pulling condition of the gravity of the fruit on the picking head and the fruit guiding bag when the fruit is detained by the integral fruit guiding belt; meanwhile, the large amplitude jitter caused by fruit retention of the picking head in the picking process is reduced, the positioning accuracy of the picking head is greatly improved, and the service life of the picking head is greatly prolonged.

Preferably, the fruits cut by the picking head 1 fall into the soft fruit guiding bag 32; the soft fruit guiding bag 32 is a buffer cloth bag, is cylindrical, and safely falls into the collecting frame 33 after being buffered for a plurality of times when fruits slide down along the cloth bag; through the flexible design of the collecting channel, the damage of the epidermis is reduced in the process that the fruit is conveyed to the collecting device.

Preferably, the fruit guiding slideway of the soft fruit guiding bag 32 adopts a double-layer cloth bag structure, and is formed by nesting an outer-layer cloth bag and a plurality of inner-layer cloth bags, and sewing the upper ends of the outer-layer cloth bags and the inner-layer cloth bags, wherein the inner-layer cloth bags are made of flexible tensile elastic cloth; during the falling process of fruits, the falling speed of the fruits is effectively controlled by utilizing the elastic extrusion and friction action of the inner layer cloth bags of all sections, the fruits fall section by section layer, and can stably fall into the collecting frame, so that the falling damage of the fruits is reduced; when the fruits in the inner layer cloth bag are piled up, the whole soft fruit guiding bag 32 can be shaken to promote the fruits to slide downwards.

Preferably, the fruit guiding cloth bag 321 is connected with the fruit guiding slideway 322 through an elastic pull rope 9; one end of the elastic pull rope 9 is fixedly connected with the lower end of the fruit guide cloth bag 321, and the other end of the elastic pull rope is fixedly connected with the upper end of the fruit guide slideway 322; a plurality of elastic pull ropes 9 are uniformly and circumferentially distributed between the fruit guide cloth bag 321 and the fruit guide slideway 322; therefore, when the fruit guide cloth bag 321 on the picking head moves along with the piston head, the outlet of the fruit guide cloth bag and the interface of the fruit guide slideway are always opposite to each other.

The rotating shafts on the two sides of the cutter 11 are respectively arranged on the limiting sleeve 31 in a penetrating mode in parallel, so that the limiting of the rotating shafts on the two sides of the cutter 11 is achieved, and the cutter 11 is more stable when rotating.

The driving mechanism 12 comprises a supporting plate 121 and a first rotating motor 122; the supporting plate 121 is a frame structure; the limiting sleeve 31 is fixedly arranged on the supporting plate 121; the first rotating motor 122 is fixedly arranged on the supporting plate 121, and a rotating output shaft of the first rotating motor 122 is fixedly connected with a rotating shaft at one side end of the cutting knife 11, so that the first rotating motor 122 drives the cutting knife 11 to rotate; the two cutters 11 are respectively connected with the first rotating motor 122 and are oppositely arranged;

preferably, referring to fig. 8, the supporting plate 121 is fixedly connected with a holding rod, and an operator only needs to hold the holding rod to manually adjust the position of the device and pick the picking head 1.

Example two: with reference to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 7, fig. 9, fig. 10 and fig. 11, a walking type automatic fruit picking and collecting robot comprises a picking head 1, a positioning mechanism 2, a collecting mechanism 3 and a moving mechanism 4; the picking head 1 comprises an arc-shaped cutter 11 and a driving mechanism 12; the head end arc-shaped cutter heads 111 of the two cutters 11 are oppositely arranged; the outer end of the arc-shaped structure of the cutter 11 is connected with an output rotating shaft of the driving mechanism 12, so that the cutter 11 is driven by the driving mechanism 12 to rotate around the shaft; the tail ends of the two cutters 11 rotate relatively and are combined to form a containing tray structure, so that the lifting of the fruits is realized; then, the fruit stalks are sheared through the relative rotation of the cutter heads 111 of the two cutters 11; the picking head 1 is arranged on the positioning mechanism 2, and space positioning is realized through the positioning mechanism 2; the collecting mechanism 3 is connected with the picking head 1; the positioning mechanism 2 and the collecting mechanism 3 are both arranged on the moving mechanism 4;

the specific construction of the picking head 1 is the same as in the first embodiment.

