CN110663360B

CN110663360B - Fruit picking device

Info

Publication number: CN110663360B
Application number: CN201911132265.6A
Authority: CN
Inventors: 王亚雄; 陈冲冲; 康峰; 于泳超; 仝思源
Original assignee: Beijing Forestry University
Current assignee: Beijing Forestry University
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2022-07-12
Anticipated expiration: 2039-11-19
Also published as: CN110663360A

Abstract

The invention relates to a fruit picking device which comprises a handle operation component, a support rod, a traction component, a mechanical wrist component and a picking head component. During operation, the left hand and the right hand are matched with the supporting rod, the handle and the outer trigger to realize linkage control, the mechanical fingers are closed to grasp fruits through the first stay wires, then the inner trigger is driven to rotate, the second stay wires drive different connecting rods to act, and finally the fruits are picked from the fruit trees in a snapping and rotating mode. The whole process simulates hands to pick the fruits in a mode of breaking off the fruits after grabbing the fruits, so that the damage of the traditional pulling action to the fruits is reduced while the picking efficiency is improved, and fruit trees can be well protected.

Description

Fruit picking device

Technical Field

The invention relates to the technical field of picking devices, in particular to a fruit picking device.

Background

The fruit refers to plant fruit which is juicy and most of which have sweet taste and can be eaten directly, and the fruit not only contains rich nutrition but also can help digestion. Fruit is a generic term for the part of edible plant fruits and seeds. The fruit has effects of lowering blood pressure, delaying aging, reducing weight, caring skin, improving eyesight, resisting cancer, reducing cholesterol, and supplementing vitamins.

At present, the traditional orchard still mainly adopts a mode of directly picking fruits by hands in a fruit picking mode. The mode of picking directly through manual work has the problem of picking inefficiency, therefore fruit picker should be born. Traditional fruit picker has solved the problem of picking inefficiency, nevertheless mostly drags fruit off through dragging the action, harms fruit easily, drags the branch of disconnected fruit tree easily moreover, is unfavorable for protecting the fruit tree.

Disclosure of Invention

Therefore, it is necessary to provide a fruit picking device capable of effectively protecting fruit trees while effectively avoiding damage to fruits while improving picking efficiency, in view of the above technical problems.

A fruit picking device comprising:

the handle operating assembly comprises a handle, an inner trigger, an outer trigger, a first reset torsion spring and a second reset torsion spring, wherein the inner trigger and the outer trigger can rotate relative to the handle, the inner trigger is positioned between the outer trigger and the handle, the outer trigger can drive the inner trigger to rotate simultaneously after rotating for a preset angle, two opposite ends of the first reset torsion spring respectively abut against the outer trigger and the handle, the first reset torsion spring is used for resetting the outer trigger, two opposite ends of the second reset torsion spring respectively abut against the inner trigger and the handle, and the second reset torsion spring is used for resetting the inner trigger;

the supporting rod is hollow, and one end of the supporting rod is fixed on the handle;

the traction assembly comprises a first pull wire and a second pull wire, the first pull wire and the second pull wire are both accommodated in the supporting rod, one end of the first pull wire is connected with the outer trigger, and one end of the second pull wire is connected with the inner trigger;

the mechanical wrist assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a first spring, wherein one end of the first connecting rod can extend into the other end of the supporting rod and is connected with the other end of the second pull wire, one end of the second connecting rod is rotatably connected with the other end of the first connecting rod, one end of the third connecting rod is fixedly connected with one end of the second connecting rod and is rotatably connected with the other end of the first connecting rod, one end of the fourth connecting rod is rotatably connected with the other end of the third connecting rod, the other end of the fourth connecting rod is rotatably connected with the supporting rod, the first spring is sleeved on the first connecting rod, and two ends of the first connecting rod are respectively abutted against the other end of the supporting rod and one end of the second connecting rod; and

the picking head assembly comprises a base, a second spring and a mechanical finger, wherein the base is arranged at the other end of the second connecting rod, the second spring is sleeved on the first pull wire, two opposite ends of the second spring respectively abut against the base and the mechanical finger, and the mechanical finger is rotatably arranged on the base and connected with the other end of the first pull wire.

In one embodiment, the wire drawing device further comprises a locking assembly, the locking assembly comprises a button, a buckle and a clamp lock, a through hole is formed in the side wall of the supporting rod, the button is located at the through hole, the clamp lock is pivotally arranged inside the supporting rod, the second wire drawing line comprises a first section and a second section, the buckle is arranged between the first section and the second section, a clamping groove is formed in the clamp lock, and the clamp lock can be clamped into the clamping groove.