The positioning mechanism 2 comprises a picking head posture adjusting mechanism 21 and a picking head space positioning adjusting mechanism 22;

the picking head posture adjusting mechanism 21 comprises a connecting seat 211 and a second rotating motor 212; the second rotating motor 212 is fixedly arranged at one end of the connecting seat 211; the output rotating shaft of the second rotating motor 212 is fixedly connected with the side edge of the supporting plate 121 and drives the supporting plate 121 to rotate to realize the rotation of the whole picking head 1.

The picking head space positioning and adjusting mechanism 22 comprises a picking head height adjusting mechanism 221, a picking head axial rotating mechanism 222 and a picking head circumferential adjusting mechanism 223;

the picking head height adjustment mechanism 221 comprises a pneumatic lifting rod 2211; the pneumatic lifting rod 2211 comprises a three (two) section long hollow rod, the initial height of the hollow rod is 1.3 meters, and the hollow rod is lifted to the maximum height of 2.9 meters, so that the hollow rod can reach the position for picking fruits; the bottom of the pneumatic lifting rod 2211 is fixedly arranged on the moving mechanism 4 and is powered by an air pump 5.

The picking head axial rotating mechanism 222 comprises a rotating motor III 2221, a driving gear 2222 and a driven gear 2223; the rotating motor III 2221 is fixedly arranged on the moving mechanism 4; an output transmission shaft of the rotating motor III 2221 is connected with the driving gear 2222 and drives the driving gear 2222 to axially rotate; the driven gear 2223 is fixedly arranged on the pneumatic lifting rod 2211, and is coaxially and rotatably connected with the pneumatic lifting rod 2211, for example, the coaxial and rotatable connection can be realized by sleeving the bottom of the lifting rod on a positioning rod fixedly arranged on the moving mechanism 4; the driving gear 2222 and the driven gear 2223 are in a gear transmission structure, so that the pneumatic lifting rod 2211 is driven to rotate around a shaft on the moving mechanism 4 by rotating the motor III 2221;

the picking head circumferential adjusting mechanism 223 comprises a first air cylinder 2231 and a second air cylinder 2232; the bottom supporting seat of the first cylinder 2231 is hinged with the side edge of the top of the piston lifting rod of the pneumatic lifting rod 2211; a front piston rod of the first air cylinder 2231 is hinged with the lower part of the second air cylinder 2232; the bottom support seat of the second cylinder 2232 is hinged with the top of the piston lifting rod of the pneumatic lifting rod 2211; the end part of a front piston rod of the second cylinder 2232 is hinged with the other end of the connecting seat 211;

the picking head circumferential adjusting mechanism 223 is adjusted in height up and down through the picking head height adjusting mechanism 221; the picking head circumferential adjusting mechanism 223 is adjusted in a 360-degree rotating mode around the axial direction of the lifting rod through the picking head axial rotating mechanism 222; the cylinder II 2232 can rotate around the hinge shaft at the top of the lifting rod through the cylinder I2231, and the piston rod of the cylinder II 2232 extends outwards; the piston rod at the front end of the second quick telescopic cylinder 2232 can realize the relative vibration of the collecting mechanism 3 on the picking head circumferential adjusting mechanism 223, so that the soft fruit guiding bag 32 can shake, the fruits can smoothly fall from the soft fruit guiding bag, and the pulling picking of the fruit stalks of the fruits clamped on the picking head is facilitated; the whole positioning mechanism 2 can realize three-axis movement, and simultaneously greatly increases the picking space range of the picking head 1.

The collecting mechanism 3 comprises a limiting sleeve 31, a soft fruit guiding bag 32 and a collecting frame 33; the two cutters 11 are embedded in the limiting sleeve 31; a split type soft fruit guiding bag 32 is communicated below the limiting sleeve 31; the output end of the soft fruit guiding bag 32 is arranged corresponding to the collecting frame 33; the collection frame 33 is provided on the moving mechanism 4.

Preferably, the upper end of the fruit guiding slideway 322 is fixed on the connecting seat 211 through a connecting part, so that the fruit guiding slideway is supported, and the load on the whole picking head is reduced.

Preferably, the bottom of the collecting frame 33 is further provided with a weighing sensor.

The moving mechanism 4 comprises a base 41, a driven wheel 42 and a driving wheel 43; the base 41 is a box structure with an opening at the upper part, and a door body is further arranged on one side of the base 41 and used for pushing and pulling the collecting frame 33 on the base 41 to achieve the picking and placing of the collecting frame 33; the driven wheel 42 and the driving wheel 43 are arranged at the bottom of the base 41; the two front wheels are driven wheels 42 (universal wheels), the two rear wheels are driving wheels 43, and the two rear wheels are driven by a stepping motor; the driving wheels are respectively controlled by the control stepping motor of the control module, so that the whole device moves integrally.

The power part of the device consists of a high-pressure air pump and a battery, wherein the high-pressure air pump provides thrust for the pneumatic element, and the battery provides electric power for the electrical equipment. By adopting the design, the device has the advantages of saving energy, reducing emission, reducing waste and pollution to a certain extent, being more green and environment-friendly, and the pneumatic element has simple structure and convenient control and is easy to achieve the required functions.

Preferably, the gas source can adopt a high-pressure gas tank; the high-pressure air tank is used as a power source and provides a power source for the pneumatic element; the air compressor with a relatively large volume provides an air source, and the replaceable high-pressure air tank is adopted, so that the structure is smaller, the power of the power supply is saved, and the air compressor can work without vibration and noise.

When the device is used, the autonomous walking of the picking robot can be realized through the autonomous navigation of the picking robot and the robot-assisted picking operation system, the moving structure is controlled, and a path and fruits are searched; after the position of the fruit is determined, the specific position of the picking head of the positioning mechanism is adjusted, and the tail end of the rotating motor is controlled to drive the cutter to rotate relatively and be combined to form a containing tray structure; the adjusting and positioning mechanism moves the accommodating tray structure to the position below the fruits to be picked, and the adjusting and positioning mechanism is used for continuously lifting the fruits; when fruits enter and a contact switch is arranged at the tail end of the inner side of the trigger cutter, a rotating motor is driven to drive a cutter head of the cutter to rotate relatively to shear fruit stalks of the fruits, so that automatic fruit picking is realized; meanwhile, the fruits fall down and enter the fruit guide slideway through the fruit guide cloth bag and then fall into the collecting frame, and the picking work is repeatedly carried out; simultaneously through collecting the weighing sensor on the frame and transmitting signal to control system, when collecting the weight of needs, control system control moving mechanism seeks the route and returns the warehouse, accomplishes the single and picks, and it is efficient to pick, and the collection mode is simple and convenient, and the quickly separating, collect integrated design to this realization is to the picking of fruit, so cycle work. This device simple structure, this device can accomplish the high altitude on ground and pick labour saving and time saving, and is very convenient, picks efficiently, economical and practical, uses in a flexible way, reasonable in design, compact structure is applicable to multiple fruit and picks, has fine market prospect.

It should be noted that the specific structures of the motor, the cylinder, the weighing sensor and the pneumatic lifting rod are all the prior art, can be purchased and obtained directly from the market, and have extremely wide application in our daily life, and can be obtained by technicians in the field without creative labor; the weight range value is preset through a control module (a single chip microcomputer controller), the control module drives a motor and other devices according to the weight range value of the received weight information, the structure and the technology of the device are well known by those skilled in the art, and the structure and the technology can be completely understood by those skilled in the art; and will not be described in detail herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 invention. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (7)