In one embodiment, a fixing rod is formed at the outer side wall of the other end of the supporting rod in a protruding manner, and the other end of the fourth link is rotatably arranged on the fixing rod.

In one embodiment, the base comprises a hollow rod and three support frames, the three support frames are uniformly distributed on the outer side wall of the hollow rod, the other end of the first pull wire penetrates through the hollow rod to be connected with the mechanical finger, and the mechanical finger is rotatably arranged on the support frames.

In one embodiment, the mechanical finger comprises three claws, and each claw comprises a bottom part and a claw part, the other end of the first pull wire is connected with the bottom part, the claw part is integrally formed with the bottom part, and the bottom part is rotatably arranged on the support frame.

In one embodiment, the fruit guiding assembly further comprises a fruit guiding pipe, and the fruit guiding pipe is arranged on the outer side wall of the supporting rod.

In one embodiment, the fruit guiding assembly further comprises a support ring and a fixing column, the fruit guiding pipe is a fruit guiding net, the fruit guiding net is propped open by the support ring, and the fruit guiding net is fixed on the outer side wall of the support rod through the fixing column.

In one embodiment, the fruit guide device further comprises a collecting assembly, wherein the collecting assembly comprises a collecting box, and the bottom end of the fruit guide pipe corresponds to the collecting box.

In one embodiment, a buffer member is further arranged in the collecting box and used for providing buffer force.

In one embodiment, the collecting box is provided with a strap and a supporting rod, the supporting rod extends out of the collecting box, and the middle part of the supporting rod is connected with the supporting rod through a rope.

The fruit picking device at least has the following advantages:

when the user operates the fruit picking device, the supporting rod is held by the left hand, and the handle operation assembly is held by the right hand. The outer trigger is pulled by the right hand to rotate the outer trigger, when the outer trigger rotates, the first pull wire is pulled to move towards the direction close to the handle, and the first pull wire pulls the mechanical finger to move, so that the mechanical finger is closed to grasp the fruit. After grasping the fruit, outer trigger just in time contacts interior trigger this moment, and the outer trigger continues to be pulled to the right hand, and the trigger rotates together in the outer trigger drives, and pulling second acting line removes to the direction that is close to the handle during interior trigger rotates to draw first connecting rod, make first connecting rod remove to the direction that stretches into the bracing piece, thereby drive second connecting rod, third connecting rod and fourth connecting rod and rotate, pluck fruit from the fruit tree with breaking off with the fingers and thumb the pivoted mode. The whole process imitates hands to pick fruits in a breaking-off mode after grabbing the fruits, the damage of the traditional pulling action to the fruits is reduced while the picking efficiency is improved, and the fruit trees can be well protected.

Drawings

FIG. 1 is a schematic view of a fruit picking apparatus;

FIG. 2 is a partial schematic view of the fruit picking apparatus of FIG. 1;

FIG. 3 is another partial schematic view of the fruit picking apparatus of FIG. 1;

FIG. 4 is a front view of the fruit picking apparatus of FIG. 1 without the fruit directing assembly and the collecting assembly;

FIG. 5 is a cross-sectional view of FIG. 4;

FIG. 6 is a partial schematic view of FIG. 5;

FIG. 7 is another partial schematic view of FIG. 5;

fig. 8 is a further partial schematic view of fig. 5.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

Referring to fig. 1 to 6, in one embodiment, a fruit picking apparatus 10 can effectively avoid damaging fruits and protect fruit trees while improving picking efficiency. Specifically, fruit picking apparatus 10 includes a handle operating assembly 100, a support rod 200, a pulling assembly 300, a wrist assembly 400, a picker head assembly 500, a locking assembly 600, a fruit guide assembly 700, and a collection assembly 800.

Referring to fig. 4 to 6, the handle operating assembly 100 includes a handle 110, an inner trigger 120, an outer trigger 130, a first return torsion spring 140 and a second return torsion spring 150. The inner trigger 120 and the outer trigger 130 are both rotatable relative to the handle 110, the inner trigger 120 is located between the outer trigger 130 and the handle 110, and the outer trigger 130 can drive the inner trigger 120 to rotate simultaneously after rotating a preset angle. The predetermined angle may be an acute angle, for example an angle of less than 45 °. The size of the inner trigger 120 is smaller than that of the outer trigger 130, as long as the inner trigger 120 is driven to rotate simultaneously after the outer trigger 130 rotates by a preset angle.