1. An electronic fruit picking head which characterized in that: comprises a picking head (1); the picking head (1) comprises an arc-shaped cutter (11) and a driving mechanism (12); the head end arc-shaped cutter heads (111) of the two cutters (11) are arranged oppositely; the outer side end of the arc-shaped structure of the cutter (11) is connected with an output rotating shaft of the driving mechanism (12), so that the cutter (11) is driven by the driving mechanism (12) to rotate around a shaft; the tail ends of the two cutters (11) rotate relatively and are combined to form a containing tray structure, so that the lifting of the fruits is realized; then, the fruit stalks are sheared through the relative rotation of the cutter heads (111) of the two cutters (11); the knife edges of the arc-shaped knife heads at the head ends of the two cutters (11) are in a mutually meshed zigzag structure; a limit sleeve (31) is also arranged; the rotating shafts on the two sides of the cutter (11) are respectively and parallelly arranged on the limiting sleeve (31) in a penetrating manner, so that the limiting of the rotating shafts on the two sides of the cutter (11) is realized; a split type soft fruit guiding bag (32) is communicated below the limiting sleeve (31); the soft fruit guiding bag (32) comprises a fruit guiding cloth bag (321) and a fruit guiding slideway (322); the upper end of the fruit guiding cloth bag (321) is communicated with the limiting sleeve (31); the lower end opening of the fruit guiding cloth bag (321) is arranged corresponding to the upper end opening of the fruit guiding slideway (322); the lower end opening of the fruit guiding slideway (322) is arranged corresponding to the upper end opening of the collecting frame (33); the upper end of the fruit guiding slideway (322) is fixedly arranged on the connecting seat (211) through a connecting part;

the fruit guiding cloth bag (321) is connected with the fruit guiding slideway (322) through an elastic pull rope (9); one end of the elastic pull rope (9) is fixedly connected with the lower end of the fruit guiding cloth bag (321), and the other end of the elastic pull rope is fixedly connected with the upper end of the fruit guiding slideway (322); a plurality of elastic pull ropes (9) are uniformly and circumferentially distributed between the fruit guide cloth bag (321) and the fruit guide slide way;

the fruit guiding slideway of the soft fruit guiding bag (32) adopts a double-layer cloth bag structure, and is formed by nesting an outer-layer cloth bag and a plurality of inner-layer cloth bags and sewing the upper ends of the outer-layer cloth bags and the inner-layer cloth bags, wherein the inner-layer cloth bags are made of flexible tensile elastic cloth; during the falling process of the fruits, the inner layer cloth bags of all sections are utilized to elastically extrude and rub, so that the falling speed of the fruits is controlled, the fruits fall section by section layer by layer, and the fruits stably fall into the collecting frame.

2. The electric fruit picking head of claim 1, wherein: the cutter (11) is of a quarter spherical shell structure, and the head end and the tail end of the cutter (11) are both of semi-circular arc structures; thus, when the tail ends of the two cutters (11) are involuted, a semi-spherical shell-shaped tray structure with an upward opening is formed.

3. The electric fruit picking head of claim 1, wherein: the driving mechanism (12) comprises a supporting plate (121) and a first rotating motor (122); the supporting plate (121) is of a frame structure; the limiting sleeve (31) is fixedly arranged on the supporting plate (121); the rotating motor I (122) is fixedly arranged on the supporting plate (121), and a rotating output shaft of the rotating motor I (122) is fixedly connected with a rotating shaft at one side end of the cutting knife (11).

4. The electric fruit picking head of claim 3, wherein: a connecting seat (211) and a second rotating motor (212) are also arranged; the second rotating motor (212) is fixedly arranged at one end of the connecting seat (211); the output rotating shaft of the second rotating motor (212) is fixedly connected with the side edge of the supporting plate (121) and drives the supporting plate (121) to rotate so as to realize the rotation of the whole picking head (1).

5. The electric fruit picking head of claim 3, wherein: the top of the limiting sleeve (31) is also fixedly provided with an elastic check ring (7); the elastic retainer ring (7) is also provided with a guide part (71) extending inwards; the guide part (71) is of a sheet structure which is arranged in a circle and inclines inwards and downwards, and the lower end of the inner side of the guide part (71) is matched with the size of the cutter (11).

6. The electric fruit picking head of claim 1, wherein: a layer of sponge is attached to the inner wall of the cutter (11).

7. The electric fruit picking head of claim 1, wherein: the tail end of the inner side of the cutter (11) is also provided with a contact switch.

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