The opposite ends of the first return torsion spring 140 are respectively abutted against the outer trigger 130 and the handle 110, and the first return torsion spring 140 is used for returning the outer trigger 130. Opposite ends of the second return torsion spring 150 abut against the inner trigger 120 and the handle 110, respectively, and the second return torsion spring 150 is used to return the inner trigger 120.

The support rod 200 is hollow, and one end of the support rod 200 is fixed to the handle 110. The pulling assembly 300 includes a first pulling wire 310 and a second pulling wire 320, and the first pulling wire 310 and the second pulling wire 320 are both accommodated inside the supporting rod 200. One end of the first pulling wire 310 is connected to the outer trigger 130, and when the outer trigger 130 is rotated, the first pulling wire 310 can be pulled to move in a direction close to the handle 110. One end of the second wire 320 is connected to the inner trigger 120, and when the inner trigger 120 is rotated by the outer trigger 130, the second wire 320 is pulled to move in a direction close to the handle 110. Specifically, the first pulling wire 310 and the second pulling wire 320 may be steel cables to increase the strength of the first pulling wire 310 and the second pulling wire 320. Of course, in other embodiments, the first and

second pulling wires

310 and 320 may be made of other stronger materials.

The wrist assembly 400 includes a first link 410, a second link 420, a third link 430, a fourth link 440, and a first spring 450. One end of the first link 410 can be extended into the other end of the support bar 200 and connected to the other end of the second wire 320. Therefore, when the second wire 320 is pulled by the inner trigger 120 to move in a direction approaching the handle 110, the first link 410 moves in a direction to extend into the supporting stick 200.

One end of the second link 420 is rotatably connected to the other end of the first link 410, and one end of the third link 430 is fixedly connected to one end of the second link 420 and rotatably connected to the other end of the first link 410, so that the second link 420 is fixedly connected to the third link 430. One end of the fourth link 440 is rotatably connected to the other end of the third link 430, and the other end of the fourth link 440 is rotatably connected to the supporting bar 200. For example, a fixing rod 460 may be protrudingly formed at an outer sidewall of the other end of the supporting rod 200, the other end of the fourth link 440 may be rotatably disposed on the fixing rod 460, and the fixing rod 460 may be integrally formed with the supporting rod 200.

The first spring 450 is sleeved on the first link 410, and two ends of the first spring respectively abut against the other end of the supporting rod 200 and one end of the second link 420. Therefore, after the outer trigger 130 rotates by a preset angle, the inner trigger 120 is driven to rotate, the inner trigger 120 pulls the second pull wire 320 to move, the second pull wire 320 pulls the first link 410 to move along the direction extending into the supporting rod 200, and then pulls the second link 420 and the third link 430 to move towards the direction close to the supporting rod 200, the first spring 450 is compressed, the fourth link 440 pushes the third link 430, so that the second link 420 and the third link 430 rotate by a certain angle, and fruits are picked in a turning manner. When the second pull wire 320 is reset, the second link 420 and the third link 430 may be reset by the first spring 450.

Referring also to fig. 7, picking head assembly 500 includes a base 510, a second spring 520, and a mechanical finger 530. The base 510 is disposed at the other end of the second link 420, the second spring 520 is sleeved on the first cable 310, two opposite ends of the second spring 520 respectively abut against the base 510 and the mechanical finger 530, and the mechanical finger 530 is rotatably disposed on the base 510 and connected to the other end of the first cable 310. Therefore, when the outer trigger 130 is rotated, the first pulling wire 310 is pulled to move in a direction close to the handle 110, the first pulling wire 310 pulls the mechanical finger 530 to rotate with respect to the base 510, the mechanical finger 530 is closed to grab the fruit, and the second spring 520 is compressed by the mechanical finger 530. When the outer trigger 130 is released, the outer trigger 130 is reset by the first return torsion spring 140, the mechanical finger 530 is reset by the second spring 520, and the mechanical finger 530 is opened.

Specifically, in the present embodiment, the base 510 includes a hollow rod 511 and three supporting frames 512, and the three supporting frames 512 are uniformly distributed on the outer side wall of the hollow rod 511. The other end of the first pulling wire 310 passes through the hollow rod 511 and is connected to the mechanical finger 530, and the mechanical finger 530 is rotatably disposed on the supporting bracket 512.

The finger 530 includes three fingers, a single finger including a base 531 and a finger 532. The other end of the first wire 310 is connected to the bottom 531, the claw 532 is integrally formed with the bottom 531, and the bottom 531 is rotatably disposed on the supporting bracket 512. The first pull wire 310 pulls the bottom 531, so that the bottom 531 rotates relative to the support frame 512, and the three claw portions 532 are driven to approach each other, so as to grab the fruit. The gripper can be a flexible gripper, when grabbing fruit, further prevent to cause the damage to fruit.

Referring to fig. 8, the locking assembly 600 includes a button 610, a buckle 620 and a latch 630, a through hole is formed on a side wall of the supporting rod 200, and the button 610 is located at the through hole. That is, the button 610 can be inserted into the through hole to apply a pressing force to the latch 630. The latch 630 is pivotally disposed inside the supporting rod 200, the second wire 320 includes a first section 321 and a second section 322, the buckle 620 is disposed between the first section 321 and the second section 322, a locking slot 621 is disposed on the buckle 620, and the latch 630 can be locked into the locking slot 621. When the button 610 is pressed, the button 610 presses the latch 630, the latch 630 rotates to be latched into the latch 621 of the latch 620, the second pull wire 320 is restricted, the wrist assembly 400 is not reset temporarily, and the rotating posture is maintained until the fruit is aligned with the fruit guide assembly 700, and the fruit is guided into the collection assembly 800 through the fruit guide assembly 700.

Referring to fig. 1 again, the fruit guiding assembly 700 includes a fruit guiding tube 710, and the fruit guiding tube 710 is disposed on the outer sidewall of the supporting rod 200. Specifically, the fruit guiding assembly 700 further includes a support ring 720 and a fixing post 730, the fruit guiding pipe 710 is a fruit guiding net, the fruit guiding net is opened by the support ring 720, and the fruit guiding net is fixed on the outer side wall of the support rod 200 by the fixing post 730. Set into netted fruit net of leading fruit pipe 710, and strut through support ring 720, form hierarchical buffering, can increase the buffer power of fruit, further prevent that fruit from being collided with and damaged. The fruit guiding net is rubbed with the fruits to decelerate the fallen fruits. When the support rings 720 are gathered, the fruit guiding nets gather, and the carrying is convenient.

Referring to fig. 1 and 2, the collecting assembly 800 includes a collecting box 810, the bottom end of the fruit guiding tube 710 corresponds to the collecting box 810, and a buffer member is further disposed in the collecting box 810 and used for providing a buffering force to prevent the fruits from being damaged by collision when being put into the collecting box 810. For example, the buffer member may be a sponge, and the sponge is disposed at the bottom of the collection box 810. Of course, a buffer member such as sponge may be provided on the side wall of the collecting chamber 810. The bottom end of the fruit guiding pipe 710 is provided with a U-shaped section 711, the opening of the U-shaped section 711 is hung on the waist of a user, and when the fruit falls into the U-shaped section 711, the user takes out the fruit from the opening of the U-shaped section 711 by hand and puts the fruit into the collecting box 810.

The collecting box 810 is provided with a strap and a supporting rod 820, the supporting rod 820 extends out of the collecting box 810, and the middle part of the supporting rod 200 is connected with the supporting rod 820 through a rope 830. Therefore, when in use, a user carries the collecting box 810 on the back through the carrying belt, the support rod 820 provides a supporting point for the support rod 200 through the rope 830, the gravity of the support rod 200, the wrist assembly 400, the picking head assembly 500 and the like is not completely loaded by hands, but part of the gravity is dispersed to the shoulders of the user, the gravity dispersion and transfer effects are achieved, and the fatigue degree of operators can be effectively reduced.

The specific working principle of the fruit picking device 10 is as follows:

when operating the fruit picking apparatus 10, the user carries the collecting chamber 810 on the back by the harness, holds the support rod 200 with the left hand (or right hand), and holds the handle operating assembly 100 with the right hand (or left hand). At this time, the supporting rod 820 of the collecting box 810 provides a fulcrum for the supporting rod 200 through the rope 830, so that the main weight of the fruit picking apparatus 10 is not dropped on the arm of the operator, but dropped on the shoulder of the operator, and the fatigue of the operator is reduced.

The outer trigger 130 is pulled by the right hand to rotate the outer trigger 130, when the outer trigger 130 rotates, the first pulling wire 310 is pulled to move towards the direction close to the handle 110, the first pulling wire 310 pulls the bottom 531 of the mechanical finger 530, the bottom 531 of the mechanical finger 530 rotates relative to the supporting frame 512 of the base 510, and the claw parts 532 of the mechanical finger 530 are driven to close each other to grasp the fruit.

After the fruit is grasped, the outer trigger 130 just touches the inner trigger 120, and the right hand continues to pull the outer trigger 130, which causes the inner trigger 120 to rotate together with the outer trigger 130. When the inner trigger 120 rotates, the second pulling wire 320 is pulled to move towards the direction close to the handle 110, so as to pull the first connecting rod 410, so that the first connecting rod 410 moves towards the direction extending into the supporting rod 200, so as to drive the second connecting rod 420 and the third connecting rod 430 to move towards the direction close to the supporting rod 200, the second connecting rod 420 and the third connecting rod 430 pull the fourth connecting rod 440 to move, the fourth connecting rod 440 enables the edges of the second connecting rod 420 and the third connecting rod 430 to move towards the direction close to the supporting rod 200, and the edges rotate relative to the first connecting rod 410 and the fourth connecting rod 440, so as to pick the fruit from the fruit tree in a wrestling manner.

The button 610 is pressed to rotate the latch 630 to be clamped into the clamping groove 621 of the buckle 620, so as to lock the buckle 620, further limit the position of the second pull wire 320 and prevent resetting. When the user releases the outer trigger 130, the outer trigger 130 is reset by the first return torsion spring 140 and the inner trigger 120 is reset by the second return torsion spring 150. Since the second pulling wire 320 is restricted from being displaced, the wrist assembly 400 does not return, and the rotation posture is continuously maintained until the fruit is aligned with the opening of the fruit guide tube 710.

After the outer trigger 130 is reset, the claw parts 532 of the mechanical fingers 530 are far away from each other, the mechanical fingers 530 are opened and reset, the fruit grabbed by the claw parts 532 falls into the fruit guide pipe 710, and then falls into the collection box 810 after being guided by the fruit guide pipe 710, so that the fruit is picked continuously and efficiently. Pressing button 610 again causes latch 630 to disengage from slot 621 of catch 620 and wrist assembly 400 to reset for the next operation.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A fruit picking device, comprising:

the handle operation assembly comprises a handle, an inner trigger, an outer trigger, a first reset torsion spring and a second reset torsion spring, wherein the inner trigger and the outer trigger can rotate relative to the handle, the inner trigger is positioned between the outer trigger and the handle, the outer trigger can be driven to rotate simultaneously after rotating for a preset angle, the opposite ends of the first reset torsion spring respectively abut against the outer trigger and the handle, the first reset torsion spring is used for resetting the outer trigger, the opposite ends of the second reset torsion spring respectively abut against the inner trigger and the handle, and the second reset torsion spring is used for resetting the inner trigger;

2. The fruit picking device according to claim 1, further comprising a locking assembly, wherein the locking assembly comprises a button, a buckle and a latch, a through hole is formed in the side wall of the support rod, the button is located at the through hole, the latch is pivotally arranged inside the support rod, the second pull wire comprises a first section and a second section, the buckle is arranged between the first section and the second section, a clamping groove is formed in the buckle, and the latch can be clamped into the clamping groove.

3. The fruit picking apparatus according to claim 1, wherein a fixing rod is protrudingly formed at an outer side wall of the other end of the support rod, and the other end of the fourth link is rotatably provided on the fixing rod.

4. The fruit picking device according to claim 1, wherein the base includes a hollow rod and three support frames, the three support frames are evenly distributed on the outer side wall of the hollow rod, the other end of the first pulling wire penetrates through the hollow rod to be connected with the mechanical finger, and the mechanical finger is rotatably arranged on the support frames.

5. The fruit picking apparatus according to claim 4, the mechanical finger comprising three fingers, a single one of the fingers comprising a base portion and a claw portion, the other end of the first pulling wire being connected to the base portion, the claw portion being integrally formed with the base portion, the base portion being rotatably disposed on the support frame.

6. The fruit picking device according to any one of claims 1 to 5, further comprising a fruit guide assembly including a fruit guide tube disposed on an outer side wall of the support bar.

7. The fruit picking device according to claim 6, wherein the fruit guiding assembly further comprises a support ring and a fixing column, the fruit guiding pipe is a fruit guiding net, the fruit guiding net is propped open by the support ring, and the fruit guiding net is fixed on the outer side wall of the support rod by the fixing column.

8. The fruit picking apparatus of claim 6, further comprising a collection assembly including a collection bin, the bottom end of the fruit guide tube corresponding to the collection bin.

9. The fruit picking device according to claim 8, further comprising a buffer disposed within the collection chamber for providing a buffer force.

10. The fruit picking device according to claim 8, wherein the collecting box is provided with braces and a support rod, the support rod extends out of the collecting box, and the middle part of the support rod is connected with the support rod through a rope.